#include <irls.h>

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

Precision	reweight (Precision x)
	Returns . More...

Precision	true_scale (Precision x)
	Returns . More...

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

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

Detailed Description

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

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

Definition at line 45 of file irls.h.

Member Function Documentation

template<typename Precision >

Precision TooN::RobustI< Precision >::objective ( Precision x )

inline

Returns $\int xw(x)dx$ .

Definition at line 50 of file irls.h.

template<typename Precision >

Precision TooN::RobustI< Precision >::reweight ( Precision x )

inline

Returns $w(x)$ .

Definition at line 48 of file irls.h.

template<typename Precision >

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

inline

Set the noise standard deviation.

Definition at line 46 of file irls.h.

template<typename Precision >

Precision TooN::RobustI< Precision >::true_scale ( Precision x )

inline

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

Definition at line 49 of file irls.h.

Member Data Documentation

template<typename Precision >

double TooN::RobustI< Precision >::sd_inlier

The inlier standard deviation, $\sigma$ .

Definition at line 47 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::RobustI< Precision >

Member Function Documentation

Member Data Documentation

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