Sizeless 3D point using the inverse-depth parametrisation observed in a perspective image. More...

Detailed Description

Sizeless 3D point using the inverse-depth parametrisation observed in a perspective image.

Definition at line 149 of file pointInvDepthFeature.hpp.

Inheritance diagram for jafar::slam::ImagePointInvDepthFeatureObserveModel:

Public Member Functions
	ImagePointInvDepthFeatureObserveModel (PointInvDepthFeatureModel &featureModel_, jafar::camera::CameraPinhole const &camera_)
Observation::ObservationType	typeObs () const
void	postInitCovariance (jblas::sym_mat_range &P, jblas::mat const &Jfeature)
void	setup (double id0=0.5, double sigmaId0=0.5)
	setup noise parameters
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().
jblas::vec	inverseObservationInSensorFrame (Observation const &obs_)
void	inverseObservationInSensorFrameJac (Observation const &obs_)
	jacobian of inverseObservationInSensorFrame()
Protected Attributes
double	m_id0
	see id0 in ImagePointInvDepthFeatureObserveModel::setup(double,double)
double	m_sigmaId0
	see sigmaId0 in ImagePointInvDepthFeatureObserveModel::setup(double,double)
jafar::camera::CameraPinhole	camera
PointInvDepthFeatureModel &	pointInvDepthFeatureModel

Member Function Documentation

jblas::vec jafar::slam::ImagePointInvDepthFeatureObserveModel::inverseObservationInSensorFrame ( Observation const & obs_ ) [protected, virtual]

inverse observation function in sensor frame, to be defined by user.

void jafar::slam::ImagePointInvDepthFeatureObserveModel::setup	(	double	id0 = `0.5`,
		double	sigmaId0 = `0.5`
	)

setup noise parameters

Parameters:

id0	initial inverse depth
sigmaId0	standard deviation on initial inverse depth

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