point_matcher.cpp

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#include "pypoint_matcher_helper.h"

#include "data_points.h"
#include "transformation.h"
#include "transformations.h"
#include "data_points_filter.h"
#include "data_points_filters.h"
#include "inspector.h"
#include "matcher.h"
#include "matches.h"
#include "outlier_filter.h"
#include "outlier_filters.h"
#include "error_minimizer.h"
#include "transformation_checker.h"
#include "transformation_checkers.h"
#include "icp_chain_base.h"
#include "icp.h"
#include "icp_sequence.h"

namespace python
{
        namespace pointmatcher
        {
                void pybindPointMatcher(py::module& p_module)
                {
                        py::class_<PM> pyPointmatcher(p_module, "PointMatcher");

                        pyPointmatcher
                                .doc() = "Functions and classes that are dependant on scalar type are defined in this templatized class";

                        using ConvergenceError = PM::ConvergenceError;
                        py::register_exception<ConvergenceError>(pyPointmatcher, "ConvergenceError");

                        pybindDataPoints(pyPointmatcher);
                        pybindMatches(pyPointmatcher);
                        pybindTranformation(pyPointmatcher);
                        pybindTranformations(pyPointmatcher);
                        pybindDataPointsFilter(pyPointmatcher);
                        pybindDataPointsFilters(pyPointmatcher);
                        pybindMatcher(pyPointmatcher);
                        pybindOutlierFilter(pyPointmatcher);
                        pybindOutlierFilters(pyPointmatcher);
                        pybindErrorMinimizer(pyPointmatcher);
                        pybindTransformationChecker(pyPointmatcher);
                        pybindTransformationCheckers(pyPointmatcher);
                        pybindInspector(pyPointmatcher);
                        pybindICPChainBase(pyPointmatcher);
                        pybindICP(pyPointmatcher);
                        pybindICPSequence(pyPointmatcher);

                        pyPointmatcher.def_static("swapDataPoints", &PM::swapDataPoints, py::arg("a"), py::arg("b"))
                                .def_readwrite("TransformationRegistrar", &PM::TransformationRegistrar)
                                .def_readwrite("DataPointsFilterRegistrar", &PM::DataPointsFilterRegistrar)
                                .def_readwrite("MatcherRegistrar", &PM::MatcherRegistrar)
                                .def_readwrite("OutlierFilterRegistrar", &PM::OutlierFilterRegistrar)
                                .def_readwrite("ErrorMinimizerRegistrar", &PM::ErrorMinimizerRegistrar)
                                .def_readwrite("TransformationCheckerRegistrar", &PM::TransformationCheckerRegistrar)
                                .def_readwrite("InspectorRegistrar", &PM::InspectorRegistrar)
                                .def_readwrite("LoggerRegistrar", &PM::LoggerRegistrar)
                                .def_static("get", &PM::get, py::return_value_policy::reference);
                }
        }
}