Huber Cost Function. More...
#include <robust_kernel_impl.h>
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
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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.
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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.
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virtual |
Definition at line 72 of file robust_kernel_impl.cpp.
Member Data Documentation
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private |
Definition at line 84 of file robust_kernel_impl.h.
The documentation for this class was generated from the following files: