gestalt.cpp

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#include "gestalt.h"

#include "DataPointsFilters/Gestalt.h"

namespace python
{
        namespace datapointsfilters
        {
                void pybindGestalt(py::module& p_module)
                {
                        using GestaltDataPointsFilter = GestaltDataPointsFilter<ScalarType>;
                        py::class_<GestaltDataPointsFilter, std::shared_ptr<GestaltDataPointsFilter>, DataPointsFilter>(p_module, "GestaltDataPointsFilter")
                                .def_static("description", &GestaltDataPointsFilter::description)
                                .def_static("availableParameters", &GestaltDataPointsFilter::availableParameters)

                                .def_readonly("ratio", &GestaltDataPointsFilter::ratio)
                                .def_readonly("radius", &GestaltDataPointsFilter::radius)
                                .def_readonly("knn", &GestaltDataPointsFilter::knn)
                                .def_readonly("vSizeX", &GestaltDataPointsFilter::vSizeX)
                                .def_readonly("vSizeY", &GestaltDataPointsFilter::vSizeY)
                                .def_readonly("vSizeZ", &GestaltDataPointsFilter::vSizeZ)
                                .def_readonly("maxBoxDim", &GestaltDataPointsFilter::maxBoxDim)
                                .def_readonly("maxTimeWindow", &GestaltDataPointsFilter::maxTimeWindow)
                                .def_readonly("keepMeans", &GestaltDataPointsFilter::keepMeans)
                                .def_readonly("averageExistingDescriptors", &GestaltDataPointsFilter::averageExistingDescriptors)
                                .def_readonly("keepNormals", &GestaltDataPointsFilter::keepNormals)
                                .def_readonly("keepEigenValues", &GestaltDataPointsFilter::keepEigenValues)
                                .def_readonly("keepEigenVectors", &GestaltDataPointsFilter::keepEigenVectors)
                                .def_readonly("keepCovariances", &GestaltDataPointsFilter::keepCovariances)
                                .def_readonly("keepGestaltFeatures", &GestaltDataPointsFilter::keepGestaltFeatures)

                                .def(py::init<const Parameters&>(), py::arg("params") = Parameters(), "Constructor, uses parameter interface")

                                .def("filter", &GestaltDataPointsFilter::filter, py::arg("input"))
                                .def("inPlaceFilter", &GestaltDataPointsFilter::inPlaceFilter, py::arg("cloud"))
                                .def("serializeGestaltMatrix", &GestaltDataPointsFilter::serializeGestaltMatrix, py::arg("gestaltFeatures"))
                                .def("calculateAngles", &GestaltDataPointsFilter::calculateAngles, py::arg("points"), py::arg("keyPoint"))
                                .def("calculateRadii", &GestaltDataPointsFilter::calculateRadii, py::arg("points"), py::arg("keyPoint"));
                }
        }
}