python/pointmatcher/icp.cpp

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#include "icp.h"

namespace python
{
        namespace pointmatcher
        {
                void pybindICP(py::class_<PM>& p_class)
                {
                        py::class_<ICP, ICPChaineBase>(p_class, "ICP", "ICP algorithm").def(py::init<>())
                                .def("__call__", (TransformationParameters (ICP::*)(const DataPoints&, const DataPoints&)) &ICP::operator(), py::arg("readingIn"), py::arg("referenceIn"))
                                .def("__call__", (TransformationParameters (ICP::*)(const DataPoints&, const DataPoints&, const TransformationParameters&)) &ICP::operator(), py::arg("readingIn"), py::arg("referenceIn"), py::arg("initialTransformationParameters"))
                                .def("compute", &ICP::compute, py::arg("readingIn"), py::arg("referenceIn"), py::arg("initialTransformationParameters"))
                                .def("getReadingFiltered", &ICP::getReadingFiltered, "Return the filtered point cloud reading used in the ICP chain");
                }
        }
}