open3d.pipelines.registration.TukeyLoss#
- class open3d.pipelines.registration.TukeyLoss#
The loss \(\rho(r)\) for a given residual
r
is:\[\begin{split}\begin{equation} \rho(r)= \begin{cases} \frac{k^2\left[1-\left(1-\left(\frac{e}{k}\right)^2\right)^3\right]}{2}, & |r| \leq k. \\ \frac{k^2}{2}, & \text{otherwise}. \end{cases} \end{equation}\end{split}\]The weight \(w(r)\) for a given residual
r
is given by:\[\begin{split}\begin{equation} w(r)= \begin{cases} \left(1 - \left(\frac{r}{k}\right)^2\right)^2, & |r| \leq k. \\ 0 , & \text{otherwise}. \end{cases} \end{equation}\end{split}\]- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.TukeyLoss, arg0: open3d.cpu.pybind.pipelines.registration.TukeyLoss) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.TukeyLoss, 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#
k
Is a running constant for the loss.