Open3D (C++ API)  0.12.0
RobustKernel.h
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26 // @author Ignacio Vizzo [ivizzo@uni-bonn.de]
27 //
28 // Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
29 // ----------------------------------------------------------------------------
30 
31 #pragma once
32 
33 namespace open3d {
34 namespace pipelines {
35 namespace registration {
36 
62 class RobustKernel {
63 public:
64  virtual ~RobustKernel() = default;
70  virtual double Weight(double /*residual*/) const = 0;
71 };
72 
79 class L2Loss : public RobustKernel {
80 public:
85  double Weight(double residual) const override;
86 };
87 
93 // p(r) = abs(r)
94 class L1Loss : public RobustKernel {
95 public:
100  double Weight(double residual) const override;
101 };
102 
112 class HuberLoss : public RobustKernel {
113 public:
119  explicit HuberLoss(double k) : k_(k) {}
120 
127  double Weight(double residual) const override;
128 
129 public:
131  double k_;
132 };
133 
140 class CauchyLoss : public RobustKernel {
141 public:
145  explicit CauchyLoss(double k) : k_(k) {}
146 
152  double Weight(double residual) const override;
153 
154 public:
156  double k_;
157 };
158 
165 class GMLoss : public RobustKernel {
166 public:
170  explicit GMLoss(double k) : k_(k) {}
171 
177  double Weight(double residual) const override;
178 
179 public:
181  double k_;
182 };
183 
194 class TukeyLoss : public RobustKernel {
195 public:
199  explicit TukeyLoss(double k) : k_(k) {}
200 
201 public:
208  double Weight(double residual) const override;
209 
210 public:
211  double k_;
212 };
213 
214 } // namespace registration
215 } // namespace pipelines
216 } // namespace open3d
Definition: RobustKernel.h:94
double k_
Scaling paramter.
Definition: RobustKernel.h:156
double k_
Definition: RobustKernel.h:211
Definition: RobustKernel.h:165
CauchyLoss(double k)
Parametrized Constructor.
Definition: RobustKernel.h:145
Definition: RobustKernel.h:140
TukeyLoss(double k)
Parametrized Constructor.
Definition: RobustKernel.h:199
virtual double Weight(double) const =0
Definition: RobustKernel.h:194
double k_
Scaling paramter.
Definition: RobustKernel.h:181
Definition: RobustKernel.h:112
Definition: PinholeCameraIntrinsic.cpp:35
Definition: RobustKernel.h:79
double k_
Scaling paramter.
Definition: RobustKernel.h:131
GMLoss(double k)
Parametrized Constructor.
Definition: RobustKernel.h:170
HuberLoss(double k)
Parametrized Constructor.
Definition: RobustKernel.h:119