g2o::RobustKernelHuber Class Reference

Huber Cost Function. More...

#include <robust_kernel_impl.h>

Inheritance diagram for g2o::RobustKernelHuber:

Collaboration diagram for g2o::RobustKernelHuber:

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

Huber Cost Function.

Loss function as described by Huber See http://en.wikipedia.org/wiki/Huber_loss_function

If e^(1/2) < d rho(e) = e

else

          1/2    2

rho(e) = 2 d e - d

Definition at line 77 of file robust_kernel_impl.h.

Member Function Documentation

robustify()

void g2o::RobustKernelHuber::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 60 of file robust_kernel_impl.cpp.

References g2o::RobustKernel::_delta.

---

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