open3d.pipelines.registration.TukeyLoss

class open3d.pipelines.registration.TukeyLoss

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

$$\begin{split}\begin{equation} \rho(r)= \begin{cases} \frac{k^2\left[1-\left(1-\left(\frac{e}{k}\right)^2\right)^3\right]}{2}, & |r| \leq k. \\ \frac{k^2}{2}, & \text{otherwise}. \end{cases} \end{equation}\end{split}$$

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

$$\begin{split}\begin{equation} w(r)= \begin{cases} \left(1 - \left(\frac{r}{k}\right)^2\right)^2, & |r| \leq k. \\ 0 , & \text{otherwise}. \end{cases} \end{equation}\end{split}$$

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

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

k Is a running constant for the loss.