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.

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