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
@@ -90,6 +90,7 @@ void Point::initNormal()
  const Feature* ftr = obs_.back();
  assert(ftr->frame != NULL);
  normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f);
+  normal_information_ = DiagonalMatrix<double,3,3>(pow(20/(pos_-ftr->frame->pos()).norm(),2), 1.0, 1.0);
  normal_set_ = true;
 }