Open3D (C++ API)  0.18.0+252c867
Public Member Functions | Data Fields
open3d::pipelines::registration::CauchyLoss Class Reference

#include <RobustKernel.h>

Inheritance diagram for open3d::pipelines::registration::CauchyLoss:
open3d::pipelines::registration::RobustKernel

Public Member Functions

 CauchyLoss (double k)
 Parametrized Constructor. More...
 
double Weight (double residual) const override
 
- Public Member Functions inherited from open3d::pipelines::registration::RobustKernel
virtual ~RobustKernel ()=default
 

Data Fields

double k_
 Scaling parameter. More...
 

Detailed Description

CauchyLoss loss function used for outlier rejection.

The loss p(r) for a given residual 'r' is computed as follow: p(r) = (k^2 / 2) * log(1 + (r / k)^2), for all r

Constructor & Destructor Documentation

◆ CauchyLoss()

open3d::pipelines::registration::CauchyLoss::CauchyLoss ( double  k)
inlineexplicit

Parametrized Constructor.

Parameters
kIs the scaling parameter of the loss function.

Member Function Documentation

◆ Weight()

double open3d::pipelines::registration::CauchyLoss::Weight ( double  residual) const
overridevirtual

The weight w(r) for a given residual 'r' is computed as follow: w(r) = 1 / (1 + (r / k)^2) Where k Is the scaling parameter of the loss function.

Parameters
residualResidual value obtained during the optimization step.

Implements open3d::pipelines::registration::RobustKernel.

Field Documentation

◆ k_

double open3d::pipelines::registration::CauchyLoss::k_

Scaling parameter.


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