Public Member Functions | Private Attributes | List of all members
g2o::RobustKernelHuber Class Reference

Huber Cost Function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelHuber:
Inheritance graph
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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.


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


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47