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added uncertainty for patch normal

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This commit is contained in:
Christian Forster
2014-05-12 22:26:12 +02:00
parent 240bed8665
commit 6a34b59f72
2 changed files with 2 additions and 0 deletions
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svo/include/svo/point.h
+1
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@@ -47,6 +47,7 @@ public:
int id_; //!< Unique ID of the point. int id_; //!< Unique ID of the point.
Vector3d pos_; //!< 3d pos of the point in the world coordinate frame. Vector3d pos_; //!< 3d pos of the point in the world coordinate frame.
Vector3d normal_; //!< Surface normal at point. 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. bool normal_set_; //!< Flag whether the surface normal was estimated or not.
list<Feature*> obs_; //!< References to keyframes which observe the point. list<Feature*> obs_; //!< References to keyframes which observe the point.
size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames. size_t n_obs_; //!< Number of obervations: Keyframes AND successful reprojections in intermediate frames.
svo/src/point.cpp
+1
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@@ -90,6 +90,7 @@ void Point::initNormal()
const Feature* ftr = obs_.back(); const Feature* ftr = obs_.back();
assert(ftr->frame != NULL); assert(ftr->frame != NULL);
normal_ = ftr->frame->T_f_w_.rotation_matrix().transpose()*(-ftr->f); 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; normal_set_ = true;
} }