open3d.pipelines.registration.GMLoss#

class open3d.pipelines.registration.GMLoss#

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

ρ(r)=r2/2k+r2

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

w(r)=k(k+r2)2
__init__(*args, **kwargs)#

Overloaded function.

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

Copy constructor

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