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Open3D (C++ API)
0.18.0+252c867
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Open3D (C++ API)
0.18.0+252c867
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#include <RobustKernel.h>
Public Member Functions | |
| TukeyLoss (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_ |
This is the so called Tukey loss function which aggressively attempts to suppress large errors.
The loss p(r) for a given residual 'r' is computed as follow:
p(r) = k^2 * (1 - (1 - r / k^2)^3 ) / 2 for abs(r) <= k, p(r) = k^2 / 2 for abs(r) > k.
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inlineexplicit |
Parametrized Constructor.
| k | Is a running constant for the Tukey Loss function. |
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overridevirtual |
The weight w(r) for a given residual 'r' is computed as follow: p(r) = (1 - (r / k)^2 )^2 for abs(r) <= k, p(r) = 0.0 for abs(r) > k. Where k Is the scaling parameter of the loss function.
| residual | Residual value obtained during the optimization step. |
Implements open3d::pipelines::registration::RobustKernel.
| double open3d::pipelines::registration::TukeyLoss::k_ |
1.9.1