Open3D (C++ API)  0.18.0+252c867
Public Member Functions | Data Fields
open3d::t::pipelines::registration::RobustKernel Class Reference

#include <RobustKernel.h>

Public Member Functions

 RobustKernel (const RobustKernelMethod type=RobustKernelMethod::L2Loss, const double scaling_parameter=1.0, const double shape_parameter=1.0)
 

Data Fields

RobustKernelMethod type_ = RobustKernelMethod::L2Loss
 Loss type. More...
 
double scaling_parameter_ = 1.0
 Scaling parameter. More...
 
double shape_parameter_ = 1.0
 Shape parameter. More...
 

Detailed Description

Base class that models a robust kernel for outlier rejection. The virtual function Weight(double residual); must be implemented in derived classes. This method will be only difference between different types of kernels and can be easily extended.

The kernels implemented so far and the notation has been inspired by the publication: "Analysis of Robust Functions for Registration Algorithms", Philippe Babin et al.

We obtain the correspondendent weights for each residual and turn the non-linear least-square problem into a IRSL (Iteratively Reweighted Least-Squares) problem. Changing the weight of each residual is equivalent to changing the robust kernel used for outlier rejection.

The different loss functions will only impact in the weight for each residual during the optimization step. For more information please see also: “Adaptive Robust Kernels for Non-Linear Least Squares Problems”, N. Chebrolu et al. The weight w(r) for a given residual r and a given loss function p(r) is computed as follow: w(r) = (1 / r) * (dp(r) / dr) , for all r Therefore, the only impact of the choice on the kernel is through its first order derivate.

GeneralizedLoss Method is an implementation of the following paper: @article{BarronCVPR2019, Author = {Jonathan T. Barron}, Title = {A General and Adaptive Robust Loss Function}, Journal = {CVPR}, Year = {2019} }

Constructor & Destructor Documentation

◆ RobustKernel()

open3d::t::pipelines::registration::RobustKernel::RobustKernel ( const RobustKernelMethod  type = RobustKernelMethod::L2Loss,
const double  scaling_parameter = 1.0,
const double  shape_parameter = 1.0 
)
inlineexplicit

Field Documentation

◆ scaling_parameter_

double open3d::t::pipelines::registration::RobustKernel::scaling_parameter_ = 1.0

Scaling parameter.

◆ shape_parameter_

double open3d::t::pipelines::registration::RobustKernel::shape_parameter_ = 1.0

Shape parameter.

◆ type_

RobustKernelMethod open3d::t::pipelines::registration::RobustKernel::type_ = RobustKernelMethod::L2Loss

Loss type.


The documentation for this class was generated from the following file: