g2o::RobustKernelPseudoHuber Class Reference

Pseudo Huber Cost Function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelPseudoHuber:

Collaboration diagram for g2o::RobustKernelPseudoHuber:

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

Pseudo Huber Cost Function.

The smooth pseudo huber cost function: See http://en.wikipedia.org/wiki/Huber_loss_function

2 e 2 d (sqrt(– + 1) - 1) 2 d

Definition at line 94 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelPseudoHuber::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 80 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta.

{
  double dsqr = _delta * _delta;
  double dsqrReci = 1. / dsqr;
  double aux1 = dsqrReci * e2 + 1.0;
  double aux2 = sqrt(aux1);
  rho[0] = 2 * dsqr * (aux2 - 1);
  rho[1] = 1. / aux2;
  rho[2] = -0.5 * dsqrReci * rho[1] / aux1;
}

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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