v1-3-0/doxygen/python_p_c_l_8h_source.html

00001 /* ********************************************************************
00002     itom software
00003     URL: http://www.uni-stuttgart.de/ito
00004     Copyright (C) 2013, Institut fuer Technische Optik (ITO),
00005     Universitaet Stuttgart, Germany
00006
00007     This file is part of itom.
00008
00009     itom is free software; you can redistribute it and/or modify it
00010     under the terms of the GNU Library General Public Licence as published by
00011     the Free Software Foundation; either version 2 of the Licence, or (at
00012     your option) any later version.
00013
00014     itom is distributed in the hope that it will be useful, but
00015     WITHOUT ANY WARRANTY; without even the implied warranty of
00016     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Library
00017     General Public Licence for more details.
00018
00019     You should have received a copy of the GNU Library General Public License
00020     along with itom. If not, see <http://www.gnu.org/licenses/>.
00021 *********************************************************************** */
00022
00023 #ifndef PYTHONPCL_H
00024 #define PYTHONPCL_H
00025
00026
00027 /* includes */
00028 #ifndef Q_MOC_RUN
00029     #define PY_ARRAY_UNIQUE_SYMBOL itom_ARRAY_API //see numpy help ::array api :: Miscellaneous :: Importing the api (this line must bebefore include global.h)
00030     #define NO_IMPORT_ARRAY
00031
00032     #ifndef ITOM_NPDATAOBJECT
00033         #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION //see comment in pythonNpDataObject.cpp
00034     #endif
00035
00036     //python
00037     // see http://vtk.org/gitweb?p=VTK.git;a=commitdiff;h=7f3f750596a105d48ea84ebfe1b1c4ca03e0bab3
00038     #if (defined _DEBUG) && (!defined linux)
00039         #undef _DEBUG
00040         #if (defined linux) | (defined CMAKE)
00041             #include "Python.h"
00042             #include "numpy/arrayobject.h"
00043         #else
00044             #include "Python.h"
00045             #include "../Lib/site-packages/numpy/core/include/numpy/arrayobject.h" //for numpy arrays
00046         #endif
00047         #define _DEBUG
00048     #else
00049         #ifdef linux
00050             #include "Python.h"
00051             #include "numpy/arrayobject.h"
00052         #else
00053             #include "Python.h"
00054             #include "../Lib/site-packages/numpy/core/include/numpy/arrayobject.h" //for numpy arrays
00055         #endif
00056     #endif
00057 #endif
00058
00059 #include "../global.h"
00060
00061 #if ITOM_POINTCLOUDLIBRARY > 0
00062
00063 #include "PointCloud/pclStructures.h"
00064
00065
00066 namespace ito
00067 {
00068
00069 class PythonPCL
00070 {
00071 public:
00072     typedef struct
00073     {
00074         PyObject_HEAD
00075         ito::PCLPointCloud *data;
00076         PyObject* base;
00077     }
00078     PyPointCloud;
00079
00080     #define PyPointCloud_Check(op) PyObject_TypeCheck(op, &PythonPCL::PyPointCloudType)
00081
00082     //-------------------------------------------------------------------------------------------------
00083     // constructor, deconstructor, alloc, dellaoc
00084     //-------------------------------------------------------------------------------------------------
00085     static void PyPointCloud_dealloc(PyPointCloud *self);
00086     static PyObject* PyPointCloud_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00087     static int PyPointCloud_init(PyPointCloud *self, PyObject *args, PyObject *kwds);
00088
00089
00090     //-------------------------------------------------------------------------------------------------
00091     // general members
00092     //-------------------------------------------------------------------------------------------------
00093     static PyObject *PyPointCloud_name(PyPointCloud *self);
00094     static PyObject *PyPointCloud_repr(PyPointCloud *self);
00095     static PyObject *PyPointCloud_append(PyPointCloud *self, PyObject *args, PyObject *kwds);
00096     static PyObject *PyPointCloud_clear(PyPointCloud *self);
00097     static PyObject *PyPointCloud_insert(PyPointCloud *self, PyObject *args);
00098     static PyObject *PyPointCloud_erase(PyPointCloud *self, PyObject *args);
00099     static PyObject *PyPointCloud_toDataObject(PyPointCloud *self);
00100
