diff options
Diffstat (limited to 'extern/ceres/internal/ceres/loss_function.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/loss_function.cc | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/extern/ceres/internal/ceres/loss_function.cc b/extern/ceres/internal/ceres/loss_function.cc index eb5026784dd..2c21a7377ca 100644 --- a/extern/ceres/internal/ceres/loss_function.cc +++ b/extern/ceres/internal/ceres/loss_function.cc @@ -32,6 +32,7 @@ #include "ceres/loss_function.h" +#include <algorithm> #include <cmath> #include <cstddef> #include <limits> @@ -101,7 +102,9 @@ void TolerantLoss::Evaluate(double s, double rho[3]) const { // large, it will overflow. Since numerically 1 + e^x == e^x when the // x is greater than about ln(2^53) for doubles, beyond this threshold // we substitute x for ln(1 + e^x) as a numerically equivalent approximation. - static const double kLog2Pow53 = 36.7; // ln(MathLimits<double>::kEpsilon). + + // ln(MathLimits<double>::kEpsilon). + static constexpr double kLog2Pow53 = 36.7; if (x > kLog2Pow53) { rho[0] = s - a_ - c_; rho[1] = 1.0; @@ -119,12 +122,12 @@ void TukeyLoss::Evaluate(double s, double* rho) const { // Inlier region. const double value = 1.0 - s / a_squared_; const double value_sq = value * value; - rho[0] = a_squared_ / 6.0 * (1.0 - value_sq * value); - rho[1] = 0.5 * value_sq; - rho[2] = -1.0 / a_squared_ * value; + rho[0] = a_squared_ / 3.0 * (1.0 - value_sq * value); + rho[1] = value_sq; + rho[2] = -2.0 / a_squared_ * value; } else { // Outlier region. - rho[0] = a_squared_ / 6.0; + rho[0] = a_squared_ / 3.0; rho[1] = 0.0; rho[2] = 0.0; } @@ -132,10 +135,12 @@ void TukeyLoss::Evaluate(double s, double* rho) const { ComposedLoss::ComposedLoss(const LossFunction* f, Ownership ownership_f, const LossFunction* g, Ownership ownership_g) - : f_(CHECK_NOTNULL(f)), - g_(CHECK_NOTNULL(g)), + : f_(f), + g_(g), ownership_f_(ownership_f), ownership_g_(ownership_g) { + CHECK(f_ != nullptr); + CHECK(g_ != nullptr); } ComposedLoss::~ComposedLoss() { |