open3d.pipelines.registration.CauchyLoss#

class open3d.pipelines.registration.CauchyLoss#

The loss ρ(r) for a given residual r is:

ρ(r)=k22log(1+(rk)2)

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

w(r)=11+(rk)2
__init__(*args, **kwargs)#

Overloaded function.

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

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, 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.