open3d::pipelines::registration::GMLoss Class Reference

#include <RobustKernel.h>

Inheritance diagram for open3d::pipelines::registration::GMLoss:

Public Member Functions
	GMLoss (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 paramter. More...

Detailed Description

German-McClure loss function used for outlier rejection.

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

Constructor & Destructor Documentation

GMLoss()

open3d::pipelines::registration::GMLoss::GMLoss ( double  k )

inlineexplicit

Parametrized Constructor.

Parameters

k	Is the scaling paramter of the loss function.

Member Function Documentation

Weight()

double open3d::pipelines::registration::GMLoss::Weight ( double  residual ) const

overridevirtual

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

Parameters

residual

Residual value obtained during the optimization step.

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

Field Documentation

k_

double open3d::pipelines::registration::GMLoss::k_

Scaling paramter.

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

• /home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/pipelines/registration/RobustKernel.h (cf45d38a (Tue Oct 13 08:26:12 2020 -0700))
• /home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/pipelines/registration/RobustKernel.cpp (cf45d38a (Tue Oct 13 08:26:12 2020 -0700))