octree_grid.cpp

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#include "octree_grid.h"

#include "DataPointsFilters/OctreeGrid.h"

namespace python
{
        namespace datapointsfilters
        {
                void pybindOctreeGrid(py::module& p_module)
                {
                        using OctreeGridDataPointsFilter = OctreeGridDataPointsFilter<ScalarType>;
                        py::class_<OctreeGridDataPointsFilter, std::shared_ptr<OctreeGridDataPointsFilter>, DataPointsFilter> octreegridClass(p_module, "OctreeGridDataPointsFilter");

                        octreegridClass.doc() = R"pbdoc(
Data Filter based on Octree representation

Processings are applyed via a Visitor through Depth-first search in the Octree (DFS)
i.e. for each node, the Visitor/Callback is called
)pbdoc";

                        using FirstPtsSampler = OctreeGridDataPointsFilter::FirstPtsSampler;
                        py::class_<FirstPtsSampler> firstptssamplerClass(octreegridClass, "FirstPtsSampler", "Visitors class to apply processing");

                        firstptssamplerClass.def_readwrite("idx", &FirstPtsSampler::idx)
//                      .def_readwrite("pts", &FirstPtsSampler::pts, py::return_value_policy::reference) FIXME
                                .def_readwrite("mapidx", &FirstPtsSampler::mapidx, "Build map of (old index to new index), in case we sample pts at the begining of the pointcloud")

                                .def(py::init<DataPoints&>(), py::arg("dp"))

//                      .def("__call__", &FirstPtsSampler::operator()<2>, py::arg("oc")) FIXME
//                      .def("__call__", &FirstPtsSampler::operator()<3>, py::arg("oc")) FIXME
                                .def("finalize", &FirstPtsSampler::finalize);

                        using RandomPtsSampler = OctreeGridDataPointsFilter::RandomPtsSampler;
                        py::class_<RandomPtsSampler, FirstPtsSampler>(firstptssamplerClass, "RandomPtsSampler")
                                .def_readonly("seed", &RandomPtsSampler::seed)

                                .def(py::init<DataPoints&>(), py::arg("dp"))
                                .def(py::init<DataPoints&, const std::size_t>(), py::arg("dp"), py::arg("seed_"))

//                      .def("__call__", &RandomPtsSampler::operator()<2>, py::arg("oc")) FIXME
//                      .def("__call__", &RandomPtsSampler::operator()<3>, py::arg("oc")) FIXME
                                .def("finalize", &RandomPtsSampler::finalize);

                        using CentroidSampler = OctreeGridDataPointsFilter::CentroidSampler;
                        py::class_<CentroidSampler, FirstPtsSampler>(firstptssamplerClass, "CentroidSampler")
                                .def(py::init<DataPoints&>(), py::arg("dp"));

//                      .def("__call__", &CentroidSampler::operator()<2>, py::arg("oc")) FIXME
//                      .def("__call__", &CentroidSampler::operator()<3>, py::arg("oc")); FIXME

                        using MedoidSampler = OctreeGridDataPointsFilter::MedoidSampler;
                        py::class_<MedoidSampler, FirstPtsSampler>(firstptssamplerClass, "MedoidSampler", "Nearest point from the centroid (contained in the cloud)")
                                .def(py::init<DataPoints&>(), py::arg("dp"));

//                      .def("__call__", &RandomPtsSampler::operator()<2>, py::arg("oc")) FIXME
//                      .def("__call__", &RandomPtsSampler::operator()<3>, py::arg("oc")); FIXME

                        using SamplingMethod = OctreeGridDataPointsFilter::SamplingMethod;
                        py::enum_<SamplingMethod>(octreegridClass, "SamplingMethod").value("FIRST_PTS", SamplingMethod::FIRST_PTS)
                                .value("RAND_PTS", SamplingMethod::RAND_PTS).value("CENTROID", SamplingMethod::CENTROID)
                                .value("MEDOID", SamplingMethod::MEDOID).export_values();

                        octreegridClass.def_static("description", &OctreeGridDataPointsFilter::description)
                                .def_static("availableParameters", &OctreeGridDataPointsFilter::availableParameters)

                                .def_readwrite("centerX", &OctreeGridDataPointsFilter::buildParallel)
                                .def_readwrite("centerY", &OctreeGridDataPointsFilter::maxPointByNode)
                                .def_readwrite("centerY", &OctreeGridDataPointsFilter::maxSizeByNode)
                                .def_readonly("centerZ", &OctreeGridDataPointsFilter::samplingMethod)

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

                                .def("filter", &OctreeGridDataPointsFilter::filter)
                                .def("inPlaceFilter", &OctreeGridDataPointsFilter::inPlaceFilter);
                }
        }
}