Class GemanMcClureLoss

Defined in File geman_mcclure_loss.hpp

Inheritance Relationships

Base Type

public fuse_core::Loss

Class Documentation

class GemanMcClureLoss : public fuse_core::Loss

This class encapsulates the ceres::GemanMcClureLoss class, adding the ability to serialize it and load it dynamically.

The Geman-McClure loss is not provided by the Ceres solver, so it is implemented here, based on table #1 from: http://www.audentia-gestion.fr/research.microsoft/ZhangIVC-97-01.pdf (p. 24)

See the Ceres documentation for more details. http://ceres- solver.org/nnls_modeling.html::lossfunction

Public Functions

explicit GemanMcClureLoss(const double a = 1.0)

Constructor.

Parameters:: a – [in] GemanMcClureLoss parameter ‘a’

~GemanMcClureLoss() override = default: Destructor.

void initialize(fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Base, fuse_core::node_interfaces::Logging, fuse_core::node_interfaces::Parameters> interfaces, const std::string &name) override

Perform any required post-construction initialization, such as reading from the parameter server.

This will be called on each plugin after construction.

Parameters:

interfaces – [in] - The node interfaces used to load the parameter
name – [in] A unique name to initialize this plugin instance, such as from the parameter server.

void print(std::ostream &stream = std::cout) const override

Print a human-readable description of the loss function to the provided stream.

Parameters:: stream – [out] The stream to write to. Defaults to stdout.

ceres::LossFunction *lossFunction() const override

Return a raw pointer to a ceres::LossFunction that implements the loss function.

The Ceres interface requires a raw pointer. Ceres will take ownership of the pointer and promises to properly delete the loss function when it is done. Additionally, Fuse promises that the Loss object will outlive any generated loss functions (i.e. the Ceres objects will be destroyed before the Loss Function objects). This guarantee may allow optimizations for the creation of the loss function objects.

Returns:: A base pointer to an instance of a derived ceres::LossFunction.

inline double a() const

Parameter ‘a’ accessor.

Returns:: Parameter ‘a’.

inline void a(const double a)

Parameter ‘a’ mutator.

Parameters:: a – [in] Parameter ‘a’.

Friends

friend class boost::serialization::access