open3d.pipelines.registration.GMLoss

class open3d.pipelines.registration.GMLoss

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

$$\begin{equation} \rho(r)= \frac{r^2/ 2}{k + r^2} \end{equation}$$

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

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

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

2. __init__(self: open3d.cpu.pybind.pipelines.registration.GMLoss, 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.