RigidTransform3dEstimator.h

// RigidTransform3dEstimator.h:
// ----------------------------
//

#ifndef __IPSDKGEOMETRY_RIGIDTRANSFORM3DESTIMATOR_H__
#define __IPSDKGEOMETRY_RIGIDTRANSFORM3DESTIMATOR_H__

#include <IPSDKGeometry/IPSDKGeometryExports.h>
#include <IPSDKGeometry/Estimation/3d/Estimation3dTypes.h>
#include <IPSDKMath/Estimation/BaseEstimator.h>

namespace ipsdk {
namespace geom {


class IPSDKGEOMETRY_API RigidTransform3dEstimator : public math::BaseEstimator
{
// predefined public types
public:
    IPSDK_ENUM(eEstimParams,

        (eEP_Chi)

        (eEP_Beta)

        (eEP_Alpha)

        (eEP_Tx)

        (eEP_Ty)

        (eEP_Tz)
    )

    
    static const ipUInt32 g_parameterSize = eEstimParams::size;

    IPSDK_ENUM(eDataType,

        (eDT_X1)

        (eDT_Y1)

        (eDT_Z1)

        (eDT_X2)

        (eDT_Y2)

        (eDT_Z2)
    )

    static const ipUInt32 g_dataSize = eDataType::size;

public:
    RigidTransform3dEstimator();
    ~RigidTransform3dEstimator();

// methods
public:

protected:
    BoolResult      processEstimation(const math::DataSet& dataSet,
                                      math::ParameterType& estimParams);

    BoolResult      processResiduals(const math::DataSet& dataSet,
                                     const math::ParameterType& estimParams,
                                     math::ResidualsSet& residualsSet) const;

// attributes
protected:

};


} // end of namespace geom
} // end of namespace ipsdk

#endif // __IPSDKGEOMETRY_RIGIDTRANSFORM3DESTIMATOR_H__