g2o::RobustKernelScaleDelta Class Reference

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 More...
void	setKernel (const RobustKernelPtr &ptr)
	use another kernel for the underlying operation More...
void	robustify (double error, Vector3D &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

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.

                                                                                          :
  RobustKernel(delta),
  _kernel(kernel)
{
}

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

explicit

Definition at line 40 of file robust_kernel_impl.cpp.

                                                           :
  RobustKernel(delta)
{
}

Member Function Documentation

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

inline

return the underlying kernel

Definition at line 53 of file robust_kernel_impl.h.

{ return _kernel;}

void g2o::RobustKernelScaleDelta::robustify ( double  squaredError, 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.

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

{
  if (_kernel.get()) {
    double dsqr = _delta * _delta;
    double dsqrReci = 1. / dsqr;
    _kernel->robustify(dsqrReci * error, rho);
    rho[0] *= dsqr;
    rho[2] *= dsqrReci;
  } else { // no robustification
    rho[0] = error;
    rho[1] = 1.;
    rho[2] = 0.;
  }
}

void g2o::RobustKernelScaleDelta::setKernel

(

const RobustKernelPtr &

ptr

)

use another kernel for the underlying operation

Definition at line 45 of file robust_kernel_impl.cpp.

References _kernel.

{
  _kernel = ptr;
}

Member Data Documentation

RobustKernelPtr g2o::RobustKernelScaleDelta::_kernel

protected

Definition at line 60 of file robust_kernel_impl.h.

Referenced by robustify(), and setKernel().

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/robust_kernel_impl.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/robust_kernel_impl.cpp