jafar::slam::SegInvDepthFeatureModel Class Reference

3D segments using 2 points inverse-depth parametrisation. More...

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Detailed Description

3D segments using 2 points inverse-depth parametrisation.

The first three parameters are the position of the camera. The next three parameters is the direction of the point from the camera and last parameter is the inverse of the distance. This last 4 parameter for each point (In total 11).

Definition at line 84 of file segmentInvDepthFeature.hpp.

#include <segmentInvDepthFeature.hpp>

Inheritance diagram for jafar::slam::SegInvDepthFeatureModel:

List of all members.

Public Member Functions
void	toFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x in frame_ , the result is stored in xRes.
void	toFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of toFrame().
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x expressed in frame_ in the frame of reference, the result is stored in xRes.
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec_range &xRes)
void	fromFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of fromFrame().
void	compute3dPoints (jblas::vec const &x, jblas::vec &p, jblas::vec &q)
void	compute3dPointsJac (jblas::vec const &x)
void	compute3dPointsJac (jblas::vec const &x, jblas::vec &p, jblas::vec &q, jblas::mat &Pt_id)
void	computeMergeState (const jblas::vec &x_, jblas::vec &mergeX_, jblas::mat &jac)
	Function to apply contraints over features (this function is only implemented for segment features)
Public Attributes
jblas::mat	J3dPoints

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Member Function Documentation

void jafar::slam::SegInvDepthFeatureModel::fromFrame	(	jblas::vec const &	frame_,
		jblas::vec const &	x_,
		jblas::vec_range &	xRes
	)		[virtual]

See also:

fromFrame(jblas::vec const&, jblas::vec const&, jblas::vec&)

Implements jafar::slam::FeatureModel.

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

• modules/slam/include/slam/segmentInvDepthFeature.hpp