g2o::RobustKernel Class Reference

base for all robust cost functions More...

#include <robust_kernel.h>

Inheritance diagram for g2o::RobustKernel:

Public Member Functions
	RobustKernel ()
	RobustKernel (double delta)
virtual	~RobustKernel ()
virtual void	robustify (double squaredError, Vector3 &rho) const =0
virtual void	setDelta (double delta)
double	delta () const

Protected Attributes
double	_delta

Detailed Description

base for all robust cost functions

Note in all the implementations for the other cost functions the e in the functions corresponds to the squared errors, i.e., the robustification functions gets passed the squared error.

e.g. the robustified least squares function is

chi^2 = sum_{e} rho( e^T Omega e )

Definition at line 48 of file robust_kernel.h.

Constructor & Destructor Documentation

RobustKernel() [1/2]

g2o::RobustKernel::RobustKernel

(

)

Definition at line 31 of file robust_kernel.cpp.

: _delta(1.) {}

RobustKernel() [2/2]

g2o::RobustKernel::RobustKernel ( double  delta )

explicit

Definition at line 33 of file robust_kernel.cpp.

: _delta(delta) {}

~RobustKernel()

virtual g2o::RobustKernel::~RobustKernel ( )

inlinevirtual

Definition at line 52 of file robust_kernel.h.

{}

Member Function Documentation

delta()

double g2o::RobustKernel::delta ( ) const

inline

Definition at line 68 of file robust_kernel.h.

{ return _delta; }

Referenced by setDelta().

robustify()

virtual void g2o::RobustKernel::robustify ( double  squaredError, Vector3 &  rho  ) const

pure 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

Implemented in g2o::RobustKernelHuber, g2o::RobustKernelPseudoHuber, g2o::RobustKernelCauchy, g2o::RobustKernelGemanMcClure, g2o::RobustKernelWelsch, g2o::RobustKernelFair, g2o::RobustKernelTukey, g2o::RobustKernelSaturated, g2o::RobustKernelDCS, and g2o::RobustKernelScaleDelta.

Referenced by g2o::SparseOptimizer::activeRobustChi2(), g2o::StructureOnlySolver< PointDoF >::calc(), and g2o::RobustKernelScaleDelta::robustify().

setDelta()

void g2o::RobustKernel::setDelta ( double  delta )

virtual

set the window size of the error. A squared error above delta^2 is considered as outlier in the data.

Definition at line 35 of file robust_kernel.cpp.

{ _delta = delta; }

References _delta, and delta().

Referenced by MainWindow::setRobustKernel().

Member Data Documentation

_delta

double g2o::RobustKernel::_delta

protected

Definition at line 71 of file robust_kernel.h.

Referenced by g2o::RobustKernelHuber::robustify(), g2o::RobustKernelPseudoHuber::robustify(), g2o::RobustKernelCauchy::robustify(), g2o::RobustKernelGemanMcClure::robustify(), g2o::RobustKernelWelsch::robustify(), g2o::RobustKernelFair::robustify(), g2o::RobustKernelTukey::robustify(), g2o::RobustKernelSaturated::robustify(), g2o::RobustKernelDCS::robustify(), g2o::RobustKernelScaleDelta::robustify(), and setDelta().

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel.cpp