icp_chain_base.cpp

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#include <fstream>

#include "icp_chain_base.h"

namespace python
{
        namespace pointmatcher
        {
                void pybindICPChainBase(py::class_<PM>& p_class)
                {
                        py::class_<ICPChaineBase>(p_class, "ICPChainBase", "Stuff common to all ICP algorithms")
                                .def_readwrite("readingDataPointsFilters", &ICPChaineBase::readingDataPointsFilters, "filters for reading, applied once")
                                .def_readwrite("readingStepDataPointsFilters", &ICPChaineBase::readingStepDataPointsFilters, "filters for reading, applied at each step")
                                .def_readwrite("referenceDataPointsFilters", &ICPChaineBase::referenceDataPointsFilters, "filters for reference")
                                .def_readwrite("transformations", &ICPChaineBase::transformations, "transformations")
                                .def_readwrite("matcher", &ICPChaineBase::matcher, "matcher")
                                .def_readwrite("outlierFilters", &ICPChaineBase::outlierFilters, "outlier filters")
                                .def_readwrite("errorMinimizer", &ICPChaineBase::errorMinimizer, "error minimizer")
                                .def_readwrite("transformationCheckers", &ICPChaineBase::transformationCheckers, "transformations checkers")
                                .def_readwrite("inspector", &ICPChaineBase::inspector, "inspector")

                                .def("setDefault", &ICPChaineBase::setDefault)

                                .def("loadFromYaml", [](ICPChaineBase& self, const std::string& in)
                                {
                                        std::ifstream ifs(in.c_str());
                                        self.loadFromYaml(ifs);
                                }).def("getPrefilteredReadingPtsCount", &ICPChaineBase::getPrefilteredReadingPtsCount)
                                .def("getPrefilteredReferencePtsCount", &ICPChaineBase::getPrefilteredReferencePtsCount)

                                .def("getMaxNumIterationsReached", &ICPChaineBase::getMaxNumIterationsReached);
                }
        }
}