PointToPoint.h

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/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef LIBPOINTMATCHER_POINTTOPOINT_H
#define LIBPOINTMATCHER_POINTTOPOINT_H

#include "PointMatcher.h"

template<typename T>
struct PointToPointErrorMinimizer: PointMatcher<T>::ErrorMinimizer
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
        typedef typename PointMatcher<T>::ErrorMinimizer::ErrorElements ErrorElements;
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        typedef typename PointMatcher<T>::OutlierWeights OutlierWeights;
        typedef typename PointMatcher<T>::Matches Matches;
        typedef typename PointMatcher<T>::Vector Vector;
        typedef typename PointMatcher<T>::Matrix Matrix;
        typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer;
        
        inline static const std::string description()
        {
                return "Point-to-point error. Based on SVD decomposition. Per \\cite{Besl1992Point2Point}.";
        }
        
        
        PointToPointErrorMinimizer();
        PointToPointErrorMinimizer(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
        virtual TransformationParameters compute(const ErrorElements& mPts);
        TransformationParameters compute_in_place(ErrorElements& mPts);
        virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
        virtual T getOverlap() const;
        
        static T computeResidualError(const ErrorElements& mPts);
};

#endif //LIBPOINTMATCHER_POINTTOPOINT_H