cloudViewer::t::pipelines::odometry::OdometryLossParams Class Reference

#include <RGBDOdometry.h>

Public Member Functions
	OdometryLossParams (float depth_outlier_trunc=0.07, float depth_huber_delta=0.05, float intensity_huber_delta=0.1)
	Constructor for the odometry loss function. More...

Public Attributes
float	depth_outlier_trunc_
	Depth difference threshold used to filter projective associations. More...
float	depth_huber_delta_
float	intensity_huber_delta_

Detailed Description

Definition at line 87 of file RGBDOdometry.h.

Constructor & Destructor Documentation

OdometryLossParams()

cloudViewer::t::pipelines::odometry::OdometryLossParams::OdometryLossParams ( float  depth_outlier_trunc = 0.07, float  depth_huber_delta = 0.05, float  intensity_huber_delta = 0.1  )

inline

Constructor for the odometry loss function.

Parameters

depth_outlier_trunc	Threshold to filter outlier associations where two depths differ significantly.
depth_huber_delta	Huber norm parameter applied to depth loss (for PointToPlane and Hybrid).
intensity_huber_delta	Huber norm parameter applied to intensity loss (for Intensity and Hybrid).

Definition at line 97 of file RGBDOdometry.h.

References depth_huber_delta_, depth_outlier_trunc_, and LogWarning.

Member Data Documentation

depth_huber_delta_

float cloudViewer::t::pipelines::odometry::OdometryLossParams::depth_huber_delta_

Definition at line 117 of file RGBDOdometry.h.

Referenced by OdometryLossParams(), and cloudViewer::t::pipelines::odometry::pybind_odometry().

depth_outlier_trunc_

float cloudViewer::t::pipelines::odometry::OdometryLossParams::depth_outlier_trunc_

Depth difference threshold used to filter projective associations.

Definition at line 116 of file RGBDOdometry.h.

Referenced by OdometryLossParams(), and cloudViewer::t::pipelines::odometry::pybind_odometry().

intensity_huber_delta_

float cloudViewer::t::pipelines::odometry::OdometryLossParams::intensity_huber_delta_

Definition at line 118 of file RGBDOdometry.h.

Referenced by cloudViewer::t::pipelines::odometry::pybind_odometry().

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The documentation for this class was generated from the following file:

• /root/ACloudViewer/libs/cloudViewer/t/pipelines/odometry/RGBDOdometry.h