g2o::RobustKernelDCS Class Reference

Dynamic covariance scaling - DCS. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelDCS:

Collaboration diagram for g2o::RobustKernelDCS:

Public Member Functions
virtual void	robustify (double e2, Vector3 &rho) const
Public Member Functions inherited from g2o::RobustKernel
	RobustKernel ()
	RobustKernel (double delta)
virtual	~RobustKernel ()
virtual void	setDelta (double delta)
double	delta () const

Additional Inherited Members
Protected Attributes inherited from g2o::RobustKernel
double	_delta

Detailed Description

Dynamic covariance scaling - DCS.

See paper Robust Map Optimization from Agarwal et al. ICRA 2013

delta is used as $phi$

Definition at line 190 of file robust_kernel_impl.h.

Member Function Documentation

robustify()

void g2o::RobustKernelDCS::robustify ( double  squaredError, Vector3 &  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 155 of file robust_kernel_impl.cpp.

                                                             {
  const double& phi = _delta;
  double scale = (2.0 * phi) / (phi + e2);
  if (scale >= 1.0) {  // limit scale to max of 1 and return this
    rho[0] = e2;
    rho[1] = 1.;
    rho[2] = 0;
  } else {
    double phi_sqr = phi * phi;
    rho[0] = scale * e2 * scale;
    rho[1] = (4 * phi_sqr * (phi - e2)) / std::pow(phi + e2, 3);
    rho[2] = -(8 * phi_sqr * (2 * phi - e2)) / std::pow(phi + e2, 4);
  }
}

References g2o::RobustKernel::_delta.

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