#include <RobustKernel.h>
HuberLoss loss function used for outlier rejection.
The loss p(r) for a given residual 'r' is computed as follow: p(r) = r^2 for abs(r) <= k, p(r) = k^2 * (abs(r) - k/2) for abs(r) > k
For more information: http://en.wikipedia.org/wiki/Huber_Loss_Function
◆ HuberLoss()
open3d::pipelines::registration::HuberLoss::HuberLoss |
( |
double |
k | ) |
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inlineexplicit |
Parametrized Constructor.
- Parameters
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◆ Weight()
double open3d::pipelines::registration::HuberLoss::Weight |
( |
double |
residual | ) |
const |
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overridevirtual |
The weight w(r) for a given residual 'r' is computed as follow: w(r) = 1.0 for abs(r) <= k, w(r) = k / abs(r) for abs(r) > k Where k Is the scaling paramter of the loss function.
- Parameters
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residual | Residual value obtained during the optimization step. |
Implements open3d::pipelines::registration::RobustKernel.
◆ k_
double open3d::pipelines::registration::HuberLoss::k_ |
The documentation for this class was generated from the following files: