InvChi2CostFunction Struct Reference

Inheritance diagram for InvChi2CostFunction:

Collaboration diagram for InvChi2CostFunction:

Public Member Functions
virtual double	operator() (HyperGraph::Edge *edge, HyperGraph::Vertex *from, HyperGraph::Vertex *to)
Public Member Functions inherited from g2o::HyperDijkstra::CostFunction
virtual	~CostFunction ()

Detailed Description

Definition at line 61 of file g2o-unfold.cpp.

Member Function Documentation

operator()()

double InvChi2CostFunction::operator() ( HyperGraph::Edge *  edge, HyperGraph::Vertex *  from, HyperGraph::Vertex *  to  )

virtual

Implements g2o::HyperDijkstra::CostFunction.

Definition at line 66 of file g2o-unfold.cpp.

                                                                {
  OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(edge);
  e->computeError();
  if (e->robustKernel()) e->robustifyError();
  return 1.0 / (1e-6 + e->chi2());
}

References g2o::OptimizableGraph::Edge::chi2(), g2o::OptimizableGraph::Edge::computeError(), and g2o::OptimizableGraph::Edge::robustKernel().

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The documentation for this struct was generated from the following file:

• /build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_unfold/g2o-unfold.cpp