From 1a5bbf751ee0e924b514989f859084ebcd733dc6 Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Sun, 9 Apr 2017 15:59:29 -0500 Subject: Full state estimation and vision process are working. --- src/types.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/types.h') diff --git a/src/types.h b/src/types.h index 955e3bf..ac28f6f 100644 --- a/src/types.h +++ b/src/types.h @@ -6,8 +6,8 @@ #include #define MAXLINE 8192 #define MAXFILENAME 1024 -#define STATESIZE 9 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ -#define INLIER_THRESHOLD 12. +#define STATESIZE 13 /* Set to 13 for quaternion estimation, or 9 for quaternion as input */ +#define INLIER_THRESHOLD 24. #define PATCHSIZE 51 /* must be odd */ using Eigen::Matrix; using Eigen::Matrix3d; -- cgit v1.1