public override void func_hi_and_dhi_by_dxp_and_dhi_by_dyi(Vector yi, Vector xp)
{
// This function gives relative position of feature: also call this hR
// (vector from camera to feature in robot frame)
func_zeroedyi_and_dzeroedyi_by_dxp_and_dzeroedyi_by_dyi(yi, xp);
// Project this from 3D into the 2D image using our camera
Vector feature_3D_position = get_zeroedyiRES();
WideCamera cam = ((Wide_Camera_Point_Feature_Measurement_Model)wide_model).m_camera;
hiRES = cam.Project(feature_3D_position);
// And ask the camera what the Jacobian of this projection was
MatrixFixed dhid_by_dzeroedyi = cam.ProjectionJacobian();
// Form the required Jacobians
dhi_by_dxpRES = dhid_by_dzeroedyi * dzeroedyi_by_dxpRES;
dhi_by_dyiRES = dhid_by_dzeroedyi * dzeroedyi_by_dyiRES;
}
