g2o::RobustKernelTukey Class Reference

Tukey Cost Function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelTukey:

Collaboration diagram for g2o::RobustKernelTukey:

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

Tukey Cost Function.

See http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf

If e2^(1/2) <= d rho(e) = d^2 * (1 - ( 1 - e2 / d^2)^3) / 3

else

rho(e) = d^2 / 3

Definition at line 169 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelTukey::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 128 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta.

{
  const double e = sqrt(e2);
  const double delta2 = _delta * _delta;
  if (e <= _delta) {
    const double aux = e2 / delta2;
    rho[0] = delta2 * (1. - std::pow((1. - aux), 3)) / 3.;
    rho[1] = std::pow((1. - aux), 2);
    rho[2] = -2. * (1. - aux) / delta2;
  } else {
    rho[0] = delta2 / 3.;
    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