00101     //-------------------------------------------------------------------------------------------------
00102     // helper methods
00103     //-------------------------------------------------------------------------------------------------
00104     static PyObject *PyPointCloud_XYZ_append(PyPointCloud *self, PyObject *xyzObj);
00105     static PyObject *PyPointCloud_XYZI_append(PyPointCloud *self, PyObject *xyziObj);
00106     static PyObject *PyPointCloud_XYZRGBA_append(PyPointCloud *self, PyObject *xyzObj, PyObject *rgbaObj);
00107     static PyObject *PyPointCloud_XYZNormal_append(PyPointCloud *self, PyObject *xyz_nxnynz_curvObj);
00108     static PyObject *PyPointCloud_XYZINormal_append(PyPointCloud *self, PyObject *xyz_i_nxnynz_curvObj);
00109     static PyObject *PyPointCloud_XYZRGBNormal_append(PyPointCloud *self, PyObject *xyz_i_nxnynz_curvObj, PyObject *rgbaObj);
00110
00111     static PyPointCloud* createEmptyPyPointCloud();
00112
00113     //-------------------------------------------------------------------------------------------------
00114     // getter / setter
00115     //-------------------------------------------------------------------------------------------------
00116     static PyObject* PyPointCloud_GetType(PyPointCloud *self, void *closure);
00117     static PyObject* PyPointCloud_GetSize(PyPointCloud *self, void *closure);
00118     static PyObject* PyPointCloud_GetHeight(PyPointCloud *self, void *closure);
00119     static PyObject* PyPointCloud_GetWidth(PyPointCloud *self, void *closure);
00120     static PyObject* PyPointCloud_GetEmpty(PyPointCloud *self, void *closure);
00121     static PyObject* PyPointCloud_GetOrganized(PyPointCloud *self, void *closure);
00122     static PyObject* PyPointCloud_GetDense(PyPointCloud *self, void *closure);
00123     static int       PyPointCloud_SetDense(PyPointCloud *self, PyObject *value, void *closure);
00124     static PyObject* PyPointCloud_GetFields(PyPointCloud *self, void *closure);
00125
00126     //-------------------------------------------------------------------------------------------------
00127     // sequence protocol
00128     //-------------------------------------------------------------------------------------------------
00129     static Py_ssize_t PyPointCloud_seqLength(PyPointCloud *self);
00130     static PyObject *PyPointCloud_seqConcat(PyPointCloud *self, PyObject *rhs);
00131     static PyObject *PyPointCloud_seqRepeat(PyPointCloud *self, Py_ssize_t size);
00132     static PyObject *PyPointCloud_seqItem(PyPointCloud *self, Py_ssize_t size);
00133     static int PyPointCloud_seqAssItem(PyPointCloud *self, Py_ssize_t size, PyObject *point);
00134     static PyObject *PyPointCloud_seqInplaceConcat(PyPointCloud *self, PyObject *rhs);
00135     static PyObject *PyPointCloud_seqInplaceRepeat(PyPointCloud *self, Py_ssize_t size);
00136
00137     //-------------------------------------------------------------------------------------------------
00138     // mapping protocol
00139     //-------------------------------------------------------------------------------------------------
00140     static Py_ssize_t PyPointCloud_mappingLength(PyPointCloud *self);
00141     static PyObject *PyPointCloud_mappingGetElem(PyPointCloud *self, PyObject *key);
00142     static int PyPointCloud_mappingSetElem(PyPointCloud *self, PyObject *key, PyObject *value);
00143
00144     //-------------------------------------------------------------------------------------------------
00145     // pickling
00146     //-------------------------------------------------------------------------------------------------
00147     static PyObject* PyPointCloud_Reduce(PyPointCloud *self, PyObject *args);
00148     static PyObject* PyPointCloud_SetState(PyPointCloud *self, PyObject *args);
00149
00150     //-------------------------------------------------------------------------------------------------
00151     // static methods
00152     //-------------------------------------------------------------------------------------------------
00153     static PyObject *PyPointCloud_fromXYZ(PyPointCloud *self, PyObject *args);
00154     static PyObject *PyPointCloud_fromXYZI(PyPointCloud *self, PyObject *args);
00155     static PyObject *PyPointCloud_fromDisparity(PyPointCloud *self, PyObject *args, PyObject *kwds);
00156
00157     //-------------------------------------------------------------------------------------------------
