Open3D (C++ API)
0.12.0
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#include <RobustKernel.h>
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... | |
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
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inlineexplicit |
Parametrized Constructor.
k | Is the scaling paramter of the loss function. |
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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.
residual | Residual value obtained during the optimization step. |
Implements open3d::pipelines::registration::RobustKernel.
double open3d::pipelines::registration::GMLoss::k_ |
Scaling paramter.