v2-2-1/doxygen/python_p_c_l_8h_source.html

00001 /* ********************************************************************
00002     itom software
00003     URL: http://www.uni-stuttgart.de/ito
00004     Copyright (C) 2016, 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     #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
00033
00034     //python
00035     // see http://vtk.org/gitweb?p=VTK.git;a=commitdiff;h=7f3f750596a105d48ea84ebfe1b1c4ca03e0bab3
00036     #if (defined _DEBUG) && (defined WIN32)
00037         #undef _DEBUG
00038         #if (defined linux) | (defined CMAKE)
00039             #include "Python.h"
00040             #include "numpy/arrayobject.h"
00041         #elif (defined __APPLE__) | (defined CMAKE)
00042             #include "Python.h"
00043             #include "numpy/arrayobject.h"
00044         #else
00045             #include "Python.h"
00046             #include "../Lib/site-packages/numpy/core/include/numpy/arrayobject.h" //for numpy arrays
00047         #endif
00048         #define _DEBUG
00049     #else
00050         #ifdef linux
00051             #include "Python.h"
00052             #include "numpy/arrayobject.h"
00053         #elif (defined __APPLE__)
00054             #include "Python.h"
00055             #include "numpy/arrayobject.h"
00056         #else
00057             #include "Python.h"
00058             #include "../Lib/site-packages/numpy/core/include/numpy/arrayobject.h" //for numpy arrays
00059         #endif
00060     #endif
00061 #endif
00062
00063 #include "../global.h"
00064
00065 #if ITOM_POINTCLOUDLIBRARY > 0
00066
00067 #include "PointCloud/pclStructures.h"
00068
00069
00070 namespace ito
00071 {
00072
00073 class PythonPCL
00074 {
00075 public:
00076     typedef struct
00077     {
00078         PyObject_HEAD
00079         ito::PCLPointCloud *data;
00080         PyObject* base;
00081     }
00082     PyPointCloud;
00083
00084     #define PyPointCloud_Check(op) PyObject_TypeCheck(op, &PythonPCL::PyPointCloudType)
00085
00086     //-------------------------------------------------------------------------------------------------
00087     // constructor, deconstructor, alloc, dellaoc
00088     //-------------------------------------------------------------------------------------------------
00089     static void PyPointCloud_dealloc(PyPointCloud *self);
00090     static PyObject* PyPointCloud_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00091     static int PyPointCloud_init(PyPointCloud *self, PyObject *args, PyObject *kwds);
00092
00093
00094     //-------------------------------------------------------------------------------------------------
00095     // general members
00096     //-------------------------------------------------------------------------------------------------
00097     static PyObject *PyPointCloud_name(PyPointCloud *self);
00098     static PyObject *PyPointCloud_repr(PyPointCloud *self);
00099     static PyObject *PyPointCloud_append(PyPointCloud *self, PyObject *args, PyObject *kwds);
00100     static PyObject *PyPointCloud_clear(PyPointCloud *self);
00101     static PyObject *PyPointCloud_insert(PyPointCloud *self, PyObject *args);
00102     static PyObject *PyPointCloud_erase(PyPointCloud *self, PyObject *args);
00103     static PyObject *PyPointCloud_toDataObject(PyPointCloud *self);
00104     static PyObject *PyPointCloud_copy(PyPointCloud *self);
00105     static PyObject *PyPointCloud_scaleXYZ(PyPointCloud *self, PyObject *args, PyObject *kwds);
00106
00107     //-------------------------------------------------------------------------------------------------
00108     // helper methods
00109     //-------------------------------------------------------------------------------------------------
00110     static PyObject *PyPointCloud_XYZ_append(PyPointCloud *self, PyObject *xyzObj);
00111     static PyObject *PyPointCloud_XYZI_append(PyPointCloud *self, PyObject *xyziObj);
00112     static PyObject *PyPointCloud_XYZRGBA_append(PyPointCloud *self, PyObject *xyzObj, PyObject *rgbaObj);
00113     static PyObject *PyPointCloud_XYZNormal_append(PyPointCloud *self, PyObject *xyz_nxnynz_curvObj);
00114     static PyObject *PyPointCloud_XYZINormal_append(PyPointCloud *self, PyObject *xyz_i_nxnynz_curvObj);
00115     static PyObject *PyPointCloud_XYZRGBNormal_append(PyPointCloud *self, PyObject *xyz_i_nxnynz_curvObj, PyObject *rgbaObj);
00116
00117     static PyPointCloud* createEmptyPyPointCloud();
00118
00119     //-------------------------------------------------------------------------------------------------
00120     // getter / setter
00121     //-------------------------------------------------------------------------------------------------
00122     static PyObject* PyPointCloud_GetType(PyPointCloud *self, void *closure);
00123     static PyObject* PyPointCloud_GetSize(PyPointCloud *self, void *closure);
00124     static PyObject* PyPointCloud_GetHeight(PyPointCloud *self, void *closure);
00125     static PyObject* PyPointCloud_GetWidth(PyPointCloud *self, void *closure);
00126     static PyObject* PyPointCloud_GetEmpty(PyPointCloud *self, void *closure);
00127     static PyObject* PyPointCloud_GetOrganized(PyPointCloud *self, void *closure);
00128     static PyObject* PyPointCloud_GetDense(PyPointCloud *self, void *closure);
00129     static int       PyPointCloud_SetDense(PyPointCloud *self, PyObject *value, void *closure);
00130     static PyObject* PyPointCloud_GetFields(PyPointCloud *self, void *closure);
00131
00132     //-------------------------------------------------------------------------------------------------
00133     // sequence protocol
00134     //-------------------------------------------------------------------------------------------------
00135     static Py_ssize_t PyPointCloud_seqLength(PyPointCloud *self);
00136     static PyObject *PyPointCloud_seqConcat(PyPointCloud *self, PyObject *rhs);
00137     static PyObject *PyPointCloud_seqRepeat(PyPointCloud *self, Py_ssize_t size);
00138     static PyObject *PyPointCloud_seqItem(PyPointCloud *self, Py_ssize_t size);
00139     static int PyPointCloud_seqAssItem(PyPointCloud *self, Py_ssize_t size, PyObject *point);
00140     static PyObject *PyPointCloud_seqInplaceConcat(PyPointCloud *self, PyObject *rhs);
00141     static PyObject *PyPointCloud_seqInplaceRepeat(PyPointCloud *self, Py_ssize_t size);
00142
00143     //-------------------------------------------------------------------------------------------------
00144     // mapping protocol
00145     //-------------------------------------------------------------------------------------------------
00146     static Py_ssize_t PyPointCloud_mappingLength(PyPointCloud *self);
00147     static PyObject *PyPointCloud_mappingGetElem(PyPointCloud *self, PyObject *key);
00148     static int PyPointCloud_mappingSetElem(PyPointCloud *self, PyObject *key, PyObject *value);
00149
00150     //-------------------------------------------------------------------------------------------------
00151     // pickling
00152     //-------------------------------------------------------------------------------------------------
00153     static PyObject* PyPointCloud_Reduce(PyPointCloud *self, PyObject *args);
00154     static PyObject* PyPointCloud_SetState(PyPointCloud *self, PyObject *args);
00155
00156     //-------------------------------------------------------------------------------------------------
00157     // static methods
00158     //-------------------------------------------------------------------------------------------------
00159     static PyObject *PyPointCloud_fromXYZ(PyPointCloud *self, PyObject *args);
00160     static PyObject *PyPointCloud_fromXYZI(PyPointCloud *self, PyObject *args);
00161     static PyObject *PyPointCloud_fromXYZRGBA(PyPointCloud *self, PyObject *args);
00162     static PyObject *PyPointCloud_fromTopography(PyPointCloud *self, PyObject *args, PyObject *kwds);
00163
00164     //-------------------------------------------------------------------------------------------------
00165     // type structures
00166     //-------------------------------------------------------------------------------------------------
00167     //static PyMemberDef PyNpDataObject_members[];
00168     static PyMethodDef PyPointCloud_methods[];
00169     static PyTypeObject PyPointCloudType;
00170     static PyModuleDef PyPointCloudModule;
00171     static PyGetSetDef PyPointCloud_getseters[];
00172     static PySequenceMethods PyPointCloud_sequenceProtocol;
00173     static PyMappingMethods PyPointCloud_mappingProtocol;
00174
00175     static void PyPointCloud_addTpDict(PyObject *tp_dict);
00176
00177     //--------------------------------------------------------------------------------------------------
00178     // PCL Point
00179     //--------------------------------------------------------------------------------------------------
00180     typedef struct
00181     {
00182         PyObject_HEAD
00183         ito::PCLPoint *point;
00184         PyObject* base;
00185     }
00186     PyPoint;
00187
00188     //-------------------------------------------------------------------------------------------------
00189     // constructor, deconstructor, alloc, dellaoc
00190     //-------------------------------------------------------------------------------------------------
00191     static void PyPoint_dealloc(PyPoint *self);
00192     static PyObject* PyPoint_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00193     static int PyPoint_init(PyPoint *self, PyObject *args, PyObject *kwds);
00194
00195
00196     //-------------------------------------------------------------------------------------------------
00197     // general members
00198     //-------------------------------------------------------------------------------------------------
00199     static PyObject *PyPoint_name(PyPoint *self);
00200     static PyObject *PyPoint_repr(PyPoint *self);
00201
00202     //-------------------------------------------------------------------------------------------------
00203     // getter / setter
00204     //-------------------------------------------------------------------------------------------------
00205     static PyObject* PyPoint_GetType(PyPoint *self, void *closure);
00206
00207     static PyObject* PyPoint_GetXYZ(PyPoint *self, void *closure);
00208     static int PyPoint_SetXYZ(PyPoint *self, PyObject *value, void *closure);
00209
00210     static PyObject* PyPoint_GetIntensity(PyPoint *self, void *closure);
00211     static int PyPoint_SetIntensity(PyPoint *self, PyObject *value, void *closure);
00212
00213     static PyObject* PyPoint_GetRgb(PyPoint *self, void *closure);
00214     static int PyPoint_SetRgb(PyPoint *self, PyObject *value, void *closure);
00215
00216     static PyObject* PyPoint_GetRgba(PyPoint *self, void *closure);
00217     static int PyPoint_SetRgba(PyPoint *self, PyObject *value, void *closure);
00218
00219     static PyObject* PyPoint_GetCurvature(PyPoint *self, void *closure);
00220     static int PyPoint_SetCurvature(PyPoint *self, PyObject *value, void *closure);
00221
00222     static PyObject* PyPoint_GetNormal(PyPoint *self, void *closure);
00223     static int PyPoint_SetNormal(PyPoint *self, PyObject *value, void *closure);
00224
00225     //-------------------------------------------------------------------------------------------------
00226     // mapping members
00227     //-------------------------------------------------------------------------------------------------
00228     static PyObject* PyPoint_mappingGetElem(PyPoint* self, PyObject* key);
00229     static int PyPoint_mappingSetElem(PyPoint* self, PyObject* key, PyObject* value);
00230
00231     //-------------------------------------------------------------------------------------------------
00232     // type structures
00233     //-------------------------------------------------------------------------------------------------
00234     //static PyMemberDef PyNpDataObject_members[];
00235     static PyMethodDef PyPoint_methods[];
00236     static PyTypeObject PyPointType;
00237     static PyModuleDef PyPointModule;
00238     static PyGetSetDef PyPoint_getseters[];
00239     static PyMappingMethods PyPoint_mappingProtocol;
00240
00241     static void PyPoint_addTpDict(PyObject *tp_dict);
00242
00243
00244
00245
00246
00247
00248     //--------------------------------------------------------------------------------------------------
00249     // PCL PolygonMesh
00250     //--------------------------------------------------------------------------------------------------
00251     typedef struct
00252     {
00253         PyObject_HEAD
00254         ito::PCLPolygonMesh *polygonMesh;
00255         PyObject* base;
00256     }
00257     PyPolygonMesh;
00258
00259     #define PyPolygonMesh_Check(op) PyObject_TypeCheck(op, &PythonPCL::PyPolygonMeshType)
00260
