30namespace registration {
35constexpr double kMinTimePeriod{1e-3};
93 const std::size_t iteration = 0)
const = 0;
143 const std::size_t iteration = 0)
const override;
207 const std::size_t iteration = 0)
const override;
237 double lambda_geometric = 0.968,
241 if (lambda_geometric_ < 0 || lambda_geometric_ > 1.0) {
288 const std::size_t iteration = 0)
const override;
336 const double period = 0.1,
337 const double lambda_doppler = 0.01,
338 const bool reject_dynamic_outliers =
false,
339 const double doppler_outlier_threshold = 2.0,
340 const std::size_t outlier_rejection_min_iteration = 2,
341 const std::size_t geometric_robust_loss_min_iteration = 0,
342 const std::size_t doppler_robust_loss_min_iteration = 2,
355 geometric_robust_loss_min_iteration),
360 core::AssertTensorShape(transform_vehicle_to_sensor, {4, 4});
362 if (std::abs(period) < kMinTimePeriod) {
363 utility::LogError(
"Time period too small.");
366 if (lambda_doppler_ < 0 || lambda_doppler_ > 1.0) {
413 const std::size_t iteration = 0)
const override;
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition Tensor.cpp:386
A point cloud contains a list of 3D points.
Definition PointCloud.h:80
Definition RobustKernel.h:58
const Dtype Float64
Definition Dtype.cpp:43
TransformationEstimationType
Definition TransformationEstimation.h:39
Definition PinholeCameraIntrinsic.cpp:16