Public Member Functions | Private Attributes | List of all members
g2o::RobustKernelTukey Class Reference

Tukey Cost Function. More...

#include <robust_kernel_impl.h>

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

Public Member Functions

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

Private Attributes

float _deltaSqr
 
float _invDeltaSqr
 

Additional Inherited Members

- Protected Attributes inherited from g2o::RobustKernel
double _delta
 

Detailed Description

Tukey Cost Function.

If e^(1/2) < d rho(e) = delta2(1-(1-e/delta2)^3)

else

rho(e) = delta2

Definition at line 98 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelTukey::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 100 of file robust_kernel_impl.cpp.

void g2o::RobustKernelTukey::setDeltaSqr ( const double &  deltaSqr,
const double &  inv 
)
virtual

Definition at line 93 of file robust_kernel_impl.cpp.

Member Data Documentation

float g2o::RobustKernelTukey::_deltaSqr
private

Definition at line 105 of file robust_kernel_impl.h.

float g2o::RobustKernelTukey::_invDeltaSqr
private

Definition at line 106 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