Visual Servoing Platform: vpRobust Class Reference

Visual Servoing Platform version 3.3.0 under development (2020-02-17)

#include <visp3/core/vpRobust.h>

Public Types
enum	vpRobustEstimatorType { TUKEY, CAUCHY, HUBER }

Public Member Functions
	vpRobust (unsigned int n_data)

	vpRobust ()

	vpRobust (const vpRobust &other)

virtual	~vpRobust ()

void	MEstimator (const vpRobustEstimatorType method, const vpColVector &residues, vpColVector &weights)

void	MEstimator (const vpRobustEstimatorType method, const vpColVector &residues, const vpColVector &all_residues, vpColVector &weights)

vpRobust &	operator= (const vpRobust &other)

vpRobust &	operator= (const vpRobust &&other)

void	resize (unsigned int n_data)

void	setIteration (unsigned int iter)

void	setThreshold (double noise_threshold)

vpColVector	simultMEstimator (vpColVector &residues)

Detailed Description

Contains an M-Estimator and various influence function.

Supported methods: M-estimation, Tukey, Cauchy and Huber

Examples:: testTukeyEstimator.cpp.

Definition at line 58 of file vpRobust.h.

Member Enumeration Documentation

◆ vpRobustEstimatorType

enum vpRobust::vpRobustEstimatorType

Enumeration of influence functions.

Enumerator
TUKEY
CAUCHY
HUBER

Definition at line 63 of file vpRobust.h.

Constructor & Destructor Documentation

◆ vpRobust() [1/3]

vpRobust::vpRobust ( unsigned int n_data )

explicit

Default Constructor.

Constructor.

Parameters

n_data : Size of the data vector.

Definition at line 65 of file vpRobust.cpp.

References vpColVector::resize(), and vpCDEBUG.

◆ vpRobust() [2/3]

vpRobust::vpRobust ( )

Default constructor.

Definition at line 79 of file vpRobust.cpp.

◆ vpRobust() [3/3]

vpRobust::vpRobust ( const vpRobust & other )

Copy constructor.

Definition at line 87 of file vpRobust.cpp.

◆ ~vpRobust()

virtual vpRobust::~vpRobust ( )

inlinevirtual

Destructor.

Definition at line 91 of file vpRobust.h.

Member Function Documentation

◆ MEstimator() [1/2]

void vpRobust::MEstimator	(	const vpRobustEstimatorType	method,
		const vpColVector &	residues,
		vpColVector &	weights
	)

Compute the weights according a residue vector and a PsiFunction.

Calculate an Mestimate given a particular loss function using MAD (Median Absolute Deviation) as a scale estimate at each iteration.

Precondition: Requires a column vector of residues.

Postcondition: Keeps a copy of the weights so that rejected points are kept at zero weight.

Parameters

method : Type of M-Estimator $\rho(r_i)$ :

TUKEY : $\rho(r_i, C) = \left\{ \begin{array}{ll} \frac{r_i^6}{6} - \frac{C^2r_i^4}{2} +\frac{C^4r_i^2}{2} & \mbox{if} |r_i| < C \\ \frac{1}{6} C^6 & \mbox{else} \end{array} \right.$ with influence function $\psi(r_i, C) = \left\{ \begin{array}{ll} r_i(r_i^2-C^2)^2 & \mbox{if} |r_i| < C \\ 0 & \mbox{else} \end{array} \right.$ where $C=4.7 \hat{\sigma}$ and with $\hat{\sigma} = 1.48{Med}_i(|r_i - {Med}_j(r_j)|)$
CAUCHY :
HUBER :

Parameters

residues	: Residues used in the previous formula.
weights	: Vector of weights $w_i = \frac{\psi(r_i)}{r_i}$ . Values are in [0, 1]. A value near zero means that the data is an outlier. This vector must have the same size residue vector.

Returns: Returns a Column Vector of weights associated to each residue.

Examples:: testTukeyEstimator.cpp.

Definition at line 176 of file vpRobust.cpp.

References CAUCHY, vpArray2D< Type >::getRows(), HUBER, resize(), TUKEY, and vpCDEBUG.

Referenced by vpPoseFeatures::computePose(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVSWeights(), vpMbTracker::computeVVSWeights(), vpMeLine::leastSquare(), vpPose::poseVirtualVSrobust(), vpMeEllipse::printParameters(), and vpHomography::robust().

◆ MEstimator() [2/2]

void vpRobust::MEstimator	(	const vpRobustEstimatorType	method,
		const vpColVector &	residues,
		const vpColVector &	all_residues,
		vpColVector &	weights
	)

Compute the weights according a residue vector and a PsiFunction.

Definition at line 231 of file vpRobust.cpp.

References CAUCHY, vpArray2D< Type >::data, vpArray2D< Type >::getRows(), HUBER, resize(), vpColVector::resize(), TUKEY, and vpCDEBUG.

◆ operator=() [1/2]

vpRobust & vpRobust::operator= ( const vpRobust & other )

Copy operator.

Definition at line 92 of file vpRobust.cpp.

◆ operator=() [2/2]

vpRobust & vpRobust::operator= ( const vpRobust && other )

Move operator.

Definition at line 109 of file vpRobust.cpp.

◆ resize()

void vpRobust::resize ( unsigned int n_data )

Resize containers for sort methods.

Resize containers.

Parameters

n_data : size of input data vector.

Definition at line 128 of file vpRobust.cpp.

References vpColVector::resize().

Referenced by vpMbEdgeKltTracker::computeVVS(), vpMbDepthNormalTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMbEdgeKltMultiTracker::initMbtTracking(), and MEstimator().

◆ setIteration()

void vpRobust::setIteration ( unsigned int iter )

inline

Set iteration.

Definition at line 109 of file vpRobust.h.

Referenced by vpPoseFeatures::computePose(), vpMeLine::leastSquare(), vpPose::poseVirtualVSrobust(), vpMeEllipse::printParameters(), and vpHomography::robust().

◆ setThreshold()

void vpRobust::setThreshold ( double noise_threshold )

inline

Set maximal noise threshold.

Parameters

noise_threshold : Maximal noise threshold.

Examples:: testTukeyEstimator.cpp.

Definition at line 115 of file vpRobust.h.

Referenced by vpPoseFeatures::computePose(), vpMbEdgeKltTracker::computeVVS(), vpMbDepthNormalTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpMeLine::leastSquare(), vpPose::poseVirtualVSrobust(), and vpMeEllipse::printParameters().

◆ simultMEstimator()

vpColVector vpRobust::simultMEstimator ( vpColVector & residues )

Simult Mestimator.

Calculate an Mestimate with a simultaneous scale estimate using HUBER's influence function.

Precondition: Requires a column vector of residues

Postcondition: None

Returns: Returns a Column Vector of weights associated to each residue

Definition at line 341 of file vpRobust.cpp.

References CAUCHY, vpArray2D< Type >::getRows(), HUBER, vpMath::sqr(), TUKEY, and vpCDEBUG.

vpRobust
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