Merge pull request #1540 from SamFlt/python_improvements

Python bindings improvements
lagadic · Jan 20, 2025 · 4f308c6 · 4f308c6
2 parents e3dfc17 + 7413305
commit 4f308c6
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Showing 6 changed files with 1,357 additions and 73 deletions.
diff --git a/modules/python/bindings/include/core/arrays.hpp b/modules/python/bindings/include/core/arrays.hpp
@@ -83,6 +83,16 @@ py::buffer_info get_buffer_info(vpTranslationVector &array)
   return make_array_buffer<double, 1>(array.data, { 3 }, false);
 }
 template<>
+py::buffer_info get_buffer_info(vpPoseVector &array)
+{
+  return make_array_buffer<double, 1>(array.data, { 6 }, false);
+}
+template<>
+py::buffer_info get_buffer_info(vpRotationVector &array)
+{
+  return make_array_buffer<double, 1>(array.data, { array.getRows() }, false);
+}
+template<>
 py::buffer_info get_buffer_info(vpRotationMatrix &array)
 {
   return make_array_buffer<double, 2>(array.data, { array.getRows(), array.getCols() }, true);
@@ -605,5 +615,54 @@ Construct a row vector by **copying** a 1D numpy array.
   add_cpp_print_helper(pyRowVector, &vpRowVector::cppPrint);
 }
 
+void bindings_vpPoseVector(py::class_<vpPoseVector, std::shared_ptr<vpPoseVector>, vpArray2D<double>> &pyPoseVector)
+{
+  pyPoseVector.def_buffer(&get_buffer_info<vpPoseVector>);
+
+  pyPoseVector.def("numpy", [](vpPoseVector &self) -> np_array_cf<double> {
+    return py::cast(self).cast<np_array_cf<double>>();
+  }, numpy_fn_doc_writable, py::keep_alive<0, 1>());
+
+  pyPoseVector.def(py::init([](np_array_cf<double> np_array) {
+    verify_array_shape_and_dims(np_array, 1, "ViSP pose vector");
+    const std::vector<py::ssize_t> shape = np_array.request().shape;
+    vpPoseVector result;
+    copy_data_from_np(np_array, result.data);
+    return result;
+                            }), R"doc(
+Construct a pose vector by **copying** a 1D numpy array.
+
+:param np_array: The numpy 1D array to copy.
+
+)doc", py::arg("np_array"));
+  define_get_item_1d_array<py::class_<vpPoseVector, std::shared_ptr<vpPoseVector>, vpArray2D<double>>, vpPoseVector, double>(pyPoseVector);
+  define_set_item_1d_array<py::class_<vpPoseVector, std::shared_ptr<vpPoseVector>, vpArray2D<double>>, vpPoseVector, double>(pyPoseVector);
+}
+
+void bindings_vpRotationVector(py::class_<vpRotationVector, std::shared_ptr<vpRotationVector>, vpArray2D<double>> &pyRotationVector)
+{
+  pyRotationVector.def_buffer(&get_buffer_info<vpRotationVector>);
+
+  pyRotationVector.def("numpy", [](vpRotationVector &self) -> np_array_cf<double> {
+    return py::cast(self).cast<np_array_cf<double>>();
+  }, numpy_fn_doc_writable, py::keep_alive<0, 1>());
+
+  pyRotationVector.def(py::init([](np_array_cf<double> np_array) {
+    verify_array_shape_and_dims(np_array, 1, "ViSP rotation vector");
+    const std::vector<py::ssize_t> shape = np_array.request().shape;
+    vpRotationVector result(shape[0]);
+    copy_data_from_np(np_array, result.data);
+    return result;
+                                }), R"doc(
+Construct a rotaiton vector by **copying** a 1D numpy array.
+
+:param np_array: The numpy 1D array to copy.
+
+)doc", py::arg("np_array"));
+  define_get_item_1d_array<py::class_<vpRotationVector, std::shared_ptr<vpRotationVector>, vpArray2D<double>>, vpPoseVector, double>(pyRotationVector);
+  define_set_item_1d_array<py::class_<vpRotationVector, std::shared_ptr<vpRotationVector>, vpArray2D<double>>, vpPoseVector, double>(pyRotationVector);
+}
+
+
 
