Point at infinity observed in a panoramique image. More...

Detailed Description

Point at infinity observed in a panoramique image.

Definition at line 78 of file pointInfFeature.hpp.

Inheritance diagram for jafar::slam::OmniImagePointInfFeatureObserveModel:

Public Member Functions
	OmniImagePointInfFeatureObserveModel (PointInfFeatureModel &featureModel_, jafar::camera::CameraParabolicBarreto const &camera_)
Observation::ObservationType	typeObs () const
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()
double	computeBaselineInSensorFrame (jblas::vec_range const &deltaPose, Observation const &obsRef) const
	Computes the baseline in the sensor frame.
Protected Attributes
jafar::camera::CameraParabolicBarreto	camera

Member Function Documentation

double jafar::slam::OmniImagePointInfFeatureObserveModel::computeBaselineInSensorFrame	(	jblas::vec_range const &	deltaPose,
		Observation const &	obsRef
	)		const `[protected, virtual]`

Computes the baseline in the sensor frame.

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

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

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