Open3D (C++ API)  0.18.0
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RobustKernel.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10namespace open3d {
11namespace t {
12namespace pipelines {
13namespace registration {
14
16 L2Loss = 0,
17 L1Loss = 1,
18 HuberLoss = 2,
19 CauchyLoss = 3,
20 GMLoss = 4,
21 TukeyLoss = 5,
23};
24
59public:
60 explicit RobustKernel(
62 const double scaling_parameter = 1.0,
63 const double shape_parameter = 1.0)
64 : type_(type),
65 scaling_parameter_(scaling_parameter),
66 shape_parameter_(shape_parameter) {}
67
68public:
72 double scaling_parameter_ = 1.0;
74 double shape_parameter_ = 1.0;
75};
76
77} // namespace registration
78} // namespace pipelines
79} // namespace t
80} // namespace open3d
RobustKernel(const RobustKernelMethod type=RobustKernelMethod::L2Loss, const double scaling_parameter=1.0, const double shape_parameter=1.0)
Definition RobustKernel.h:60
double shape_parameter_
Shape parameter.
Definition RobustKernel.h:74
double scaling_parameter_
Scaling parameter.
Definition RobustKernel.h:72
RobustKernelMethod type_
Loss type.
Definition RobustKernel.h:70
char type
Definition FilePCD.cpp:41
RobustKernelMethod
Definition RobustKernel.h:15
Definition PinholeCameraIntrinsic.cpp:16