Public Member Functions | Protected Attributes | List of all members
g2o::RobustKernelScaleDelta Class Reference

scale a robust kernel to another delta (window size) More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelScaleDelta:
Inheritance graph
[legend]

Public Member Functions

const RobustKernelPtr kernel () const
 return the underlying kernel More...
 
void robustify (double error, Eigen::Vector3d &rho) const
 
 RobustKernelScaleDelta (const RobustKernelPtr &kernel, double delta=1.)
 
 RobustKernelScaleDelta (double delta=1.)
 
void setKernel (const RobustKernelPtr &ptr)
 use another kernel for the underlying operation More...
 
- Public Member Functions inherited from g2o::RobustKernel
double delta () const
 
 RobustKernel ()
 
 RobustKernel (double delta)
 
virtual void setDelta (double delta)
 
virtual ~RobustKernel ()
 

Protected Attributes

RobustKernelPtr _kernel
 
- Protected Attributes inherited from g2o::RobustKernel
double _delta
 

Detailed Description

scale a robust kernel to another delta (window size)

Scales a robust kernel to another window size. Useful, in case if one implements a kernel which only is designed for a fixed window size.

Definition at line 41 of file robust_kernel_impl.h.

Constructor & Destructor Documentation

g2o::RobustKernelScaleDelta::RobustKernelScaleDelta ( const RobustKernelPtr kernel,
double  delta = 1. 
)
explicit

construct the scaled kernel ontop of another kernel which might be shared accross several scaled kernels

Definition at line 34 of file robust_kernel_impl.cpp.

g2o::RobustKernelScaleDelta::RobustKernelScaleDelta ( double  delta = 1.)
explicit

Definition at line 40 of file robust_kernel_impl.cpp.

Member Function Documentation

const RobustKernelPtr g2o::RobustKernelScaleDelta::kernel ( ) const
inline

return the underlying kernel

Definition at line 52 of file robust_kernel_impl.h.

void g2o::RobustKernelScaleDelta::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 50 of file robust_kernel_impl.cpp.

void g2o::RobustKernelScaleDelta::setKernel ( const RobustKernelPtr ptr)

use another kernel for the underlying operation

Definition at line 45 of file robust_kernel_impl.cpp.

Member Data Documentation

RobustKernelPtr g2o::RobustKernelScaleDelta::_kernel
protected

Definition at line 59 of file robust_kernel_impl.h.


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