point_to_plane_with_cov.cpp

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#include "point_to_plane_with_cov.h"

#include "pointmatcher/ErrorMinimizersImpl.h"

namespace python
{
        namespace errorminimizers
        {
                void pybindPointToPlaneWithCov(py::module& p_module)
                {
                        using PointToPlaneErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPlaneErrorMinimizer;
                        using PointToPlaneWithCovErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPlaneWithCovErrorMinimizer;
                        py::class_<PointToPlaneWithCovErrorMinimizer, std::shared_ptr<PointToPlaneWithCovErrorMinimizer>, PointToPlaneErrorMinimizer>(p_module, "PointToPlaneWithCovErrorMinimizer")
                                .def("name", &PointToPlaneWithCovErrorMinimizer::name)

                                .def_static("description", &PointToPlaneWithCovErrorMinimizer::description)
                                .def_static("availableParameters", &PointToPlaneWithCovErrorMinimizer::availableParameters)

                                .def_readonly("sensorStdDev", &PointToPlaneWithCovErrorMinimizer::sensorStdDev)
                                .def_readwrite("covMatrix", &PointToPlaneWithCovErrorMinimizer::covMatrix)

                                .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                .def("compute", &PointToPlaneWithCovErrorMinimizer::compute, py::arg("mPts"))
                                .def("getCovariance", &PointToPlaneWithCovErrorMinimizer::getCovariance)
                                .def("estimateCovariance", &PointToPlaneWithCovErrorMinimizer::estimateCovariance, py::arg("mPts"), py::arg("transformation"));
                }
        }
}