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SRT3D: compute mean probability for region modality #47

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SRT3D: compute mean probability for region modality #47

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2 changes: 2 additions & 0 deletions SRT3D/include/srt3d/region_modality.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,8 @@ class RegionModality {
bool imshow_result() const;
bool set_up() const;

float probability_;

private:
// Helper methods for precalculation of internal data
void PrecalculateFunctionLookup();
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5 changes: 5 additions & 0 deletions SRT3D/src/region_modality.cpp
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Expand Up @@ -301,6 +301,7 @@ bool RegionModality::CalculatePoseUpdate(int corr_iteration,
gradient.setZero();
hessian.setZero();

probability_ = 0;
// Iterate over correspondence lines
for (auto &data_line : data_lines_) {
// Calculate point coordinates in camera frame
Expand Down Expand Up @@ -356,9 +357,13 @@ bool RegionModality::CalculatePoseUpdate(int corr_iteration,
ddelta_cs_dtheta /= data_line.standard_deviation;
hessian.triangularView<Eigen::Lower>() -=
ddelta_cs_dtheta.transpose() * ddelta_cs_dtheta;

probability_ += data_line.distribution[distribution_length_plus_1_half_];
}
hessian = hessian.selfadjointView<Eigen::Lower>();

probability_ /= std::max(int(data_lines_.size()), 1); // mean probability

// Optimize and update pose
Eigen::FullPivLU<Eigen::Matrix<float, 6, 6>> lu{tikhonov_matrix_ - hessian};
if (lu.isInvertible()) {
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