jafar::slam::ImageEuclideanPluckerFeatureObserveModel Class Reference

segment extracted from an image observe model. More...

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Detailed Description

segment extracted from an image observe model.

Definition at line 308 of file segmentFeature.hpp.

#include <segmentFeature.hpp>

Inheritance diagram for jafar::slam::ImageEuclideanPluckerFeatureObserveModel:

List of all members.

Public Member Functions
	ImageEuclideanPluckerFeatureObserveModel (SegmentFeatureModel &featureModel_, jafar::camera::CameraPinhole const &camera_, double depthAlpha_, double depthKSigma_, double phiMin_, double phiMax_, double phiSigma_, double phiKSigma_)
Observation::ObservationType	typeObs () const
void	setPixCov (jblas::vec const &pixCov_, double stabilizingFactor=1.0)
void	initStateInSensorFrame (InitFeature &feature_, Observation const &obs_, double dMin_, double dMax_)
void	initInternalState (BaseFeature &feature, jafar::geom::T3DEuler const &robotPose_, Observation const &obs_) const
	Initialize the extremities of the segment.
void	updateInternalState (BaseFeature &feature, jafar::geom::T3DEuler const &robotPose_, Observation const &obs_) const
	Update extremities of the segment.
jblas::vec const &	computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_)
	By default, simply do the substraction.
void	predictExtObs (jblas::vec_range const &pose, jblas::sym_mat_range const &poseCov, jblas::vec3 const &ext, jblas::sym_mat const &extCov, jblas::vec &zPredExt, jblas::sym_mat &zPredExtCov)
	Predict the extremes of the observed line, with their covariance in the image plane.
void	predictExtObsJac (jblas::vec_range const &pose, jblas::vec3 const Ext, jblas::vec &eInImage, jblas::mat &JeR, jblas::mat &JeExt)
	Predict the extreme and Jacobians.
Static Public Member Functions
static jblas::vec2	extToLine (jblas::vec const &ext1, jblas::vec const &ext2)
	Compute two lines from the optical center through both segment extremities.
static void	extToLineJac (jblas::vec const &ext1, jblas::vec const &ext2, jblas::mat &J)
	The Jacobians of extToLine() wrt the extremes.
Public Attributes
double	depthAlpha
	gaussian sum distribution over depth geometric serie sigma/mean ratio
double	depthBeta
	gaussian sum distribution over depth geometric serie base
double	phiMin
	gaussian sum over direction, phi min
double	phiMax
	gaussian sum over direction, phi max
double	phiSigma
	gaussian sum over direction, number of gaussians
double	phiKSigma
	gaussian sum over direction, kSigma factor
Protected Member Functions
void	pluckerLineInit (jblas::vec const &z_, double d_, double phi_, double sg_, jblas::vec &pluckerLine) const
void	pluckerLineInitJac (jblas::vec const &z_, double d_, double phi_, double sg_, jblas::mat &J) const
jblas::vec const &	predictObservationInSensorFrame (const jblas::vec &feature_)
	Prediction of the observation, the feature is expressed in the sensor frame featureInSensorFrame_.
void	predictObservationInSensorFrameJac (const jblas::vec &feature_)
	Jacobian of predictObservationInSensorFrame().
jblas::vec const &	predictObservationInImageFrame (jblas::vec3 const &l_)
void	predictObservationInImageFrameJac (jblas::vec3 const &l_, jblas::mat &Jl) const
boost::tuple< double, double >	computeExtremitiesAbscissa (SegmentFeature const &segFeature_, geom::T3DEuler const &robotPose_, SegmentObservation const &obs_) const
void	segmentExtremitiesPluckerLines (SegmentObservation const &segObs_, jblas::vec &lineExt1Sensor, jblas::vec &lineExt2Sensor) const
virtual void	computeSensorR (Observation const &obs)
	Compute sensor covariance.
double	computeBaselineInSensorFrame (jblas::vec_range const &deltaPose, Observation const &obsRef) const
	non-constant covariance on pixel coordinate (u,v)
Static Protected Member Functions
static boost::tuple< double, double, double >	pluckerLinesDistance (jblas::vec const &line1_, jblas::vec const &line2_)
Protected Attributes
jafar::camera::CameraPinhole	camera
jblas::mat33	Pl
jblas::mat33	Plinv
jblas::sym_mat	p_pixCov
	covariance on pixel coordinate (u,v)
Friends
std::string	boSegFeatureInitState (InitFeature const &f_, BearingOnlySlam &slam_)

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Member Function Documentation

double jafar::slam::ImageEuclideanPluckerFeatureObserveModel::computeBaselineInSensorFrame	(	jblas::vec_range const &	deltaPose,
		Observation const &	obsRef
	)		const [inline, protected]

non-constant covariance on pixel coordinate (u,v)

Todo:

real implementation

Definition at line 350 of file segmentFeature.hpp.

jblas::vec const& jafar::slam::ImageEuclideanPluckerFeatureObserveModel::computeInnovation	(	jblas::vec const &	y_,
		jblas::vec const &	zPred_
	)		[virtual]

By default, simply do the substraction.

Reimplementation of that function are allowed to adjust the values of Jobs1 and Jobs2.

Parameters:

y_	observation
zPred_	prediction

Reimplemented from jafar::filter::BlockObserveModel.

static jblas::vec2 jafar::slam::ImageEuclideanPluckerFeatureObserveModel::extToLine	(	jblas::vec const &	ext1,
		jblas::vec const &	ext2
	)		[static]

Compute two lines from the optical center through both segment extremities.

Parameters:

ext1	the first extreme of the detected segment
ext2	the second extreme

static void jafar::slam::ImageEuclideanPluckerFeatureObserveModel::extToLineJac	(	jblas::vec const &	ext1,
		jblas::vec const &	ext2,
		jblas::mat &	J
	)		[static]

The Jacobians of extToLine() wrt the extremes.

Parameters:

ext1	the first extreme of the detected segment
ext2	the second extreme
J	The returned Jacobian

void jafar::slam::ImageEuclideanPluckerFeatureObserveModel::predictExtObs	(	jblas::vec_range const &	pose,
		jblas::sym_mat_range const &	poseCov,
		jblas::vec3 const &	ext,
		jblas::sym_mat const &	extCov,
		jblas::vec &	zPredExt,
		jblas::sym_mat &	zPredExtCov
	)

Predict the extremes of the observed line, with their covariance in the image plane.

Parameters:

pose	the robot pose
poseCov	the robot pose covariance matrix
ext	on of the extremities in 3D space
extCov	the covariances matrix of the extreme in 3D space
zPredExt	the predicted extreme in the 2D image
zPredExtCov	the covariances matrix of the predicted extreme

void jafar::slam::ImageEuclideanPluckerFeatureObserveModel::predictExtObsJac	(	jblas::vec_range const &	pose,
		jblas::vec3 const	Ext,
		jblas::vec &	eInImage,
		jblas::mat &	JeR,
		jblas::mat &	JeExt
	)

Predict the extreme and Jacobians.

Parameters:

pose	the robot pose
Ext	one of the extremities in 3D space
eInImage	the predicted extreme in the 2D image
JeR	and
JeExt	Jacobians of the prediction with respect to pose and extremity

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The documentation for this class was generated from the following file:

• modules/slam/include/slam/segmentFeature.hpp