g2o::RobustKernelHuber Class Reference

Huber Cost Function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelHuber:

Public Member Functions
virtual void	robustify (double e2, Eigen::Vector3d &rho) const
virtual void	setDelta (double delta)
virtual void	setDeltaSqr (const double &delta, const double &deltaSqr)
Public Member Functions inherited from g2o::RobustKernel
double	delta () const
	RobustKernel ()
	RobustKernel (double delta)
virtual	~RobustKernel ()

Private Attributes
float	dsqr

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

Detailed Description

Huber Cost Function.

Loss function as described by Huber See http://en.wikipedia.org/wiki/Huber_loss_function

If e^(1/2) < d rho(e) = e

else

          1/2    2

rho(e) = 2 d e - d

Definition at line 76 of file robust_kernel_impl.h.

Member Function Documentation

void g2o::RobustKernelHuber::robustify ( double  squaredError, Eigen::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 78 of file robust_kernel_impl.cpp.

void g2o::RobustKernelHuber::setDelta ( double  delta )

virtual

set the window size of the error. A squared error above delta^2 is considered as outlier in the data.

Reimplemented from g2o::RobustKernel.

Definition at line 65 of file robust_kernel_impl.cpp.

void g2o::RobustKernelHuber::setDeltaSqr ( const double &  delta, const double &  deltaSqr  )

virtual

Definition at line 72 of file robust_kernel_impl.cpp.

Member Data Documentation

float g2o::RobustKernelHuber::dsqr

private

Definition at line 84 of file robust_kernel_impl.h.

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

• robust_kernel_impl.h
• robust_kernel_impl.cpp