point_to_plane.cpp

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#include "point_to_plane.h"
 
#include "pointmatcher/ErrorMinimizersImpl.h"
 
namespace python
{
        namespace errorminimizers
        {
                void pybindPointToPlane(py::module& p_module)
                {
                        using PointToPlaneErrorMinimizer = ErrorMinimizersImpl<ScalarType>::PointToPlaneErrorMinimizer;
                        py::class_<PointToPlaneErrorMinimizer, std::shared_ptr<PointToPlaneErrorMinimizer>, ErrorMinimizer>(p_module, "PointToPlaneErrorMinimizer")
                                .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                .def(py::init<const ParametersDoc, const Parameters&>(), py::arg("paramsDoc"), py::arg("params") = Parameters())
 
                                .def_readonly("force2D", &PointToPlaneErrorMinimizer::force2D)
                                .def_readonly("force4DOF", &PointToPlaneErrorMinimizer::force4DOF)
 
                                .def_static("description", &PointToPlaneErrorMinimizer::description)
                                .def_static("availableParameters", &PointToPlaneErrorMinimizer::availableParameters)
 
                                .def("name", &PointToPlaneErrorMinimizer::name)
                                .def("compute", &PointToPlaneErrorMinimizer::compute, py::arg("mPts"))
                                .def("compute_in_place", &PointToPlaneErrorMinimizer::compute_in_place, py::arg("mPts"))
                                .def("getResidualError", &PointToPlaneErrorMinimizer::getResidualError, py::arg("filteredReading"), py::arg("filteredReference"), py::arg("outlierWeights"), py::arg("matches"))
                                .def("getOverlap", &PointToPlaneErrorMinimizer::getOverlap)
 
                                .def_static("computeResidualError", &PointToPlaneErrorMinimizer::computeResidualError, py::arg("mPts"), py::arg("force2D"));
                }
        }
}