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

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelScaleDelta:

Collaboration diagram for g2o::RobustKernelScaleDelta:

Public Member Functions
	RobustKernelScaleDelta (const RobustKernelPtr &kernel, double delta=1.)
	RobustKernelScaleDelta (double delta=1.)
const RobustKernelPtr	kernel () const
	return the underlying kernel
void	setKernel (const RobustKernelPtr &ptr)
	use another kernel for the underlying operation
void	robustify (double error, Vector3 &rho) const
Public Member Functions inherited from g2o::RobustKernel
	RobustKernel ()
	RobustKernel (double delta)
virtual	~RobustKernel ()
virtual void	setDelta (double delta)
double	delta () const

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 42 of file robust_kernel_impl.h.

Constructor & Destructor Documentation

◆ RobustKernelScaleDelta() [1/2]

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

explicit

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

Definition at line 35 of file robust_kernel_impl.cpp.

References _kernel, g2o::RobustKernel::delta(), kernel(), and g2o::RobustKernel::RobustKernel().

◆ RobustKernelScaleDelta() [2/2]

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

explicit

Definition at line 39 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::delta(), and g2o::RobustKernel::RobustKernel().

Member Function Documentation

◆ kernel()

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

inline

return the underlying kernel

Definition at line 53 of file robust_kernel_impl.h.

References _kernel.

Referenced by RobustKernelScaleDelta().

◆ robustify()

void g2o::RobustKernelScaleDelta::robustify	(	double	squaredError,
		Vector3 &	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 46 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta, and _kernel.

◆ setKernel()

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

use another kernel for the underlying operation

Definition at line 42 of file robust_kernel_impl.cpp.

References _kernel.

Member Data Documentation

◆ _kernel

RobustKernelPtr g2o::RobustKernelScaleDelta::_kernel

protected

Definition at line 60 of file robust_kernel_impl.h.

Referenced by kernel(), robustify(), RobustKernelScaleDelta(), and setKernel().

The documentation for this class was generated from the following files:

/build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel_impl.h
/build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel_impl.cpp

Public Member Functions

Protected Attributes