open3d::pipelines::registration::HuberLoss Class Reference

#include <RobustKernel.h>

Inheritance diagram for open3d::pipelines::registration::HuberLoss:

Public Member Functions
	HuberLoss (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_
	Scaling parameter. More...

Detailed Description

HuberLoss loss function used for outlier rejection.

The loss p(r) for a given residual 'r' is computed as follow: p(r) = r^2 for abs(r) <= k, p(r) = k^2 * (abs(r) - k/2) for abs(r) > k

For more information: http://en.wikipedia.org/wiki/Huber_Loss_Function

Constructor & Destructor Documentation

HuberLoss()

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

inlineexplicit

Parametrized Constructor.

Parameters

k	Is the scaling parameter of the huber loss function. 'k' corresponds to 'delta' on this page: http://en.wikipedia.org/wiki/Huber_Loss_Function

Member Function Documentation

Weight()

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

overridevirtual

The weight w(r) for a given residual 'r' is computed as follow: w(r) = 1.0 for abs(r) <= k, w(r) = k / abs(r) for abs(r) > k Where k Is the scaling parameter 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::HuberLoss::k_

Scaling parameter.

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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 (9238339 (Tue Mar 14 18:49:09 2023 -0700))
• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/RobustKernel.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))