Open3D (C++ API)
0.15.1
cpp
open3d
t
pipelines
registration
RobustKernel.h
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// The MIT License (MIT)
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//
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// Copyright (c) 2018-2021 www.open3d.org
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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// ----------------------------------------------------------------------------
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#pragma once
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namespace
open3d
{
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namespace
t {
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namespace
pipelines {
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namespace
registration {
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enum class
RobustKernelMethod
{
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L2Loss
= 0,
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L1Loss
= 1,
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HuberLoss
= 2,
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CauchyLoss
= 3,
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GMLoss
= 4,
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TukeyLoss
= 5,
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GeneralizedLoss
= 6,
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};
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class
RobustKernel
{
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public
:
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explicit
RobustKernel
(
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const
RobustKernelMethod
type
=
RobustKernelMethod::L2Loss
,
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const
double
scaling_parameter = 1.0,
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const
double
shape_parameter = 1.0)
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:
type_
(
type
),
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scaling_parameter_
(scaling_parameter),
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shape_parameter_
(shape_parameter) {}
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public
:
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RobustKernelMethod
type_
=
RobustKernelMethod::L2Loss
;
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double
scaling_parameter_
= 1.0;
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double
shape_parameter_
= 1.0;
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};
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}
// namespace registration
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}
// namespace pipelines
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}
// namespace t
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}
// namespace open3d
open3d::t::pipelines::registration::RobustKernel
Definition:
RobustKernel.h:77
open3d::t::pipelines::registration::RobustKernel::RobustKernel
RobustKernel(const RobustKernelMethod type=RobustKernelMethod::L2Loss, const double scaling_parameter=1.0, const double shape_parameter=1.0)
Definition:
RobustKernel.h:79
open3d::t::pipelines::registration::RobustKernel::shape_parameter_
double shape_parameter_
Shape parameter.
Definition:
RobustKernel.h:93
open3d::t::pipelines::registration::RobustKernel::scaling_parameter_
double scaling_parameter_
Scaling parameter.
Definition:
RobustKernel.h:91
open3d::t::pipelines::registration::RobustKernel::type_
RobustKernelMethod type_
Loss type.
Definition:
RobustKernel.h:89
type
char type
Definition:
FilePCD.cpp:60
open3d::t::pipelines::registration::RobustKernelMethod
RobustKernelMethod
Definition:
RobustKernel.h:34
open3d::t::pipelines::registration::RobustKernelMethod::GMLoss
@ GMLoss
open3d::t::pipelines::registration::RobustKernelMethod::L2Loss
@ L2Loss
open3d::t::pipelines::registration::RobustKernelMethod::HuberLoss
@ HuberLoss
open3d::t::pipelines::registration::RobustKernelMethod::L1Loss
@ L1Loss
open3d::t::pipelines::registration::RobustKernelMethod::TukeyLoss
@ TukeyLoss
open3d::t::pipelines::registration::RobustKernelMethod::CauchyLoss
@ CauchyLoss
open3d::t::pipelines::registration::RobustKernelMethod::GeneralizedLoss
@ GeneralizedLoss
open3d
Definition:
PinholeCameraIntrinsic.cpp:35
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