#include <cmath>
#include "cloudViewer/core/CUDAUtils.h"
#include "cloudViewer/t/geometry/kernel/GeometryMacros.h"
#include "cloudViewer/t/pipelines/registration/RobustKernel.h"

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Macros
#define	DISPATCH_ROBUST_KERNEL_FUNCTION(METHOD, scalar_t, scaling_parameter, shape_parameter, ...)

#define	DISPATCH_DUAL_ROBUST_KERNEL_FUNCTION(scalar_t, METHOD_1, scaling_parameter_1, METHOD_2, scaling_parameter_2, ...)

Macro Definition Documentation

◆ DISPATCH_DUAL_ROBUST_KERNEL_FUNCTION

#define DISPATCH_DUAL_ROBUST_KERNEL_FUNCTION	(	scalar_t,
		METHOD_1,
		scaling_parameter_1,
		METHOD_2,
		scaling_parameter_2,
		...
	)

Parameters

scalar_t	type: float / double.
METHOD_1	registration::RobustKernelMethod Loss type.
scaling_parameter_1	Scaling parameter for loss fine-tuning.
METHOD_2	registration::RobustKernelMethod Loss type.
scaling_parameter_2	Scaling parameter for loss fine-tuning.

Definition at line 126 of file RobustKernelImpl.h.

◆ DISPATCH_ROBUST_KERNEL_FUNCTION

#define DISPATCH_ROBUST_KERNEL_FUNCTION	(	METHOD,
		scalar_t,
		scaling_parameter,
		shape_parameter,
		...
	)

To use Robust Kernel functions please refer the unit-tests for t::registration or the implementation use cases at t::pipelines::kernel::ComputePosePointToPlaneCUDA and t::pipelines::kernel::ComputePosePointToPlaneCPU.

Parameters

METHOD	registration::RobustKernelMethod Loss type.
scalar_t	type: float / double.
scaling_parameter	Scaling parameter for loss fine-tuning.
shape_parameter	Shape parameter for Generalized Loss method.

Definition at line 35 of file RobustKernelImpl.h.