#include <LossFunctions.h>
Public Types | |
typedef std::shared_ptr< L2WithDeadZone > | shared_ptr |
Public Types inherited from gtsam::noiseModel::mEstimator::Base | |
enum | ReweightScheme { Scalar, Block } |
typedef std::shared_ptr< Base > | shared_ptr |
Public Member Functions | |
bool | equals (const Base &expected, double tol=1e-8) const override |
L2WithDeadZone (double k=1.0, const ReweightScheme reweight=Block) | |
double | loss (double distance) const override |
double | modelParameter () const |
void | print (const std::string &s) const override |
double | weight (double distance) const override |
Public Member Functions inherited from gtsam::noiseModel::mEstimator::Base | |
Base (const ReweightScheme reweight=Block) | |
void | reweight (Matrix &A, Vector &error) const |
void | reweight (Matrix &A1, Matrix &A2, Matrix &A3, Vector &error) const |
void | reweight (Matrix &A1, Matrix &A2, Vector &error) const |
void | reweight (std::vector< Matrix > &A, Vector &error) const |
void | reweight (Vector &error) const |
ReweightScheme | reweightScheme () const |
Returns the reweight scheme, as explained in ReweightScheme. More... | |
Vector | sqrtWeight (const Vector &error) const |
double | sqrtWeight (double distance) const |
Vector | weight (const Vector &error) const |
virtual | ~Base () |
Static Public Member Functions | |
static shared_ptr | Create (double k, const ReweightScheme reweight=Block) |
Protected Attributes | |
double | k_ |
Protected Attributes inherited from gtsam::noiseModel::mEstimator::Base | |
ReweightScheme | reweight_ |
Strategy for reweighting. More... | |
L2WithDeadZone implements a standard L2 penalty, but with a dead zone of width 2*k, centered at the origin. The resulting penalty within the dead zone is always zero, and grows quadratically outside the dead zone. In this sense, the L2WithDeadZone penalty is "robust to inliers", rather than being robust to outliers. This penalty can be used to create barrier functions in a general way.
This model has a scalar parameter "k".
Definition at line 447 of file LossFunctions.h.
typedef std::shared_ptr<L2WithDeadZone> gtsam::noiseModel::mEstimator::L2WithDeadZone::shared_ptr |
Definition at line 452 of file LossFunctions.h.
gtsam::noiseModel::mEstimator::L2WithDeadZone::L2WithDeadZone | ( | double | k = 1.0 , |
const ReweightScheme | reweight = Block |
||
) |
Definition at line 393 of file LossFunctions.cpp.
|
static |
Definition at line 424 of file LossFunctions.cpp.
|
overridevirtual |
Implements gtsam::noiseModel::mEstimator::Base.
Definition at line 418 of file LossFunctions.cpp.
|
overridevirtual |
This method is responsible for returning the total penalty for a given amount of error. For example, this method is responsible for implementing the quadratic function for an L2 penalty, the absolute value function for an L1 penalty, etc.
TODO(mikebosse): When the loss function has as input the norm of the error vector, then it prevents implementations of asymmeric loss functions. It would be better for this function to accept the vector and internally call the norm if necessary.
This returns in mEstimator
Reimplemented from gtsam::noiseModel::mEstimator::Base.
Definition at line 409 of file LossFunctions.cpp.
|
inline |
Definition at line 460 of file LossFunctions.h.
|
overridevirtual |
Implements gtsam::noiseModel::mEstimator::Base.
Definition at line 414 of file LossFunctions.cpp.
|
overridevirtual |
This method is responsible for returning the weight function for a given amount of error. The weight function is related to the analytic derivative of the loss function. See https://members.loria.fr/MOBerger/Enseignement/Master2/Documents/ZhangIVC-97-01.pdf for details. This method is required when optimizing cost functions with robust penalties using iteratively re-weighted least squares.
This returns w(x) in mEstimator
Implements gtsam::noiseModel::mEstimator::Base.
Definition at line 400 of file LossFunctions.cpp.
|
protected |
Definition at line 449 of file LossFunctions.h.