open3d.pipelines.registration.CauchyLoss

class open3d.pipelines.registration.CauchyLoss

The loss $\rho(r)$ for a given residual r is:

$$\begin{equation} \rho(r)= \frac{k^2}{2} \log\left(1 + \left(\frac{r}{k}\right)^2\right) \end{equation}$$

The weight $w(r)$ for a given residual r is given by:

$$\begin{equation} w(r)= \frac{1}{1 + \left(\frac{r}{k}\right)^2} \end{equation}$$

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, arg0: open3d.cpu.pybind.pipelines.registration.CauchyLoss) -> None

Copy constructor

2. __init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, k: float) -> None

weight(self, residual)

Obtain the weight for the given residual according to the robust kernel model.

Parameters

residual (float) – value obtained during the optimization problem

Returns

float

property k

Parameter of the loss.