00158     // type structures
00159     //-------------------------------------------------------------------------------------------------
00160     //static PyMemberDef PyNpDataObject_members[];
00161     static PyMethodDef PyPointCloud_methods[];
00162     static PyTypeObject PyPointCloudType;
00163     static PyModuleDef PyPointCloudModule;
00164     static PyGetSetDef PyPointCloud_getseters[];
00165     static PySequenceMethods PyPointCloud_sequenceProtocol;
00166     static PyMappingMethods PyPointCloud_mappingProtocol;
00167
00168     static void PyPointCloud_addTpDict(PyObject *tp_dict);
00169
00170     //--------------------------------------------------------------------------------------------------
00171     // PCL Point
00172     //--------------------------------------------------------------------------------------------------
00173     typedef struct
00174     {
00175         PyObject_HEAD
00176         ito::PCLPoint *point;
00177         PyObject* base;
00178     }
00179     PyPoint;
00180
00181     //-------------------------------------------------------------------------------------------------
00182     // constructor, deconstructor, alloc, dellaoc
00183     //-------------------------------------------------------------------------------------------------
00184     static void PyPoint_dealloc(PyPoint *self);
00185     static PyObject* PyPoint_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00186     static int PyPoint_init(PyPoint *self, PyObject *args, PyObject *kwds);
00187
00188
00189     //-------------------------------------------------------------------------------------------------
00190     // general members
00191     //-------------------------------------------------------------------------------------------------
00192     static PyObject *PyPoint_name(PyPoint *self);
00193     static PyObject *PyPoint_repr(PyPoint *self);
00194
00195     //-------------------------------------------------------------------------------------------------
00196     // getter / setter
00197     //-------------------------------------------------------------------------------------------------
00198     static PyObject* PyPoint_GetType(PyPoint *self, void *closure);
00199
00200     static PyObject* PyPoint_GetXYZ(PyPoint *self, void *closure);
00201     static int PyPoint_SetXYZ(PyPoint *self, PyObject *value, void *closure);
00202
00203     static PyObject* PyPoint_GetIntensity(PyPoint *self, void *closure);
00204     static int PyPoint_SetIntensity(PyPoint *self, PyObject *value, void *closure);
00205
00206     static PyObject* PyPoint_GetRgb(PyPoint *self, void *closure);
00207     static int PyPoint_SetRgb(PyPoint *self, PyObject *value, void *closure);
00208
00209     static PyObject* PyPoint_GetRgba(PyPoint *self, void *closure);
00210     static int PyPoint_SetRgba(PyPoint *self, PyObject *value, void *closure);
00211
00212     static PyObject* PyPoint_GetCurvature(PyPoint *self, void *closure);
00213     static int PyPoint_SetCurvature(PyPoint *self, PyObject *value, void *closure);
00214
00215     static PyObject* PyPoint_GetNormal(PyPoint *self, void *closure);
00216     static int PyPoint_SetNormal(PyPoint *self, PyObject *value, void *closure);
00217
00218     //-------------------------------------------------------------------------------------------------
00219     // mapping members
00220     //-------------------------------------------------------------------------------------------------
00221     static PyObject* PyPoint_mappingGetElem(PyPoint* self, PyObject* key);
00222     static int PyPoint_mappingSetElem(PyPoint* self, PyObject* key, PyObject* value);
00223
00224     //-------------------------------------------------------------------------------------------------
00225     // type structures
00226     //-------------------------------------------------------------------------------------------------
00227     //static PyMemberDef PyNpDataObject_members[];
00228     static PyMethodDef PyPoint_methods[];
00229     static PyTypeObject PyPointType;
00230     static PyModuleDef PyPointModule;
00231     static PyGetSetDef PyPoint_getseters[];
00232     static PyMappingMethods PyPoint_mappingProtocol;
00233
00234     static void PyPoint_addTpDict(PyObject *tp_dict);
00235
00236
00237
00238
00239
00240
00241     //--------------------------------------------------------------------------------------------------
