ccGBLSensor.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <pybind11/native_enum.h>
#include <pybind11/pybind11.h>
 
#include <ecvGBLSensor.h>
 
#include "../casters.h"
 
namespace py = pybind11;
using namespace pybind11::literals;
 
void define_ccGBLSensor(py::module &m)
{
    py::class_<ccGBLSensor, ccSensor> pyccGBLSensor(m, "ccGBLSensor");
 
    py::native_enum<ccGBLSensor::ROTATION_ORDER>(
        pyccGBLSensor, "ROTATION_ORDER", "enum.Enum", "ccGBLSensor ROTATION_ORDER.")
        .value("YAW_THEN_PITCH", ccGBLSensor::ROTATION_ORDER::YAW_THEN_PITCH)
        .value("PITCH_THEN_YAW", ccGBLSensor::ROTATION_ORDER::PITCH_THEN_YAW)
        .export_values()
        .finalize();
 
    pyccGBLSensor
        .def(py::init<ccGBLSensor::ROTATION_ORDER>(),
             "rotOrder"_a = ccGBLSensor::ROTATION_ORDER::YAW_THEN_PITCH)
        .def("computeAutoParameters", &ccGBLSensor::computeAutoParameters, "theCloud"_a)
        .def_static("GetErrorString", &ccGBLSensor::GetErrorString, "errorCode"_a)
        // setters and getters
        .def("setPitchRange", &ccGBLSensor::setPitchRange, "minPhi"_a, "maxPhi"_a)
        .def("getMinPitch", &ccGBLSensor::getMinPitch)
        .def("getMaxPitch", &ccGBLSensor::getMaxPitch)
        .def("setPitchStep", &ccGBLSensor::setPitchStep, "dPhi"_a)
        .def("getPitchStep", &ccGBLSensor::getPitchStep)
        .def("pitchIsShifted", &ccGBLSensor::pitchIsShifted)
        .def("setYawRange", &ccGBLSensor::setYawRange, "minTheta"_a, "maxTheta"_a)
        .def("getMinYaw", &ccGBLSensor::getMinYaw)
        .def("getMaxYaw", &ccGBLSensor::getMaxYaw)
        .def("setYawStep", &ccGBLSensor::setYawStep, "dTheta"_a)
        .def("getYawStep", &ccGBLSensor::getYawStep)
        .def("yawIsShifted", &ccGBLSensor::yawIsShifted)
        .def("getSensorRange", &ccGBLSensor::getSensorRange)
        .def("setSensorRange", &ccGBLSensor::setSensorRange, "range"_a)
        .def("getUncertainty", &ccGBLSensor::getUncertainty)
        .def("setUncertainty", &ccGBLSensor::setUncertainty, "u"_a)
        .def("getRotationOrder", &ccGBLSensor::getRotationOrder)
        .def("setRotationOrder", &ccGBLSensor::setRotationOrder, "rotOrder"_a)
        // projection tools
        .def(
            "projectPoint",
            [](const ccGBLSensor &self,
               const CCVector3 &sourcePoint,
               double posIndex = 0) -> py::tuple
            {
                CCVector2 destPoint;
                PointCoordinateType depth;
                self.projectPoint(sourcePoint, destPoint, depth, posIndex);
                return py::make_tuple(destPoint, depth);
            },
            "sourcePoint"_a,
            "posIndex"_a = 0);
    // TODO projectNormals
    // TODO projectColors
}