PointToPointWithCov.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>
 
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#ifndef LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H
#define LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H
 
#include "PointMatcher.h"
#include "ErrorMinimizersImpl.h"
 
template <typename T>
struct PointToPointWithCovErrorMinimizer: public PointToPointErrorMinimizer<T>
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        
        typedef typename PointMatcher<T>::Matrix Matrix;
        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>::ErrorMinimizer ErrorMinimizer;
        typedef typename PointMatcher<T>::Vector Vector;
        
        inline static const std::string description()
        {
                return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
        }
        
        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>}
                };
        }
        
        const T sensorStdDev;
        Matrix covMatrix;
        
        PointToPointWithCovErrorMinimizer(const Parameters& params = Parameters());
        virtual TransformationParameters compute(const ErrorElements& mPts);
        virtual Matrix getCovariance() const;
        Matrix estimateCovariance(const ErrorElements& mPts, const TransformationParameters& transformation);
};
 
#endif //LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H