Tukey Cost Function. More...
#include <robust_kernel_impl.h>
Inheritance diagram for g2o::RobustKernelTukey:
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
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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 100 of file robust_kernel_impl.cpp.
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virtual |
Definition at line 93 of file robust_kernel_impl.cpp.
Member Data Documentation
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private |
Definition at line 105 of file robust_kernel_impl.h.
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private |
Definition at line 106 of file robust_kernel_impl.h.
The documentation for this class was generated from the following files: