RobustKernel.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
namespace open3d {
namespace t {
namespace pipelines {
namespace registration {
 
enum class RobustKernelMethod {
    L2Loss = 0,
    L1Loss = 1,
    HuberLoss = 2,
    CauchyLoss = 3,
    GMLoss = 4,
    TukeyLoss = 5,
    GeneralizedLoss = 6,
};

class RobustKernel {
public:
    explicit RobustKernel(
            const RobustKernelMethod type = RobustKernelMethod::L2Loss,
            const double scaling_parameter = 1.0,
            const double shape_parameter = 1.0)
        : type_(type),
          scaling_parameter_(scaling_parameter),
          shape_parameter_(shape_parameter) {}
 
public:
    RobustKernelMethod type_ = RobustKernelMethod::L2Loss;
    double scaling_parameter_ = 1.0;
    double shape_parameter_ = 1.0;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace t
}  // namespace open3d