open3d::pipelines::registration::TukeyLoss Class Reference

#include <RobustKernel.h>

Inheritance diagram for open3d::pipelines::registration::TukeyLoss:

Public Member Functions
	TukeyLoss (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_

Detailed Description

This is the so called Tukey loss function which aggressively attempts to suppress large errors.

The loss p(r) for a given residual 'r' is computed as follow:

p(r) = k^2 * (1 - (1 - r / k^2)^3 ) / 2 for abs(r) <= k, p(r) = k^2 / 2 for abs(r) > k.

Constructor & Destructor Documentation

TukeyLoss()

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

inlineexplicit

Parametrized Constructor.

Parameters

k	Is a tunning constant for the Tukey Loss function.

Member Function Documentation

Weight()

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

overridevirtual

The weight w(r) for a given residual 'r' is computed as follow: p(r) = (1 - (r / k)^2 )^2 for abs(r) <= k, p(r) = 0.0 for abs(r) > k. 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::TukeyLoss::k_

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/RobustKernel.h (313315d (Wed Dec 23 23:39:47 2020 -0800))
• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/RobustKernel.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))