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
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.

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

RobustKernelScaleDelta() [2/2]

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

explicit

Definition at line 39 of file robust_kernel_impl.cpp.

    : RobustKernel(delta) {}

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.

{ return _kernel; }

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.

                                                                       {
  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.;
  }
}

References g2o::RobustKernel::_delta, _kernel, and g2o::RobustKernel::robustify().

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.

                                                                 {
  _kernel = ptr;
}

References _kernel.

Member Data Documentation

_kernel

RobustKernelPtr g2o::RobustKernelScaleDelta::_kernel

protected

Definition at line 60 of file robust_kernel_impl.h.

Referenced by robustify(), and setKernel().

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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