point_to_point.cpp

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#include "point_to_point.h"

#include "pointmatcher/ErrorMinimizersImpl.h"

namespace python
{
        namespace errorminimizers
        {
                void pybindPointToPoint(py::module& p_module)
                {
                        using PointToPointErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPointErrorMinimizer;
                        py::class_<PointToPointErrorMinimizer, std::shared_ptr<PointToPointErrorMinimizer>, ErrorMinimizer>(p_module, "PointToPointErrorMinimizer")
                                .def(py::init<>())
                                .def(py::init<const std::string&, const ParametersDoc, const Parameters&>(), py::arg("className"), py::arg("paramsDoc"), py::arg("params"))
                                .def("compute", &PointToPointErrorMinimizer::compute, py::arg("mPts"))
                                .def("compute_in_place", &PointToPointErrorMinimizer::compute_in_place, py::arg("mPts"))
                                .def("getResidualError", &PointToPointErrorMinimizer::getResidualError, py::arg("filteredReading"), py::arg("filteredReference"), py::arg("outlierWeights"), py::arg("matches"))
                                .def("getOverlap", &PointToPointErrorMinimizer::getOverlap)
                                .def_static("computeResidualError", &PointToPointErrorMinimizer::computeResidualError, py::arg("mPts"));
                }
        }
}