added uncertainty for patch normal

2014-05-12 22:26:12 +02:00
parent 240bed8665
commit 6a34b59f72
2 changed files with 2 additions and 0 deletions
@@ -47,6 +47,7 @@ public:
  int                         id_;                      //!< Unique ID of the point.
  Vector3d                    pos_;                     //!< 3d pos of the point in the world coordinate frame.
  Vector3d                    normal_;                  //!< Surface normal at point.
+  Matrix3d                    normal_information_;      //!< Inverse covariance matrix of normal estimation.
  bool                        normal_set_;              //!< Flag whether the surface normal was estimated or not.
  list<Feature*>              obs_;                     //!< References to keyframes which observe the point.
  size_t                      n_obs_;                   //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames.