[Rock-dev] 3d point uncertainty

[Javier Hidalgo Carrió]

Hello,

I am hesitating if it is worthy to include uncertainty in the point 
cloud: /base/samples/Pointcloud.hpp
In the same manner that color information: leave the field empty if no 
uncertainty is needed in order to reduce data volume ( 
std::vector<base::Matrix3f> uncertainty;)
The rational behind is to have something similar to the enclosed figure 
when the 3d point comes from stereo triangulation. I guess uncertainty 
is more needed when 3d points are affected by projection errors and much 
less when the point cloud comes from lasers scans.

Since this would affect a base-type. I would appreciate any idea or 
suggestion.

Javier.

P.S: The figure is from the paper "Robust visual odometry using stereo 
reconstruction error model"

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