jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel Class Reference

Observation Model using Scaled Homogeneous parametrisation. More...

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Detailed Description

Observation Model using Scaled Homogeneous parametrisation.

Definition at line 673 of file segmentFeature.hpp.

#include <segmentFeature.hpp>

Inheritance diagram for jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel:

List of all members.

Public Member Functions
	ScaledHomogeneousImagePluckerFeatureObserveModel (SegmentFeatureModel &featureModel_, jafar::camera::CameraPinhole const &camera_)
	Constructor.
	~ScaledHomogeneousImagePluckerFeatureObserveModel ()
	Destructor.
virtual jblas::vec const &	computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_)
	Innovation.
virtual void	computeSensorR (Observation const &obs)
	Build covariances matrix of observation.
Static Public Member Functions
static jblas::vec3	extToImageModel (jblas::vec const &ext1, jblas::vec const &ext2)
	Compute two lines from the optical center through both segment extremities.
static jblas::vec3	extToImageModel (jblas::vec const &ext1, jblas::vec const &ext2, jblas::vec3 const &ref)
	Compute two lines from the optical center through both segment extremities.
static void	extToImageModelJac (jblas::vec const &ext1, jblas::vec const &ext2, jblas::mat &H_e)
	The Jacobian of extToLine() wrt the extremes.
static void	extToImageModelJac (jblas::vec const &ext1, jblas::vec const &ext2, jblas::vec3 const &ref, jblas::mat &HM_e)
	The Jacobian of extToLine() wrt the extremes.
Protected Member Functions
jblas::vec const &	predictObservationInSensorFrame (jblas::vec const &feature_)
	Project line into camera and convert to Scaled Homogeneous representation.
void	predictObservationInSensorFrameJac (jblas::vec const &feature_)
	Project line into camera and convert to Scaled Homogeneous representation -- Jacobians.
virtual jblas::vec const &	homogeneousToImageModel (jblas::vec3 const &l_)
	homogeneous to Scaled Homogeneous conversion
virtual void	homogeneousToImageModelJac (jblas::vec3 const &l_, jblas::mat &Jl) const
	homogeneous to Scaled Homogeneous conversion -- Jacobians
virtual jblas::vec3	imageModelToHomogeneous (jblas::vec const &sh_)
	Scaled Homogeneous to homogeneous transform.
virtual void	imageModelToHomogeneousJac (jblas::vec const &sh_, jblas::vec3 &l, jblas::mat &HM_sh)
	Scaled Homogeneous to homogeneous transform -- Jacobian.
virtual void	imageModelToHomogeneousJac (jblas::vec const &sh_, jblas::mat &HM_sh)
	Scaled Homogeneous to homogeneous transform -- Jacobian.
virtual jblas::vec	inverseObservationInSensorFrame (Observation const &obs_)
	Retro-project Plucker line.
virtual void	inverseObservationInSensorFrameJac (Observation const &obs_)
	Retro-project Plucker line -- output and Jacobian.

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Member Function Documentation

virtual void jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::computeSensorR

(

Observation const &

obs

)

[virtual]

Build covariances matrix of observation.

Parameters:

obs	observation as a couple of endpoints

Reimplemented from jafar::slam::BaseFeatureObserveModel.

static jblas::vec3 jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::extToImageModel	(	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 jblas::vec3 jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::extToImageModel	(	jblas::vec const &	ext1,
		jblas::vec const &	ext2,
		jblas::vec3 const &	ref
	)		[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
ref	the reference homogeneous line to which the new line's norm is matched

static void jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::extToImageModelJac	(	jblas::vec const &	ext1,
		jblas::vec const &	ext2,
		jblas::mat &	H_e
	)		[static]

The Jacobian of extToLine() wrt the extremes.

Parameters:

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

static void jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::extToImageModelJac	(	jblas::vec const &	ext1,
		jblas::vec const &	ext2,
		jblas::vec3 const &	ref,
		jblas::mat &	HM_e
	)		[static]

The Jacobian of extToLine() wrt the extremes.

Parameters:

ext1	the first extreme of the detected segment
ext2	the second extreme
ref	the reference homogeneous line to which the new line's norm is matched
HM_e	The returned Jacobian

virtual jblas::vec3 jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::imageModelToHomogeneous

(

jblas::vec const &

sh_

)

[protected, virtual]

Scaled Homogeneous to homogeneous transform.

Parameters:

sh_	input Scaled Homogeneous 2D line representation -- rt = (rho,theta)'

Returns:

The homogeneous line in P3 -- l = (a,b,c)'

Implements jafar::slam::ImagePluckerFeatureObserveModel.

virtual void jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::imageModelToHomogeneousJac	(	jblas::vec const &	sh_,
		jblas::vec3 &	l,
		jblas::mat &	HM_sh
	)		[protected, virtual]

Scaled Homogeneous to homogeneous transform -- Jacobian.

Parameters:

sh_	input Scaled Homogeneous 2D line representation
HM_sh	output transformation Jacobian

Implements jafar::slam::ImagePluckerFeatureObserveModel.

virtual void jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::imageModelToHomogeneousJac	(	jblas::vec const &	sh_,
		jblas::mat &	HM_sh
	)		[protected, virtual]

Scaled Homogeneous to homogeneous transform -- Jacobian.

Parameters:

sh_	input Scaled Homogeneous 2D line representation
l	output homogeneous line representation
HM_sh	output transformation Jacobian

Implements jafar::slam::ImagePluckerFeatureObserveModel.

virtual jblas::vec jafar::slam::ScaledHomogeneousImagePluckerFeatureObserveModel::inverseObservationInSensorFrame

(

Observation const &

obs_

)

[protected, virtual]

Retro-project Plucker line.

Retro-project Plucker line -- output and Jacobian Retro-project Plucker line

Implements jafar::slam::FeatureObserveModel.

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

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