jafar::slam::OmniImagePointInvDepthFeatureObserveModel Class Reference

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

---

Detailed Description

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

Definition at line 101 of file pointInvDepthFeature.hpp.

#include <pointInvDepthFeature.hpp>

Inheritance diagram for jafar::slam::OmniImagePointInvDepthFeatureObserveModel:

List of all members.

Public Member Functions
	OmniImagePointInvDepthFeatureObserveModel (PointInvDepthFeatureModel &featureModel_, jafar::camera::CameraParabolicBarreto const &camera_)
Observation::ObservationType	typeObs () const
void	postInitCovariance (jblas::sym_mat_range &P, jblas::mat const &Jframe)
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 OmniImagePointInvDepthFeatureObserveModel::setup(double,double)
double	m_sigmaId0
	see sigmaId0 in OmniImagePointInvDepthFeatureObserveModel::setup(double,double)
jafar::camera::CameraParabolicBarreto	camera
PointInvDepthFeatureModel &	pointInvDepthFeatureModel

---

Member Function Documentation

jblas::vec jafar::slam::OmniImagePointInvDepthFeatureObserveModel::inverseObservationInSensorFrame

(

Observation const &

obs_

)

[protected, virtual]

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

Implements jafar::slam::FeatureObserveModel.

void jafar::slam::OmniImagePointInvDepthFeatureObserveModel::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:

• modules/slam/include/slam/pointInvDepthFeature.hpp