point_to_point_with_cov.cpp

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#include "point_to_point_with_cov.h"

#include "pointmatcher/ErrorMinimizersImpl.h"

namespace python
{
        namespace errorminimizers
        {
                void pybindPointToPointWithCov(py::module& p_module)
                {
                        using PointToPointErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPointErrorMinimizer;
                        using PointToPointWithCovErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPointWithCovErrorMinimizer;
                        py::class_<PointToPointWithCovErrorMinimizer, std::shared_ptr<PointToPointWithCovErrorMinimizer>, PointToPointErrorMinimizer>(p_module, "PointToPointWithCovErrorMinimizer")
                                .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                .def_readonly("sensorStdDev", &PointToPointWithCovErrorMinimizer::sensorStdDev)
                                .def_readwrite("covMatrix", &PointToPointWithCovErrorMinimizer::covMatrix)
                                .def_static("description", &PointToPointWithCovErrorMinimizer::description)
                                .def_static("availableParameters", &PointToPointWithCovErrorMinimizer::availableParameters)
                                .def("compute", &PointToPointWithCovErrorMinimizer::compute, py::arg("mPts"))
                                .def("getCovariance", &PointToPointWithCovErrorMinimizer::getCovariance)
                                .def("estimateCovariance", &PointToPointWithCovErrorMinimizer::estimateCovariance, py::arg("mPts"), py::arg("transformation"));
                }
        }
}