g2o::RobustKernelFair Class Reference

Fair cost function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelFair:

Collaboration diagram for g2o::RobustKernelFair:

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

Fair cost function.

See http://research.microsoft.com/en-us/um/people/zhang/Papers/ZhangIVC-97-01.pdf

2 * d^2 [e2 / d - log (1 + e2 / d)]

Definition at line 150 of file robust_kernel_impl.h.

Member Function Documentation

robustify()

void g2o::RobustKernelFair::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 111 of file robust_kernel_impl.cpp.

                                                              {
  const double sqrte = sqrt(e2);
  const double dsqr = _delta * _delta;
  const double aux = sqrte / _delta;
  rho[0] = 2. * dsqr * (aux - log1p(aux));
  rho[1] = 1. / (1. + aux);
 
  const double drec = 1. / _delta;
  const double e_3_2 = 1. / (sqrte * e2);
  const double aux2 = drec * sqrte + 1;
 
  rho[2] = 2 * dsqr *
           (1 / (4 * dsqr * aux2 * aux2 * e2) + (drec * e_3_2) / (4 * aux2) -
            (drec * e_3_2) / 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