Enum Objective 

pub enum Objective {
    Variance,
    SumOfSquares,
    SumOfExponentials,
}

What “sharp” means when scoring an image of warped events. Every objective is maximised.

Variants

Variance

Variance of the IWE — Gallego & Scaramuzza, RA-L 2017. The standard choice, and the default.

SumOfSquares

Mean of the squared IWE — Stoffregen & Kleeman, CVPR 2019. Cheaper than variance and behaves similarly; slightly more sensitive to the total event count.

SumOfExponentials

Mean of exp(IWE) — Stoffregen & Kleeman, CVPR 2019. Rewards concentration much more aggressively, which sharpens the optimum but narrows the basin around it.

Implementations

impl Objective

pub fn default_blur(self) -> f64

Blur applied to the IWE before scoring, following the reference’s per-objective table.

Blur is not cosmetic: without it the objective is a field of isolated spikes with no gradient between them, and the optimiser has nothing to follow.

pub fn score(self, iwe: &[f32]) -> f64

Scores an IWE. Higher is sharper.

Trait Implementations

impl Clone for Objective

fn clone(&self) -> Objective

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for Objective

impl Debug for Objective

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Objective

fn default() -> Objective

Returns the “default value” for a type.

impl Eq for Objective

impl PartialEq for Objective

fn eq(&self, other: &Objective) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Objective