00001 00006 #ifndef CONSTANTS_H 00007 #define CONSTANTS_H 00008 00009 #include <ros/package.h> 00010 00011 using namespace std; 00012 00013 namespace slam 00014 { 00015 00016 static const string WORKING_DIRECTORY = ros::package::getPath("stereo_slam") + "/"; 00017 00018 static const int LC_MIN_INLIERS = 20; 00019 00020 static const int LC_MAX_INLIERS = 150; 00021 00022 static const int LC_NEIGHBORS = 6; 00023 00024 static const int LC_DISCARD_WINDOW = 5; 00025 00026 static const float TRACKING_MIN_OVERLAP = 85; 00027 00028 /* 00029 DEFAULT VALUES ARE: 00030 LC_MIN_INLIERS = 40 00031 LC_MAX_INLIERS = 150 00032 LC_NEIGHBORS = 6 00033 LC_DISCARD_WINDOW = 15 00034 TRACKING_MIN_OVERLAP = 85 00035 */ 00036 00037 } // namespace 00038 00039 #endif // CONSTANTS_H