scale a robust kernel to another delta (window size) More...
#include <robust_kernel_impl.h>
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
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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.
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explicit |
Definition at line 40 of file robust_kernel_impl.cpp.
Member Function Documentation
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inline |
return the underlying kernel
Definition at line 52 of file robust_kernel_impl.h.
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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 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
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protected |
Definition at line 59 of file robust_kernel_impl.h.
The documentation for this class was generated from the following files: