open3d.pipelines.registration.TukeyLoss#

class open3d.pipelines.registration.TukeyLoss#

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

ρ(r)={k2[1(1(ek)2)3]2,|r|k.k22,otherwise.

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

w(r)={(1(rk)2)2,|r|k.0,otherwise.
__init__(*args, **kwargs)#

Overloaded function.

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

Copy constructor

  1. __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.