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diffCheckBindings.cc
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218 lines (177 loc) · 11.9 KB
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// diffCheck_py.cc
#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include "diffCheck.hh"
namespace py = pybind11;
bool test() { return true; }
PYBIND11_MODULE(diffcheck_bindings, m) {
m.doc() = "The diffcheck bindings for python.";
//#################################################################################################
// testing namespace
//#################################################################################################
py::module_ submodule_test = m.def_submodule("dfb_test", "A submodule for testing the python bindings.");
submodule_test.def("test", &test, "Simple function testing a vanilla python bindings.");
//#################################################################################################
// dfb_geometry namespace
//#################################################################################################
py::module_ submodule_geometry = m.def_submodule("dfb_geometry", "A submodule for wrap geometries in df.");
py::class_<diffCheck::geometry::DFPointCloud, std::shared_ptr<diffCheck::geometry::DFPointCloud>>(submodule_geometry, "DFPointCloud",
"A class for the point cloud representation.")
.def(py::init<>())
.def(py::init<std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>>(),
py::arg("points"), py::arg("colors"), py::arg("normals"))
.def("compute_distance", &diffCheck::geometry::DFPointCloud::ComputeDistance,
py::arg("target_cloud"))
.def("voxel_downsample", &diffCheck::geometry::DFPointCloud::VoxelDownsample,
py::arg("voxel_size"))
.def("uniform_downsample", &diffCheck::geometry::DFPointCloud::UniformDownsample,
py::arg("every_k_points"))
.def("downsample_by_size", &diffCheck::geometry::DFPointCloud::DownsampleBySize,
py::arg("target_size"))
.def("apply_transformation", &diffCheck::geometry::DFPointCloud::ApplyTransformation,
py::arg("transformation"))
.def("estimate_normals", &diffCheck::geometry::DFPointCloud::EstimateNormals,
py::arg("use_cilantro_evaluator") = false,
py::arg("knn") = 100,
py::arg("search_radius") = std::nullopt)
.def("apply_color", (void (diffCheck::geometry::DFPointCloud::*)(int, int, int)) &diffCheck::geometry::DFPointCloud::ApplyColor,
py::arg("r"), py::arg("g"), py::arg("b"))
.def("remove_statistical_outliers", &diffCheck::geometry::DFPointCloud::RemoveStatisticalOutliers,
py::arg("nb_neighbors"), py::arg("std_ratio"))
.def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)
.def("save_to_PLY", &diffCheck::geometry::DFPointCloud::SaveToPLY)
.def("add_points", &diffCheck::geometry::DFPointCloud::AddPoints)
.def("get_tight_bounding_box", &diffCheck::geometry::DFPointCloud::GetTightBoundingBox)
.def("get_axis_aligned_bounding_box", &diffCheck::geometry::DFPointCloud::GetAxixAlignedBoundingBox)
.def("get_num_points", &diffCheck::geometry::DFPointCloud::GetNumPoints,
"Get the number of points in the point cloud.")
.def("get_num_colors", &diffCheck::geometry::DFPointCloud::GetNumColors)
.def("get_num_normals", &diffCheck::geometry::DFPointCloud::GetNumNormals)
.def("get_center_point", &diffCheck::geometry::DFPointCloud::GetCenterPoint)
.def("has_points", &diffCheck::geometry::DFPointCloud::HasPoints)
.def("has_colors", &diffCheck::geometry::DFPointCloud::HasColors)
.def("has_normals", &diffCheck::geometry::DFPointCloud::HasNormals)
.def_property("points",
[](const diffCheck::geometry::DFPointCloud &self) { return self.Points; },
[](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Points = value; })
.def_property("colors",
[](const diffCheck::geometry::DFPointCloud &self) { return self.Colors; },
[](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Colors = value; })
.def_property("normals",
[](const diffCheck::geometry::DFPointCloud &self) { return self.Normals; },
[](diffCheck::geometry::DFPointCloud &self, const std::vector<Eigen::Vector3d>& value) { self.Normals = value; });
py::class_<diffCheck::geometry::DFMesh, std::shared_ptr<diffCheck::geometry::DFMesh>>(submodule_geometry, "DFMesh",
"A class for the triangle mesh representation.")
.def(py::init<>())
.def(py::init<std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3i>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>, std::vector<Eigen::Vector3d>>())
.def("compute_distance", &diffCheck::geometry::DFMesh::ComputeDistance,
py::arg("target_cloud"),
py::arg("is_abs") = true)
.def("load_from_PLY", &diffCheck::geometry::DFMesh::LoadFromPLY)
.def("sample_points_uniformly", &diffCheck::geometry::DFMesh::SampleCloudUniform)
.def("get_tight_bounding_box", &diffCheck::geometry::DFMesh::GetTightBoundingBox)
.def("get_num_vertices", &diffCheck::geometry::DFMesh::GetNumVertices)
.def("get_num_faces", &diffCheck::geometry::DFMesh::GetNumFaces)
.def_property("vertices",
[](const diffCheck::geometry::DFMesh &self) { return self.Vertices; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.Vertices = value; })
.def_property("faces",
[](const diffCheck::geometry::DFMesh &self) { return self.Faces; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3i>& value) { self.Faces = value; })
.def_property("normals_vertex",
[](const diffCheck::geometry::DFMesh &self) { return self.NormalsVertex; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.NormalsVertex = value; })
.def_property("normals_face",
[](const diffCheck::geometry::DFMesh &self) { return self.NormalsFace; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.NormalsFace = value; })
.def_property("colors_vertex",
[](const diffCheck::geometry::DFMesh &self) { return self.ColorsVertex; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.ColorsVertex = value; })
.def_property("colors_face",
[](const diffCheck::geometry::DFMesh &self) { return self.ColorsFace; },
[](diffCheck::geometry::DFMesh &self, const std::vector<Eigen::Vector3d>& value) { self.ColorsFace = value; });
//#################################################################################################
// dfb_transformation namespace
//#################################################################################################
py::module_ submodule_transformation = m.def_submodule("dfb_transformation", "A submodule for the transformation classes.");
py::class_<diffCheck::transformation::DFTransformation>(submodule_transformation, "DFTransformation")
.def(py::init<>())
.def(py::init<const Eigen::Matrix4d&>())
.def_readwrite("transformation_matrix", &diffCheck::transformation::DFTransformation::TransformationMatrix);
//#################################################################################################
// dfb_registrations namespace
//#################################################################################################
py::module_ submodule_registrations = m.def_submodule("dfb_registrations", "A submodule for the registration methods.");
py::class_<diffCheck::registrations::DFGlobalRegistrations>(submodule_registrations, "DFGlobalRegistrations",
"A static class for the global registration methods.")
.def_static("O3DFastGlobalRegistrationFeatureMatching", &diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching,
py::arg("source"),
py::arg("target"),
py::arg("voxelize") = false,
py::arg("voxel_size") = 0.005,
py::arg("radius_kd_tree_search") = 0.8,
py::arg("max_neighbor_kd_tree_search") = 50,
py::arg("max_correspondence_distance") = 0.05,
py::arg("iteration_number") = 128,
py::arg("max_tuple_count") = 1000)
.def_static("O3DRansacOnFeatureMatching", &diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching,
py::arg("source"),
py::arg("target"),
py::arg("voxelize") = false,
py::arg("voxel_size") = 0.005,
py::arg("radius_kd_tree_search") = 1.0,
py::arg("max_neighbor_kd_tree_search") = 50,
py::arg("max_correspondence_distance") = 0.5,
py::arg("is_t_estimate_pt2pt") = false,
py::arg("ransac_n") = 3,
py::arg("correspondence_checker_distance") = 0.05,
py::arg("similarity_threshold") = 1.5,
py::arg("ransac_max_iteration") = 5000,
py::arg("ransac_confidence_threshold") = 0.999);
py::class_<diffCheck::registrations::DFRefinedRegistration>(submodule_registrations, "DFRefinedRegistration",
"A static class for the refined registration methods.")
.def_static("O3DICP", &diffCheck::registrations::DFRefinedRegistration::O3DICP,
py::arg("source"),
py::arg("target"),
py::arg("max_correspondence_distance") = 0.1,
py::arg("is_t_estimate_pt2pt") = false,
py::arg("relative_fitness") = 1e-6,
py::arg("relative_rmse") = 1e-6,
py::arg("max_iteration") = 30,
py::arg("use_point_to_plane") = false)
.def_static("O3DGeneralizedICP", &diffCheck::registrations::DFRefinedRegistration::O3DGeneralizedICP,
py::arg("source"),
py::arg("target"),
py::arg("max_correspondence_distance") = 0.1,
py::arg("max_iteration") = 30,
py::arg("relative_fitness") = 1e-6,
py::arg("relative_rmse") = 1e-6);
//#################################################################################################
// dfb_segmentation namespace
//#################################################################################################
py::module_ submodule_segmentation = m.def_submodule("dfb_segmentation", "A submodule for the `semantic` segmentation methods.");
py::class_<diffCheck::segmentation::DFSegmentation>(submodule_segmentation, "DFSegmentation",
"A static class for the segmentation methods.")
.def_static("segment_by_normal", &diffCheck::segmentation::DFSegmentation::NormalBasedSegmentation,
py::arg("point_cloud"),
py::arg("normal_threshold_degree") = 20.0,
py::arg("min_cluster_size") = 10,
py::arg("use_knn_neighborhood") = true,
py::arg("knn_neighborhood_size") = 10,
py::arg("radius_neighborhood_size") = 0.1,
py::arg("color_clusters") = false)
.def_static("associate_clusters", &diffCheck::segmentation::DFSegmentation::AssociateClustersToMeshes,
py::arg("is_roundwood"),
py::arg("reference_mesh"),
py::arg("unassociated_clusters"),
py::arg("angle_threshold") = 0.1,
py::arg("association_threshold") = 0.1)
.def_static("clean_unassociated_clusters", &diffCheck::segmentation::DFSegmentation::CleanUnassociatedClusters,
py::arg("is_roundwood"),
py::arg("unassociated_clusters"),
py::arg("associated_clusters"),
py::arg("reference_mesh"),
py::arg("angle_threshold") = 0.1,
py::arg("association_threshold") = 0.1);
}
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