g2o::RobustKernelWelsch Class Reference

Welsch cost function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelWelsch:

Collaboration diagram for g2o::RobustKernelWelsch:

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

Welsch cost function.

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

d^2 [1 - exp(- e2/d^2)]

Definition at line 137 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelWelsch::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 109 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta.

{
  const double dsqr = _delta * _delta;
  const double aux = e2 / dsqr;
  const double aux2 = exp (-aux);
  rho[0] = dsqr * (1. - aux2);
  rho[1] = aux2;
  rho[2] = -aux2 / dsqr;
}

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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