icp_chain_base.cpp
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1 #include <fstream>
2 
3 #include "icp_chain_base.h"
4 
5 namespace python
6 {
7  namespace pointmatcher
8  {
9  void pybindICPChainBase(py::class_<PM>& p_class)
10  {
11  py::class_<ICPChaineBase>(p_class, "ICPChainBase", "Stuff common to all ICP algorithms")
12  .def_readwrite("readingDataPointsFilters", &ICPChaineBase::readingDataPointsFilters, "filters for reading, applied once")
13  .def_readwrite("readingStepDataPointsFilters", &ICPChaineBase::readingStepDataPointsFilters, "filters for reading, applied at each step")
14  .def_readwrite("referenceDataPointsFilters", &ICPChaineBase::referenceDataPointsFilters, "filters for reference")
15  .def_readwrite("transformations", &ICPChaineBase::transformations, "transformations")
16  .def_readwrite("matcher", &ICPChaineBase::matcher, "matcher")
17  .def_readwrite("outlierFilters", &ICPChaineBase::outlierFilters, "outlier filters")
18  .def_readwrite("errorMinimizer", &ICPChaineBase::errorMinimizer, "error minimizer")
19  .def_readwrite("transformationCheckers", &ICPChaineBase::transformationCheckers, "transformations checkers")
20  .def_readwrite("inspector", &ICPChaineBase::inspector, "inspector")
21 
22  .def("setDefault", &ICPChaineBase::setDefault)
23 
24  .def("loadFromYaml", [](ICPChaineBase& self, const std::string& in)
25  {
26  std::ifstream ifs(in.c_str());
27  self.loadFromYaml(ifs);
28  }).def("getPrefilteredReadingPtsCount", &ICPChaineBase::getPrefilteredReadingPtsCount)
29  .def("getPrefilteredReferencePtsCount", &ICPChaineBase::getPrefilteredReferencePtsCount)
30 
31  .def("getMaxNumIterationsReached", &ICPChaineBase::getMaxNumIterationsReached);
32  }
33  }
34 }
compute_overlap.transformations
transformations
Definition: compute_overlap.py:45
python::pointmatcher::pybindICPChainBase
void pybindICPChainBase(py::class_< PM > &p_class)
Definition: icp_chain_base.cpp:9
testing::internal::string
::std::string string
Definition: gtest.h:1979
icp_customized.errorMinimizer
errorMinimizer
Definition: icp_customized.py:125
python
Definition: add_descriptor.cpp:5
icp_customized.matcher
matcher
Definition: icp_customized.py:121
icp_chain_base.h
ICPChaineBase
PM::ICPChainBase ICPChaineBase
Definition: pypoint_matcher_helper.h:32
icp_customized.inspector
inspector
Definition: icp_customized.py:131


libpointmatcher
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autogenerated on Mon Sep 16 2024 02:24:09