2016-07-19 06:17:57 -0500 asked a question recoverPose threshold in Source code In recoverPose(...) src code, there's this snippet. // Do the cheirality check. // Notice here a threshold dist is used to filter // out far away points (i.e. infinite points) since // there depth may vary between postive and negtive. double dist = 50.0;  And this threshold is used in: mask1 = (Q.row(2) < dist) & mask1; Q = P1 * Q; mask1 = (Q.row(2) > 0) & mask1; mask1 = (Q.row(2) < dist) & mask1;  .... mask2 = (Q.row(2) < dist) & mask2; Q = P2 * Q; mask2 = (Q.row(2) > 0) & mask2; mask2 = (Q.row(2) < dist) & mask2;  ... mask3 = (Q.row(2) < dist) & mask3; Q = P3 * Q; mask3 = (Q.row(2) > 0) & mask3; mask3 = (Q.row(2) < dist) & mask3;  ... mask4 = (Q.row(2) < dist) & mask4; Q = P4 * Q; mask4 = (Q.row(2) > 0) & mask4; mask4 = (Q.row(2) < dist) & mask4;  My question is, why was this threshold put equal to 50 specifically ? If it's a parameter, why isn't it passed as an argument to the function ??? Thanks in Advance