RobustII< Precision > Struct Template Reference
[Linear equation solvers]

Robust reweighting (type II) for IRLS. More...

#include <irls.h>

List of all members.

Public Member Functions

void set_sd (Precision x)
Precision reweight (Precision d)
Precision true_scale (Precision d)
Precision objective (Precision d)

Public Attributes

Precision sd_inlier


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.


Member Function Documentation

void set_sd ( Precision  x  ) 

Set the noise standard deviation.

References RobustII< Precision >::sd_inlier.

Precision reweight ( Precision  d  ) 

Precision true_scale ( Precision  d  ) 

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

References RobustII< Precision >::reweight().

Precision objective ( Precision  d  ) 

Returns $\int xw(x)dx$.

References RobustII< Precision >::sd_inlier.


Member Data Documentation

Precision sd_inlier

The inlier standard deviation squared, $\sigma$.

Referenced by RobustII< Precision >::objective(), RobustII< Precision >::reweight(), and RobustII< Precision >::set_sd().


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