Public Member Functions | List of all members
g2o::RobustKernelDCS Class Reference

Dynamic covariance scaling - DCS. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelDCS:
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Public Member Functions

virtual void robustify (double e2, Eigen::Vector3d &rho) const
 
- Public Member Functions inherited from g2o::RobustKernel
double delta () const
 
 RobustKernel ()
 
 RobustKernel (double delta)
 
virtual void setDelta (double delta)
 
virtual ~RobustKernel ()
 

Additional Inherited Members

- Protected Attributes inherited from g2o::RobustKernel
double _delta
 

Detailed Description

Dynamic covariance scaling - DCS.

See paper Robust Map Optimization from Agarwal et al. ICRA 2013

delta is used as $phi$

Definition at line 159 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelDCS::robustify ( double  squaredError,
Eigen::Vector3d &  rho 
) const
virtual

compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function

Implements g2o::RobustKernel.

Definition at line 152 of file robust_kernel_impl.cpp.


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


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47