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Add empty pipeline constructor #332

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Add empty pipeline constructor #332

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53bcb76
Add constructor and access to config:
benemer Apr 18, 2024
587be4b
Add atribute for TBB thread control
tizianoGuadagnino Apr 19, 2024
55990a4
Add static member in python doesn't help
tizianoGuadagnino Apr 19, 2024
1541c52
Forget how static attribute works because they should not exist in
tizianoGuadagnino Apr 19, 2024
0d6cc31
The staticify, I feel better
tizianoGuadagnino Apr 19, 2024
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2 changes: 2 additions & 0 deletions cpp/kiss_icp/pipeline/KissICP.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ class KissICP {
using Vector3dVectorTuple = std::tuple<Vector3dVector, Vector3dVector>;

public:
explicit KissICP() : KissICP(KISSConfig()) {}
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explicit KissICP(const KISSConfig &config)
: config_(config),
registration_(
Expand All @@ -74,6 +75,7 @@ class KissICP {
std::vector<Eigen::Vector3d> LocalMap() const { return local_map_.Pointcloud(); };
Sophus::SE3d pose() const { return last_pose_; }
Sophus::SE3d delta() const { return last_delta_; }
const KISSConfig &config() const { return config_; }
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private:
Sophus::SE3d last_pose_;
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