00242     // PCL PolygonMesh
00243     //--------------------------------------------------------------------------------------------------
00244     typedef struct
00245     {
00246         PyObject_HEAD
00247         ito::PCLPolygonMesh *polygonMesh;
00248         PyObject* base;
00249     }
00250     PyPolygonMesh;
00251
00252     #define PyPolygonMesh_Check(op) PyObject_TypeCheck(op, &PythonPCL::PyPolygonMeshType)
00253
00254     //-------------------------------------------------------------------------------------------------
00255     // constructor, deconstructor, alloc, dellaoc
00256     //-------------------------------------------------------------------------------------------------
00257     static void PyPolygonMesh_dealloc(PyPolygonMesh *self);
00258     static PyObject* PyPolygonMesh_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00259     static int PyPolygonMesh_init(PyPolygonMesh *self, PyObject *args, PyObject *kwds);
00260
00261
00262     //-------------------------------------------------------------------------------------------------
00263     // general members
00264     //-------------------------------------------------------------------------------------------------
00265     static PyObject *PyPolygonMesh_name(PyPolygonMesh *self);
00266     static PyObject *PyPolygonMesh_repr(PyPolygonMesh *self);
00267     static PyObject *PyPolygonMesh_data(PyPolygonMesh *self);
00268
00269     static PyObject *PyPolygonMesh_get(PyPolygonMesh *self, PyObject *args, PyObject *kwds);
00270     static PyObject* PyPolygonMesh_getCloud(PyPolygonMesh *self, PyObject *args);
00271     static PyObject* PyPolygonMesh_getPolygons(PyPolygonMesh *self, PyObject *args);
00272
00273     //-------------------------------------------------------------------------------------------------
00274     // pickling
00275     //-------------------------------------------------------------------------------------------------
00276     static PyObject* PyPolygonMesh_Reduce(PyPolygonMesh *self, PyObject *args);
00277     static PyObject* PyPolygonMesh_SetState(PyPolygonMesh *self, PyObject *args);
00278
00279     //-------------------------------------------------------------------------------------------------
00280     // mapping
00281     //-------------------------------------------------------------------------------------------------
00282     static PyObject* PyPolygonMesh_mappingGetElem(PyPolygonMesh* self, PyObject* key);
00283     static int PyPolygonMesh_mappingLength(PyPolygonMesh* self);
00284
00285     //-------------------------------------------------------------------------------------------------
00286     // static methods
00287     //-------------------------------------------------------------------------------------------------
00288     static PyObject* PyPolygonMesh_FromCloudAndPolygons(PyObject *self, PyObject *args, PyObject *kwds);
00289
00290     //-------------------------------------------------------------------------------------------------
00291     // getter / setter
00292     //-------------------------------------------------------------------------------------------------
00293     static PyObject* PyPolygonMesh_getNrOfPolygons(PyPolygonMesh *self, void *closure);
00294
00295     //-------------------------------------------------------------------------------------------------
00296     // type structures
00297     //-------------------------------------------------------------------------------------------------
00298     //static PyMemberDef PyNpDataObject_members[];
00299     static PyMethodDef PyPolygonMesh_methods[];
00300     static PyTypeObject PyPolygonMeshType;
00301     static PyModuleDef PyPolygonMeshModule;
00302     static PyGetSetDef PyPolygonMesh_getseters[];
00303     static PyMappingMethods PyPolygonMesh_mappingProtocol;
00304
00305     static void PyPolygonMesh_addTpDict(PyObject *tp_dict);
00306
00307     static PyPolygonMesh* createEmptyPyPolygonMesh();
00308
00309 private:
00310     static PyObject* parseObjAsFloat32Array(PyObject *obj, npy_intp mRequired, npy_intp &n, float32 **elemRows);
00311     static PyObject* parseObjAsUInt8Array(PyObject *obj, npy_intp mRequired, npy_intp &n, uint8_t **elemRows);
00312
00313 };
00314
00315 }; //end namespace ito
00316
00317
00318 #endif //#if ITOM_POINTCLOUDLIBRARY > 0
00319
00320 #endif