Dynamic covariance scaling - DCS. More...
#include <robust_kernel_impl.h>
Inheritance diagram for g2o::RobustKernelDCS:
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
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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: