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Adjust Global Frame in odometry pipeline #331

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merged 4 commits into from
Apr 19, 2024
Merged

Adjust Global Frame in odometry pipeline #331

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33fecf5
Our API is amazing
tizianoGuadagnino Apr 18, 2024
51b31ef
Make name more consistent
tizianoGuadagnino Apr 18, 2024
0663fb4
Add public setter/getter the Eigen way, so that our beatiful naming of
tizianoGuadagnino Apr 19, 2024
9242cef
Add back
benemer Apr 19, 2024
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11 changes: 9 additions & 2 deletions cpp/kiss_icp/pipeline/KissICP.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,15 @@ class KissICP {
Vector3dVectorTuple Voxelize(const std::vector<Eigen::Vector3d> &frame) const;

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 VoxelHashMap &VoxelMap() const { return local_map_; };
VoxelHashMap &VoxelMap() { return local_map_; };

const Sophus::SE3d &pose() const { return last_pose_; }
Sophus::SE3d &pose() { return last_pose_; }

const Sophus::SE3d &delta() const { return last_delta_; }
Sophus::SE3d &delta() { return last_delta_; }

private:
Sophus::SE3d last_pose_;
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