Re: [Bayes++] How to specify the Jacobian of a Linrz_uncorrelated_observe_model

[Matt H. <mwh...@gm...>]

You're correct! The Position-Velocity example has truly linear
prediction/observation functions, so the Jacobian is constant. You will find
what you're looking for in the QuadCalib example, which uses a linearized
observation. In QuadCalib.cpp, a member function called 'state' is called to
fill the appropriate fields in the Jacobian matrix using the current state.
Reading on, you'll see this function gets called before the observation
takes place.

I assume you are doing work with images... what states have you chosen to
represent the pinhole camera model?

Hope this helps,
Matt Hazard
mwh...@gm...


On 1/13/07, 維均 <inn...@gm...> wrote:

> Hi,
>
> If I'd like to design a class inheriting Linrz_uncorrelated_observe_model
> to describe a pinhole model, how would I assign the values of Hx Jacobian
> matrix? I thought the Jacobian depends on where you linearize the
> observation function which means it is related to the values of the state
> vector when you linearize it. But in the PV sample code I just see things
> like:
>      Hx(0,0) = 1;
>      Hx(0,1) = 0.;  and these are not time-varying.
> There must be something wrong in my understanding.  Would anyone help?
>
> Best,
> Wei-chun
>
>
> -------------------------------------------------------------------------
> Take Surveys. Earn Cash. Influence the Future of IT
> Join SourceForge.net's Techsay panel and you'll get the chance to share
> your
> opinions on IT & business topics through brief surveys - and earn cash
> http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV
>
> _______________________________________________
> Bayesclasses-general mailing list
> Bay...@li...
> https://lists.sourceforge.net/lists/listinfo/bayesclasses-general
>
>
>