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5e0ff400fc
* python binding for viz tutorial widget pose reset test_tutorial 2 & 3 sample py 9 test sur 22 test PyWCloudNormal 16 sur 22 end? python test * oops * bug * comment but( this is not solved https://github.com/opencv/opencv_contrib/pull/2882#discussion_r591659839 * review 2 * oversight * oversight oops * viz: move out Py* classes from public C++ headers * viz: recover PyColor Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>
115 lines
7.0 KiB
C++
115 lines
7.0 KiB
C++
#ifndef OPENCV_PYTHON_VIZ_IMPL_HPP
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#define OPENCV_PYTHON_VIZ_IMPL_HPP
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#include "python_viz.hpp"
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namespace cv { namespace viz {
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PyAffine3d makeTransformToGlobalPy(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin)
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{
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return makeTransformToGlobal(axis_x, axis_y, axis_z, origin);
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}
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PyAffine3d makeCameraPosePy(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir)
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{
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return makeCameraPose(position, focal_point, y_dir);
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}
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#define WRAP_SHOW_WIDGET_1 return Viz3d::showWidget(id, *widget.widget.get())
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#define WRAP_SHOW_WIDGET_2 return Viz3d::showWidget(id, *widget.widget.get(), pose)
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inline void PyViz3d::showWidget(const String &id, PyWLine &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWLine &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWSphere &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWSphere &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCameraPosition &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCameraPosition &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWArrow &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWArrow &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCircle &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCircle &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWPlane &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWPlane &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCone &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCone &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCube &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCube &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCylinder &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCylinder &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCoordinateSystem &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWPaintedCloud &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWPaintedCloud &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCloudCollection &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCloudCollection &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWGrid &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWGrid &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, const cv::Ptr<WMesh> &widget) { return Viz3d::showWidget(id, *widget.get()); }
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inline void PyViz3d::showWidget(const String &id, const cv::Ptr<WMesh> &widget, PyAffine3d &pose) { return Viz3d::showWidget(id, *widget.get(), pose); }
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inline void PyViz3d::showWidget(const String &id, PyWPolyLine &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWPolyLine &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCloud &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWCloud &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWImage3D &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWImage3D &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWImageOverlay &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWImageOverlay &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWText &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWText &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWText3D &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWText3D &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCloudNormals &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWCloudNormals &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectory &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectory &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectorySpheres &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectorySpheres &widget) { WRAP_SHOW_WIDGET_1; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectoryFrustums &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; }
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inline void PyViz3d::showWidget(const String &id, PyWTrajectoryFrustums &widget) { WRAP_SHOW_WIDGET_1; }
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#undef WRAP_SHOW_WIDGET_1
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#undef WRAP_SHOW_WIDGET_2
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PyWGrid::PyWGrid(InputArray cells, InputArray cells_spacing, const PyColor& color)
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{
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if (cells.kind() == _InputArray::MAT && cells_spacing.kind() == _InputArray::MAT)
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{
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Mat k = cells.getMat();
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Mat l = cells_spacing.getMat();
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if (k.total() == 2 && l.total() == 2 )
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{
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CV_Assert(k.type() == CV_64FC1 && k.type() == CV_64FC1);
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Vec2i c1((int)k.at<double>(0), (int)k.at<double>(1));
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Vec2d c2(l.at<double>(0), l.at<double>(1));
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widget = cv::makePtr<WGrid>(c1, c2, color);
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}
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else
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CV_Error(cv::Error::StsVecLengthErr, "unknown size");
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}
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else
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CV_Error(cv::Error::StsUnsupportedFormat, "unknown type");
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}
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PyWTrajectoryFrustums::PyWTrajectoryFrustums(InputArray path, InputArray K, double scale, const PyColor& color)
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{
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if (K.kind() == _InputArray::MAT)
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{
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Mat k = K.getMat();
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if (k.rows == 3 && k.cols == 3)
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{
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Matx33d x = k;
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widget = cv::makePtr<WTrajectoryFrustums>(path, x, scale, color);
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}
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else if (k.total() == 2)
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widget = cv::makePtr<WTrajectoryFrustums>(path, Vec2d(k.at<double>(0), k.at<double>(1)), 1.0, color);
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else
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CV_Error(cv::Error::StsVecLengthErr, "unknown size");
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}
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else
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CV_Error(cv::Error::StsVecLengthErr, "unknown size");
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}
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}} // namespace
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#endif // OPENCV_PYTHON_VIZ_IMPL_HPP
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