Jafar: jafar::slam::ImagePointFeatureObserveModel Class Reference

sizeless point from perspective image observe model. More...

Detailed Description

sizeless point from perspective image observe model.

Definition at line 153 of file pointFeature.hpp.

Inheritance diagram for jafar::slam::ImagePointFeatureObserveModel:

Public Member Functions
	ImagePointFeatureObserveModel (PointFeatureModel &featureModel_, jafar::camera::CameraPinhole const &camera_, double alpha_=0.2, double kSigma_=1.0)
Observation::ObservationType	typeObs () const
void	initStateInSensorFrame (InitFeature &feature_, Observation const &obs_, double dMin_, double dMax_)
Public Attributes
double	alpha
	sigma/mean ratio
double	beta
	geometric serie base
Protected Member Functions
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().
double	computeBaselineInSensorFrame (jblas::vec_range const &deltaPose, Observation const &obsRef) const
Protected Attributes
jafar::camera::CameraPinhole	camera

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