00261     //-------------------------------------------------------------------------------------------------
00262     // constructor, deconstructor, alloc, dellaoc
00263     //-------------------------------------------------------------------------------------------------
00264     static void PyPolygonMesh_dealloc(PyPolygonMesh *self);
00265     static PyObject* PyPolygonMesh_new(PyTypeObject *type, PyObject *args, PyObject *kwds);
00266     static int PyPolygonMesh_init(PyPolygonMesh *self, PyObject *args, PyObject *kwds);
00267
00268
00269     //-------------------------------------------------------------------------------------------------
00270     // general members
00271     //-------------------------------------------------------------------------------------------------
00272     static PyObject *PyPolygonMesh_name(PyPolygonMesh *self);
00273     static PyObject *PyPolygonMesh_repr(PyPolygonMesh *self);
00274     static PyObject *PyPolygonMesh_data(PyPolygonMesh *self);
00275
00276     static PyObject *PyPolygonMesh_get(PyPolygonMesh *self, PyObject *args, PyObject *kwds);
00277     static PyObject* PyPolygonMesh_getCloud(PyPolygonMesh *self, PyObject *args);
00278     static PyObject* PyPolygonMesh_getPolygons(PyPolygonMesh *self, PyObject *args);
00279
00280     //-------------------------------------------------------------------------------------------------
00281     // pickling
00282     //-------------------------------------------------------------------------------------------------
00283     static PyObject* PyPolygonMesh_Reduce(PyPolygonMesh *self, PyObject *args);
00284     static PyObject* PyPolygonMesh_SetState(PyPolygonMesh *self, PyObject *args);
00285
00286     //-------------------------------------------------------------------------------------------------
00287     // mapping
00288     //-------------------------------------------------------------------------------------------------
00289     static PyObject* PyPolygonMesh_mappingGetElem(PyPolygonMesh* self, PyObject* key);
00290     static int PyPolygonMesh_mappingLength(PyPolygonMesh* self);
00291
00292     //-------------------------------------------------------------------------------------------------
00293     // static methods
00294     //-------------------------------------------------------------------------------------------------
00295     static PyObject* PyPolygonMesh_FromCloudAndPolygons(PyObject *self, PyObject *args, PyObject *kwds);
00296     static PyObject* PyPolygonMesh_FromOrganizedCloud(PyObject * self, PyObject *args, PyObject *kwds);
00297     static PyObject* PyPolygonMesh_FromTopography(PyObject * self, PyObject *args, PyObject *kwds);
00298
00299     //-------------------------------------------------------------------------------------------------
00300     // getter / setter
00301     //-------------------------------------------------------------------------------------------------
00302     static PyObject* PyPolygonMesh_getNrOfPolygons(PyPolygonMesh *self, void *closure);
00303
00304     //-------------------------------------------------------------------------------------------------
00305     // type structures
00306     //-------------------------------------------------------------------------------------------------
00307     //static PyMemberDef PyNpDataObject_members[];
00308     static PyMethodDef PyPolygonMesh_methods[];
00309     static PyTypeObject PyPolygonMeshType;
00310     static PyModuleDef PyPolygonMeshModule;
00311     static PyGetSetDef PyPolygonMesh_getseters[];
00312     static PyMappingMethods PyPolygonMesh_mappingProtocol;
00313
00314     static void PyPolygonMesh_addTpDict(PyObject *tp_dict);
00315
00316     static PyPolygonMesh* createEmptyPyPolygonMesh();
00317
00318 private:
00319     static PyObject* parseObjAsFloat32Array(PyObject *obj, npy_intp mRequired, npy_intp &n, float32 **elemRows);
00320     static PyObject* parseObjAsUInt8Array(PyObject *obj, npy_intp mRequired, npy_intp &n, uint8_t **elemRows);
00321
00322     static void PythonPCL_SetString(PyObject *exception, const char *string);
00323     static void PythonPCL_SetString(PyObject *exception, const std::string &string);
00324
00325 };
00326
00327 }; //end namespace ito
00328
00329
00330 #endif //#if ITOM_POINTCLOUDLIBRARY > 0
00331
00332 #endif