PointToPointSimilarity.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_POINTTOPOINTSIMILARITY_H
#define LIBPOINTMATCHER_POINTTOPOINTSIMILARITY_H

#include "PointMatcher.h"

template<typename T>
struct PointToPointSimilarityErrorMinimizer: PointMatcher<T>::ErrorMinimizer
{
        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>::Vector Vector;
        typedef typename PointMatcher<T>::Matrix Matrix;
        typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer;
        
        inline static const std::string description()
        {
                return "Point-to-point similarity error (rotation + translation + scale). The scale is the same for all coordinates. Based on SVD decomposition. Per \\cite{Umeyama1991}.";
        }

        PointToPointSimilarityErrorMinimizer(): ErrorMinimizer("PointToPointSimilarityErrorMinimizer",
                                                                                                                                                                                                                                 PointMatcherSupport::Parametrizable::ParametersDoc(),
                                                                                                                                                                                                                                 PointMatcherSupport::Parametrizable::Parameters()) {}
        //virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
        virtual TransformationParameters compute(const ErrorElements& mPts);
        virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
        virtual T getOverlap() const;
};


#endif //LIBPOINTMATCHER_POINTTOPOINTSIMILARITY_H