#include <irls.h>

Public Member Functions
void	set_sd (Precision x)
	Set the noise standard deviation. More...

Precision	reweight (Precision d)
	Returns . More...

Precision	true_scale (Precision d)
	Returns . More...

Precision	objective (Precision d)
	Returns $\int xw(x)dx$ . More...

Public Attributes
Precision	sd_inlier
	The inlier standard deviation squared, $\sigma$ . More...

Detailed Description

template<typename Precision>
struct TooN::RobustII< Precision >

Robust reweighting (type II) for IRLS. A reweighting class with $w(x)=\frac{1}{\sigma + x^2}$ . This structure can be passed as the second template argument in IRLS.

Definition at line 58 of file irls.h.

Member Function Documentation

template<typename Precision >

Precision TooN::RobustII< Precision >::objective ( Precision d )

inline

Returns $\int xw(x)dx$ .

Definition at line 63 of file irls.h.

template<typename Precision >

Precision TooN::RobustII< Precision >::reweight ( Precision d )

inline

Returns $w(x)$ .

Definition at line 61 of file irls.h.

template<typename Precision >

void TooN::RobustII< Precision >::set_sd ( Precision x )

inline

Set the noise standard deviation.

Definition at line 59 of file irls.h.

template<typename Precision >

Precision TooN::RobustII< Precision >::true_scale ( Precision d )

inline

Returns $w(x) + xw'(x)$ .

Definition at line 62 of file irls.h.

Member Data Documentation

template<typename Precision >

Precision TooN::RobustII< Precision >::sd_inlier

The inlier standard deviation squared, $\sigma$ .

Definition at line 60 of file irls.h.

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

libSLAMflex - android project/jni/irls.h

Public Member Functions

Public Attributes

Detailed Description

template<typename Precision> struct TooN::RobustII< Precision >

Member Function Documentation

Member Data Documentation

template<typename Precision>
struct TooN::RobustII< Precision >