base for all robust cost functions More...

#include <robust_kernel.h>

Inheritance diagram for g2o::RobustKernel:

[legend]

Public Member Functions
	RobustKernel ()

	RobustKernel (double delta)

virtual	~RobustKernel ()

virtual void	robustify (double squaredError, Vector3D &rho) const =0

virtual void	setDelta (double delta)

double	delta () const

Protected Attributes
double	_delta

Detailed Description

base for all robust cost functions

Note in all the implementations for the other cost functions the e in the funtions corresponds to the sqaured errors, i.e., the robustification functions gets passed the squared error.

e.g. the robustified least squares function is

chi^2 = sum_{e} rho( e^T Omega e )

Definition at line 48 of file robust_kernel.h.

Constructor & Destructor Documentation

g2o::RobustKernel::RobustKernel ( )

Definition at line 31 of file robust_kernel.cpp.

                            :
   _delta(1.)
 {
 }

g2o::RobustKernel::RobustKernel ( double delta )

explicit

Definition at line 36 of file robust_kernel.cpp.

                                        :
   _delta(delta)
 {
 }

virtual g2o::RobustKernel::~RobustKernel ( )

inlinevirtual

Definition at line 53 of file robust_kernel.h.

53 {}

Member Function Documentation

double g2o::RobustKernel::delta ( ) const

inline

Definition at line 69 of file robust_kernel.h.

Referenced by setDelta().

69 { return _delta;}

g2o::RobustKernel::_delta

double _delta

Definition: robust_kernel.h:72

virtual void g2o::RobustKernel::robustify	(	double	squaredError,
		Vector3D &	rho
	)		const

pure virtual

compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function

Implemented in g2o::RobustKernelDCS, g2o::RobustKernelSaturated, g2o::RobustKernelTukey, g2o::RobustKernelFair, g2o::RobustKernelWelsch, g2o::RobustKernelGemanMcClure, g2o::RobustKernelCauchy, g2o::RobustKernelPseudoHuber, g2o::RobustKernelHuber, and g2o::RobustKernelScaleDelta.

Referenced by g2o::SparseOptimizer::activeRobustChi2().

void g2o::RobustKernel::setDelta ( double delta )

virtual

set the window size of the error. A squared error above delta^2 is considered as outlier in the data.

Definition at line 41 of file robust_kernel.cpp.

References _delta, and delta().

Referenced by MainWindow::setRobustKernel().