return fisher information

2014-04-16 10:26:10 +02:00
parent 38b7d0b9bc
commit cf2b188894
2 changed files with 14 additions and 0 deletions
@@ -69,9 +69,19 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
    optimize(T_cur_from_ref);
  }
  cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_;
+
+
+
  return n_meas_/patch_area_;
 }

+Matrix<double, 6, 6> SparseImgAlign::getFisherInformation()
+{
+  double sigma_i_sq = 5e-4*255*255; // image noise
+  Matrix<double,6,6> I = H_/sigma_i_sq;
+  return I;
+}
+
 // TODO take jacobian from Frame Class!
 void frameJac(const Vector3d & xyz, Matrix<double,2,6> & J)
 {