g2o::RobustKernelSaturated Class Reference

Saturated cost function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelSaturated:

Collaboration diagram for g2o::RobustKernelSaturated:

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

Saturated cost function.

The error is at most delta^2

Definition at line 180 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelSaturated::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 145 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta.

{
  double dsqr = _delta * _delta;
  if (e2 <= dsqr) { // inlier
    rho[0] = e2;
    rho[1] = 1.;
    rho[2] = 0.;
  } else { // outlier
    rho[0] = dsqr;
    rho[1] = 0.;
    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