RobustKernel.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
// @author Ignacio Vizzo     [ivizzo@uni-bonn.de]
//
// Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
// ----------------------------------------------------------------------------
 
#pragma once
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
class RobustKernel {
public:
    virtual ~RobustKernel() = default;
    virtual double Weight(double residual) const = 0;
};
 
class L2Loss : public RobustKernel {
public:
    double Weight(double residual) const override;
};
 
//    p(r) = abs(r)
class L1Loss : public RobustKernel {
public:
    double Weight(double residual) const override;
};
 
class HuberLoss : public RobustKernel {
public:
    explicit HuberLoss(double k) : k_(k) {}
 
    double Weight(double residual) const override;
 
public:
    double k_;
};
 
class CauchyLoss : public RobustKernel {
public:
    explicit CauchyLoss(double k) : k_(k) {}
 
    double Weight(double residual) const override;
 
public:
    double k_;
};
 
class GMLoss : public RobustKernel {
public:
    explicit GMLoss(double k) : k_(k) {}
 
    double Weight(double residual) const override;
 
public:
    double k_;
};
 
class TukeyLoss : public RobustKernel {
public:
    explicit TukeyLoss(double k) : k_(k) {}
 
public:
    double Weight(double residual) const override;
 
public:
    double k_;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer