open3d.pipelines.registration.CauchyLoss#

class open3d.pipelines.registration.CauchyLoss#

The loss \(\rho(r)\) for a given residual r is:

\[\begin{equation} \rho(r)= \frac{k^2}{2} \log\left(1 + \left(\frac{r}{k}\right)^2\right) \end{equation}\]

The weight \(w(r)\) for a given residual r is given by:

\[\begin{equation} w(r)= \frac{1}{1 + \left(\frac{r}{k}\right)^2} \end{equation}\]

__init__(*args, **kwargs)#

Overloaded function.

__init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, arg0: open3d.cpu.pybind.pipelines.registration.CauchyLoss) -> None

Copy constructor

__init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, k: float) -> None

weight(self, residual)#

Obtain the weight for the given residual according to the robust kernel model.

Parameters:: residual (float) – value obtained during the optimization problem
Returns:: float