loss_function.cpp

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#include <fuse_loss/loss_function.h>
 
#include <cmath>
#include <limits>
 
 
namespace ceres
{
 
void DCSLoss::Evaluate(double s, double rho[3]) const
{
  if (s > a_)
  {
    // Outlier region
    const double inv = 1.0 / (a_ + s);
    const double scale = 2.0 * a_ * inv;
 
    rho[0] = a_ * (3.0 * s - a_) * inv;
    rho[1] = scale * scale;
    rho[2] = -2.0 * inv * rho[1];
  }
  else
  {
    // Inlier region
    rho[0] = s;
    rho[1] = 1.0;
    rho[2] = 0.0;
  }
}
 
void FairLoss::Evaluate(double s, double rho[3]) const
{
  const double r = std::sqrt(s);
  const double ra = r / a_;
  const double sum = 1.0 + ra;
 
  rho[0] = 2.0 * b_ * (ra - std::log(sum));
  rho[1] = 1.0 / sum;
  rho[2] = r == 0.0 ? std::numeric_limits<double>::lowest() : -0.5 / (a_ * r * sum * sum);
}
 
void GemanMcClureLoss::Evaluate(double s, double rho[3]) const
{
  const double sum = b_ + s;
  const double inv = 1.0 / sum;
  const double scale = b_ * inv;
 
  rho[0] = s * scale;
  rho[1] = scale * scale;
  rho[2] = -2.0 * inv * rho[1];
}
 
void WelschLoss::Evaluate(double s, double rho[3]) const
{
  const double exp = std::exp(s * c_);
 
  rho[0] = b_ * (1 - exp);
  rho[1] = exp;
  rho[2] = c_ * exp;
}
 
}  // namespace ceres