open3d.pipelines.registration.HuberLoss

class open3d.pipelines.registration.HuberLoss

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

$$\begin{split}\begin{equation} \rho(r)= \begin{cases} \frac{r^{2}}{2}, & |r| \leq k.\\ k(|r|-k / 2), & \text{otherwise}. \end{cases} \end{equation}\end{split}$$

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

$$\begin{split}\begin{equation} w(r)= \begin{cases} 1, & |r| \leq k. \\ \frac{k}{|r|} , & \text{otherwise}. \end{cases} \end{equation}\end{split}$$

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

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