icp_sequence.cpp

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#include <fstream>

#include "icp_sequence.h"

namespace python
{
        namespace pointmatcher
        {
                void pybindICPSequence(py::class_<PM>& p_class)
                {
                        py::class_<ICPSequence, ICP> pyICPSequence(p_class, "ICPSequence");

                        pyICPSequence.doc() = R"pbdoc(
ICP alogrithm, taking a sequence of clouds and using a map
Warning: used with caution, you need to set the map manually.
)pbdoc";

                        pyICPSequence.def(py::init<>())
                                .def("__call__", (TransformationParameters(ICPSequence::*)(const DataPoints&)) &ICPSequence::operator(), py::arg("cloudIn"))
                                .def("__call__", (TransformationParameters(ICPSequence::*)(const DataPoints&, const TransformationParameters&)) &ICPSequence::operator(), py::arg("cloudIn"), py::arg("initialTransformationParameters"))
                                .def("compute", &ICPSequence::compute, py::arg("cloudIn"), py::arg("initialTransformationParameters"))

                                .def("hasMap", &ICPSequence::hasMap).def("setMap", &ICPSequence::setMap)
                                .def("clearMap", &ICPSequence::clearMap).def("setDefault", &ICPSequence::setDefault)
                                .def("loadFromYaml", [](ICPSequence& self, const std::string& in)
                                {
                                        std::ifstream ifs(in.c_str());
                                        self.loadFromYaml(ifs);
                                }).def("getPrefilteredInternalMap", &ICPSequence::getPrefilteredInternalMap)
                                .def("getPrefilteredMap", &ICPSequence::getPrefilteredMap);
                }
        }
}