RobustKernel.h

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#pragma once

namespace open3d {
namespace t {
namespace pipelines {
namespace registration {

enum class RobustKernelMethod {
    L2Loss = 0,
    L1Loss = 1,
    HuberLoss = 2,
    CauchyLoss = 3,
    GMLoss = 4,
    TukeyLoss = 5,
    GeneralizedLoss = 6,
};

class RobustKernel {
public:
    explicit RobustKernel(
            const RobustKernelMethod type = RobustKernelMethod::L2Loss,
            const double scaling_parameter = 1.0,
            const double shape_parameter = 1.0)
        : type_(type),
          scaling_parameter_(scaling_parameter),
          shape_parameter_(shape_parameter) {}

public:
    RobustKernelMethod type_ = RobustKernelMethod::L2Loss;
    double scaling_parameter_ = 1.0;
    double shape_parameter_ = 1.0;
};

}  // namespace registration
}  // namespace pipelines
}  // namespace t
}  // namespace open3d