wallawigi

Author: mcm001

src/mrcal-uncertainty.hpp

@@ -420,10 +420,10 @@ double _propagate_calibration_uncertainty(
     cholmod_common common;
     cholmod_start(&common);
 
-    // TODO fill this in
-    mrcal_calobject_warp_t warp{.x2 = 0.0, .y2 = 0.0};
+    // TODO fill this in from args
+    mrcal_calobject_warp_t warp{.x2 = 0.0006399284268664162, .y2 = 0.0005657261093542594};
 
-    // TODO fill this in
+    // TODO fill this in from args
     int imagersize[2]{1280, 720};
 
     bool ret = mrcal_optimizer_callback(
@@ -462,6 +462,9 @@ double _propagate_calibration_uncertainty(
     // Solve JtJ * A = dF_dbpacked^T -> A has shape (Nstate, 2)
     Eigen::MatrixXd A = solve_xt_JtJ_bt(factorization, dF_dbpacked, &common);
 
+    std::cout << "A:\n"
+              << A << "\n";
+
     // Compute J_obs * A where J_obs = first Nmeasurements_boards rows of J
     // Jt has shape (Nstate, Nmeasurements), J has shape (Nmeasurements, Nstate)
     int Nmeasurements_observations = Nmeasurements_boards;
@@ -486,6 +489,10 @@ double _propagate_calibration_uncertainty(
     cholmod_free_factor(&factorization, &common);
     cholmod_finish(&common);
 
+    std::cout << "Var_dF:\n"
+              << Var_dF << "\n";
+    std::cout << "observed_pixel_uncertainty: " << observed_pixel_uncertainty << "\n";
+
     return worst_direction_stdev(Var_dF) * observed_pixel_uncertainty;
 }