open3d.pipelines.registration.HuberLoss#
- class open3d.pipelines.registration.HuberLoss#
The loss \(\rho(r)\) for a given residual
r
is:\[\begin{split}\begin{equation} \rho(r)= \begin{cases} \frac{r^{2}}{2}, & |r| \leq k.\\ k(|r|-k / 2), & \text{otherwise}. \end{cases} \end{equation}\end{split}\]The weight \(w(r)\) for a given residual
r
is given by:\[\begin{split}\begin{equation} w(r)= \begin{cases} 1, & |r| \leq k. \\ \frac{k}{|r|} , & \text{otherwise}. \end{cases} \end{equation}\end{split}\]- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.HuberLoss, arg0: open3d.cpu.pybind.pipelines.registration.HuberLoss) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.HuberLoss, 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