g2o::RobustKernelDCS Class Reference

Dynamic covariance scaling - DCS. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelDCS:

Collaboration diagram for g2o::RobustKernelDCS:

Public Member Functions
virtual void	robustify (double e2, Vector3D &rho) const
Public Member Functions inherited from g2o::RobustKernel
	RobustKernel ()
	RobustKernel (double delta)
virtual	~RobustKernel ()
virtual void	setDelta (double delta)
double	delta () const

Additional Inherited Members
Protected Attributes inherited from g2o::RobustKernel
double	_delta

Detailed Description

Dynamic covariance scaling - DCS.

See paper Robust Map Optimization from Agarwal et al. ICRA 2013

delta is used as $phi$

Definition at line 193 of file robust_kernel_impl.h.

Member Function Documentation

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

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

Implements g2o::RobustKernel.

Definition at line 160 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta, and G2O_REGISTER_ROBUST_KERNEL.

{
  const double& phi = _delta;
  double scale = (2.0*phi)/(phi+e2);
  if(scale>=1.0)
    scale = 1.0;

  rho[0] = scale*e2*scale;
  rho[1] = (scale*scale);
  rho[2] = 0;
}

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The documentation for this class was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/core/robust_kernel_impl.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/robust_kernel_impl.cpp