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<div class="moz-cite-prefix">On 11/07/2013 06:24 PM, Javier Hidalgo
Carrió wrote:<br>
</div>
<blockquote cite="mid:527BCCD7.2020706@dfki.de" type="cite">Hello,
<br>
<br>
I am hesitating if it is worthy to include uncertainty in the
point cloud: /base/samples/Pointcloud.hpp
<br>
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;)
<br>
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.
<br>
<br>
Since this would affect a base-type. I would appreciate any idea
or suggestion.
<br>
<br>
</blockquote>
From my point of view it makes to add this kind of informations to
the point cloud. The only problem we might get is that the log files
are no longer compatible and must be updated.<br>
<br>
Alex<br>
<br>
<br>
<blockquote cite="mid:527BCCD7.2020706@dfki.de" type="cite">Javier.
<br>
<br>
P.S: The figure is from the paper "Robust visual odometry using
stereo reconstruction error model"
<br>
<br>
<br>
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<br>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Ing. Alexander Duda
Unterwasserrobotik
DFKI Bremen
Robotics Innovation Center
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Fax: +49 (0)421 178-454150
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