RobustKernelHuber

Huber Cost Function. More...

Inheritance diagram for RobustKernelHuber:

Collaboration diagram for RobustKernelHuber:

Public Member Functions
	RobustKernelHuber (g_type delta)
	Constructs a Huber kernel with the given delta.
virtual void	robustify (g_type e2, Eigen::Vector3< g_type > &rho) const final override
	Computes the Huber robustification.
virtual void	setDelta (g_type delta) override
	Sets the delta parameter.
virtual void	setDeltaSqr (const g_type &delta, const g_type &deltaSqr)
	Sets both delta and its square directly.
Public Member Functions inherited from RobustKernel
g_type	delta () const
	Returns the current delta (window size) value.

Additional Inherited Members
Protected Attributes inherited from RobustKernel
g_type	_delta = 1.0
	The window size parameter; errors above delta^2 are considered outliers.

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 49 of file robust_kernel_impl.h.

Constructor & Destructor Documentation

RobustKernelHuber()

RobustKernelHuber::RobustKernelHuber

(

g_type

delta

)

Constructs a Huber kernel with the given delta.

Parameters

[in]

delta

The threshold parameter.

References RobustKernel::delta().

Member Function Documentation

robustify()

virtual void RobustKernelHuber::robustify ( g_type e2, Eigen::Vector3< g_type > & rho ) const

finaloverridevirtual

Computes the Huber robustification.

Parameters

[in]	e2	The squared error.
[out]	rho	The output rho vector [value, first derivative, second derivative].

Implements RobustKernel.

setDelta()

virtual void RobustKernelHuber::setDelta ( g_type delta )

overridevirtual

Sets the delta parameter.

Parameters

[in]

delta

The new threshold.

Reimplemented from RobustKernel.

References RobustKernel::delta().

setDeltaSqr()

virtual void RobustKernelHuber::setDeltaSqr ( const g_type & delta, const g_type & deltaSqr )

virtual

Sets both delta and its square directly.

Parameters

[in]	delta	The threshold.
[in]	deltaSqr	The squared threshold.

References RobustKernel::delta().

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

• GraphOptimization/Headers/robust_kernel_impl.h