open3d.pipelines.registration.CauchyLoss#
- class open3d.pipelines.registration.CauchyLoss#
The loss \(\rho(r)\) for a given residual
r
is:\[\begin{equation} \rho(r)= \frac{k^2}{2} \log\left(1 + \left(\frac{r}{k}\right)^2\right) \end{equation}\]The weight \(w(r)\) for a given residual
r
is given by:\[\begin{equation} w(r)= \frac{1}{1 + \left(\frac{r}{k}\right)^2} \end{equation}\]- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.CauchyLoss, arg0: open3d.cpu.pybind.pipelines.registration.CauchyLoss) -> None
Copy constructor
__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.