RobustKernel.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
// @author Ignacio Vizzo     [ivizzo@uni-bonn.de]
//
// Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
// ----------------------------------------------------------------------------

#pragma once

namespace open3d {
namespace pipelines {
namespace registration {

class RobustKernel {
public:
    virtual ~RobustKernel() = default;
    virtual double Weight(double /*residual*/) const = 0;
};

class L2Loss : public RobustKernel {
public:
    double Weight(double residual) const override;
};

//    p(r) = abs(r)
class L1Loss : public RobustKernel {
public:
    double Weight(double residual) const override;
};

class HuberLoss : public RobustKernel {
public:
    explicit HuberLoss(double k) : k_(k) {}

    double Weight(double residual) const override;

public:
    double k_;
};

class CauchyLoss : public RobustKernel {
public:
    explicit CauchyLoss(double k) : k_(k) {}

    double Weight(double residual) const override;

public:
    double k_;
};

class GMLoss : public RobustKernel {
public:
    explicit GMLoss(double k) : k_(k) {}

    double Weight(double residual) const override;

public:
    double k_;
};

class TukeyLoss : public RobustKernel {
public:
    explicit TukeyLoss(double k) : k_(k) {}

public:
    double Weight(double residual) const override;

public:
    double k_;
};

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