| #include "rigid_fricp_registration.h" |
| #include "nonrigid_spare_registration.h" |
| #include "registration.h" |
| #include <pybind11/pybind11.h> |
| #include <pybind11/eigen.h> |
| #include <pybind11/stl.h> |
| #include <Eigen/Dense> |
|
|
| namespace py = pybind11; |
|
|
| |
| PYBIND11_MODULE(pyregister, m) { |
|
|
| |
| py::class_<Registration>(m, "Registration") |
| .def("Read_data", |
| py::overload_cast<const std::string&, const std::string&>(&Registration::Read_data), |
| py::arg("file_target"), |
| py::arg("file_source")) |
| .def("Read_data", |
| [](Registration &self, |
| const Eigen::Ref<const Eigen::MatrixXd> &target_p, |
| const Eigen::Ref<const Eigen::MatrixXd> &source_p, |
| const Eigen::Ref<const Eigen::MatrixXd> &target_n, |
| const Eigen::Ref<const Eigen::MatrixXd> &source_n) |
| { |
| std::cout << "[pybind] entering Registration::Read_data" << std::endl; |
|
|
| Matrix3X tp = target_p.topRows(3); |
| Matrix3X sp = source_p.topRows(3); |
| Matrix3X tn = target_n.topRows(3); |
| Matrix3X sn = source_n.topRows(3); |
|
|
| self.Read_data(tp, sp, tn, sn); |
|
|
| std::cout << "[pybind] leaving Registration::Read_data" << std::endl; |
| }, |
| py::arg("target_p"), |
| py::arg("source_p"), |
| py::arg("target_n") = Eigen::MatrixXd(), |
| py::arg("source_n") = Eigen::MatrixXd() |
| ) |
|
|
|
|
| .def("Register", &Registration::Register) |
| .def("Output_data", &Registration::Output_data, |
| py::arg("out_path"), |
| py::arg("method_name")); |
|
|
| |
| py::class_<spare::Parameters>(m, "SpareParameters") |
| .def(py::init<>()) |
| .def_readwrite("use_landmark", &spare::Parameters::use_landmark) |
| .def_readwrite("landmark_src", &spare::Parameters::landmark_src) |
| .def_readwrite("landmark_tar", &spare::Parameters::landmark_tar); |
|
|
| |
| py::class_<RigidFricpRegistration, Registration>(m, "RigidFricpRegistration") |
| .def(py::init<>()) |
| .def("Reg", &RigidFricpRegistration::Reg, |
| py::arg("file_target"), |
| py::arg("file_source"), |
| py::arg("out_path")) |
| .def("Paras_init", &RigidFricpRegistration::Paras_init, |
| py::arg("useinit") = false, |
| py::arg("fileinit") = " ", |
| py::arg("maxiter") = 100, |
| py::arg("stop") = 1e-5) |
| .def_readwrite("deformed_points_3X_", &RigidFricpRegistration::deformed_points_3X_); |
|
|
| |
| py::class_<NonrigidSpareRegistration, Registration>(m, "NonrigidSpareRegistration") |
| .def(py::init<>()) |
| .def("Reg", &NonrigidSpareRegistration::Reg, |
| py::arg("file_target"), |
| py::arg("file_source"), |
| py::arg("out_path")) |
| .def("Paras_init", &NonrigidSpareRegistration::Paras_init, |
| py::arg("iters") = 30, |
| py::arg("stopcoarse") = 1e-3, |
| py::arg("stopfine") = 1e-4, |
| py::arg("uselandmark") = false, |
| py::arg("src") = std::vector<int>(), |
| py::arg("tar") = std::vector<int>()) |
|
|
| .def_readwrite("deformed_points_3X_", &NonrigidSpareRegistration::deformed_points_3X_) |
| .def_readwrite("paras", &NonrigidSpareRegistration::paras); |
| } |
|
|
