Functor to minimize median of residuals^2. More...

Public Member Functions
double	operator() (double c, double s)
	get median of residuals^2

Public Attributes
MatrixXd	mat
	Matrix of the linear system.

VectorXd	res
	vector with residuals^2

Detailed Description

Functor to minimize median of residuals^2.

Definition at line 104 of file BoostVectorStandAlone.cc.

Member Function Documentation

◆ operator()()

double operator()	(	double	c,
		double	s
	)

inline

get median of residuals^2

Definition at line 109 of file BoostVectorStandAlone.cc.

    {
      // c and s are slopes of 2D linear function
      Vector3d pars(-c, -s, -1);
      res = mat * pars; // calculate residuals
      res =  res.array().square();
 
      return median(res.data(), res.rows());
    }

Member Data Documentation

◆ mat

MatrixXd mat

Matrix of the linear system.

Definition at line 105 of file BoostVectorStandAlone.cc.

◆ res

VectorXd res

vector with residuals^2

Definition at line 106 of file BoostVectorStandAlone.cc.

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

tracking/calibration/src/BoostVectorStandAlone.cc