Visual Servoing Platform  version 3.6.1 under development (2024-05-30)
vpScale Class Reference

#include <visp3/core/vpScale.h>

Public Member Functions

 vpScale ()
 vpScale (double kernel_bandwidth, unsigned int dim=1)
virtual ~vpScale (void)
double MeanShift (vpColVector &error)
double KernelDensity (vpColVector &error, unsigned int position)
double KernelDensityGradient (vpColVector &error, unsigned int position)
double KernelDensity_EPANECHNIKOV (vpColVector &X)
double KernelDensityGradient_EPANECHNIKOV (double X, unsigned int n)

Detailed Description

Contains various estimators for scale.
Methods : Median Absolute Deviation (MAD), MPDE, Mean shift kernel density estimation.

Andrew Comport

Contains different methods for estimating the robust scale of an error distribution.

Methods of Median Absolute Deviation and Density Gradient estimation using the Mean Shift method.

Andrew Comport

Definition at line 67 of file vpScale.h.

Constructor & Destructor Documentation

◆ vpScale() [1/2]

vpScale::vpScale ( )


Definition at line 51 of file vpScale.cpp.

◆ vpScale() [2/2]

vpScale::vpScale ( double  kernel_bandwidth,
unsigned int  dim = 1 


Definition at line 62 of file vpScale.cpp.

◆ ~vpScale()

vpScale::~vpScale ( void  )


Definition at line 74 of file vpScale.cpp.

Member Function Documentation

◆ KernelDensity()

double vpScale::KernelDensity ( vpColVector error,
unsigned int  position 

Definition at line 115 of file vpScale.cpp.

References vpArray2D< Type >::getRows(), and KernelDensity_EPANECHNIKOV().

Referenced by MeanShift().

◆ KernelDensity_EPANECHNIKOV()

double vpScale::KernelDensity_EPANECHNIKOV ( vpColVector X)

Definition at line 210 of file vpScale.cpp.

References vpException::fatalError.

Referenced by KernelDensity().

◆ KernelDensityGradient()

double vpScale::KernelDensityGradient ( vpColVector error,
unsigned int  position 

Definition at line 164 of file vpScale.cpp.

References vpArray2D< Type >::getRows(), KernelDensityGradient_EPANECHNIKOV(), and vpMath::sqr().

Referenced by MeanShift().

◆ KernelDensityGradient_EPANECHNIKOV()

double vpScale::KernelDensityGradient_EPANECHNIKOV ( double  X,
unsigned int  n 

Definition at line 238 of file vpScale.cpp.

References vpException::fatalError, and vpMath::sqr().

Referenced by KernelDensityGradient().

◆ MeanShift()

double vpScale::MeanShift ( vpColVector error)