mrpt::vision::RobustKernel< static_cast< int >(rkPseudoHuber), T > Struct Template Reference

Detailed Description

template<typename T>
struct mrpt::vision::RobustKernel< static_cast< int >(rkPseudoHuber), T >

Pseudo-huber robust kernel: rho(r) = b^2 * (-1+sqrt(1+(r)^2))

Note

the "static_cast<>" in the declaration is to avoid a bug in MSVC 2008

Definition at line 81 of file robust_kernels.h.

#include <mrpt/vision/robust_kernels.h>

Public Member Functions
T	eval (const T delta, T *out_1st_deriv=NULL)
	Evaluates the kernel function at error norm = "delta" and returns robustified squared error and, optionally, the 1st derivative of sqrt(2*rho(r)) at this point.

Public Attributes
T	b_sq
	The kernel parameter "b" squared (b^2).

Member Function Documentation

template<typename T >

T mrpt::vision::RobustKernel< static_cast< int >(rkPseudoHuber), T >::eval ( const T  delta, T *  out_1st_deriv = NULL  )

inline

Evaluates the kernel function at error norm = "delta" and returns robustified squared error and, optionally, the 1st derivative of sqrt(2*rho(r)) at this point.

Definition at line 88 of file robust_kernels.h.

Member Data Documentation

template<typename T >

T mrpt::vision::RobustKernel< static_cast< int >(rkPseudoHuber), T >::b_sq

The kernel parameter "b" squared (b^2).

Definition at line 83 of file robust_kernels.h.