 #endif
diff --git a/modules/python/config/core.json b/modules/python/config/core.json
@@ -108,6 +108,21 @@
       "static": false,
       "signature": "void npz_save(std::string, std::string, const std::vector<T>, std::string)",
       "ignore": true
+    },
+    {
+      "static": false,
+      "signature": "bool convertFromTypeAndBuildFrom(const nlohmann::json&, T&)",
+      "ignore": true
+    },
+    {
+      "static": false,
+      "signature": "nlohmann::json flagsToJSON(const int, const std::vector<E>&)",
+      "ignore": true
+    },
+    {
+      "static": false,
+      "signature": "int flagsFromJSON(const nlohmann::json&)",
+      "ignore": true
     }
   ],
   "classes": {
@@ -478,6 +493,36 @@
           "param_is_output": [
             true
           ]
+        },
+        {
+          "static": true,
+          "signature": "vpBasisFunction* computeBasisFuns(double, unsigned int, unsigned int, const std::vector<double>&)",
+          "ignore": true
+        },
+        {
+          "static": true,
+          "signature": "vpBasisFunction** computeDersBasisFuns(double, unsigned int, unsigned int, unsigned int, const std::vector<double>&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpBasisFunction* computeBasisFuns(double)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpBasisFunction** computeDersBasisFuns(double, unsigned int)",
+          "ignore": true
+        },
+        {
+          "static": true,
+          "signature": "vpImagePoint* computeCurveDers(double, unsigned int, unsigned int, unsigned int, const std::vector<double>&, const std::vector<vpImagePoint>&)",
+          "ignore": true
+        },
+        {
+          "static": false,
+          "signature": "vpImagePoint* computeCurveDers(double, unsigned int)",
+          "ignore": true
         }
       ]
     },
@@ -624,6 +669,24 @@
         }
       ]
     },
+    "vpStatisticalTestAbstract": {
+      "acknowledge_pointer_or_ref_fields": [
+        "float*"
+      ],
+      "methods": [
+        {
+          "static": false,
+          "signature": "void getLimits(float&, float&)",
+          "use_default_param_policy": true
+        }
+      ]
+    },
+    "vpMoment": {
+      "acknowledge_pointer_or_ref_fields": [
+        "vpMomentObject*",
+        "vpMomentDatabase*"
+      ]
+    },
     "vpMomentDatabase": {
       "methods": [
         {
@@ -641,6 +704,11 @@
         }
       ]
     },
+    "vpMomentCommon": {
+      "acknowledge_pointer_or_ref_fields": [
+        "vpMomentCInvariant*"
+      ]
+    },
     "vpMomentObject": {
       "methods": [
         {
@@ -986,6 +1054,22 @@
         }
       ]
     },
+    "vpParticleFilter": {
+      "specializations": [
+        {
+          "python_name": "ParticleFilterVector",
+          "arguments": [
+            "vpColVector"
+          ]
+        },
+        {
+          "python_name": "ParticleFilterMatrix",
+          "arguments": [
+            "vpMatrix"
+          ]
+        }
+      ]
+    },
     "vpImageFilter": {
       "methods": [
         {
@@ -1095,6 +1179,15 @@
         }
       ]
     },
+    "vpRequest": {
+      "methods": [
+        {
+          "static": false,
+          "signature": "void addParameterObject(T*, const int&)",
+          "ignore": true
+        }
+      ]
+    },
     "vpUDPClient": {
       "methods": [
         {
@@ -1164,6 +1257,15 @@
               "TypePythonScalar"
             ]
           ]
+        },
+        {
+          "static": true,
+          "signature": "std::vector<T> shuffleVector(const std::vector<T>&, const int32_t&)",
+          "specializations": [
+            [
+              "TypePythonScalar"
+            ]
+          ]
         }
       ]
     },
@@ -1203,6 +1305,31 @@
           ]
         }
       ]
+    },
+    "vpXmlParserCamera": {
+      "acknowledge_pointer_or_ref_fields": [
+        "Impl*"
+      ]
+    },
+    "vpXmlParserHomogeneousMatrix": {
+      "acknowledge_pointer_or_ref_fields": [
+        "Impl*"
+      ]
+    },
+    "vpXmlParserRectOriented": {
+      "acknowledge_pointer_or_ref_fields": [
+        "Impl*"
+      ]
+    },
+    "vpGaussianFilter": {
+      "acknowledge_pointer_or_ref_fields": [
+        "Impl*"
+      ]
+    },
+    "vpCannyEdgeDetection": {
+      "acknowledge_pointer_or_ref_fields": [
+        "const vpImage<bool>*"
+      ]
     }
   }
 }