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Python bindings #56

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Python bindings #56

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d5ee91a
[feat][minor] Modify the gitignore
pdell-kitware Nov 28, 2022
e52314b
[wip] Python Binding. Added initial slam::PointCloud support and conv…
pdell-kitware Nov 28, 2022
76c2188
[feat] Add Wrappings for the PointCloud API
pdell-kitware Nov 29, 2022
53dbf8f
[wip][feat] Add basic types binding
pdell-kitware Nov 29, 2022
d74672d
[feat][wip][binding] Add IO methods in the binding
pdell-kitware Nov 29, 2022
d7181f6
[feat][wip][python_binding] Added Dataset Bindings
pdell-kitware Nov 29, 2022
62f0e0a
[feat][wip] Added the map binding
pdell-kitware Nov 30, 2022
373cc36
[feat][wip] Add CT-ICP registration to the bindings
pdell-kitware Dec 2, 2022
c926a87
[feat][wip] Add Odometry binding with tests
pdell-kitware Dec 2, 2022
b48ae32
[feat] Add Run SLAM python script
pdell-kitware Dec 5, 2022
9bdaa38
[feat] Add python binding to CT-ICP
pdell-kitware Dec 5, 2022
06711a8
Update readme.md
pdell-kitware Dec 5, 2022
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4 changes: 4 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,10 @@ cmake-*
cmake-build*
imgui.ini
install/*
benchmark/*
wandb*
build/*
.outputs/*

# Configuration files (e.g. idea)
.*
Expand All @@ -13,6 +16,7 @@ wandb*
*.so
*.exe
slam
*git.h*

# Commit the .gitignore
!.gitignore
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6 changes: 5 additions & 1 deletion cmake/external.cmake
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Expand Up @@ -4,6 +4,10 @@ if (WITH_VIZ3D)
list(APPEND EXTERNAL_DEPENDENCIES viz3d VTK::FiltersCore)
endif ()

if (WITH_PYTHON_BINDING)
list(APPEND EXTERNAL_DEPENDENCIES pybind11::pybind11)
endif ()

# --
SLAM_CHECK_TARGETS(${EXTERNAL_DEPENDENCIES})

Expand All @@ -22,4 +26,4 @@ foreach (target ${EXTERNAL_DEPENDENCIES})
set(__LOCATION "")
endforeach ()

message(INFO " -- [CT-ICP] -- Appending to the INSTALL RPATH the RPATH to the external libraries: \n\t\t[${EXTERNAL_DEPENDENCIES_INSTALL_RPATH}]" )
message(INFO " -- [CT-ICP] -- Appending to the INSTALL RPATH the RPATH to the external libraries: \n\t\t[${EXTERNAL_DEPENDENCIES_INSTALL_RPATH}]")
Binary file added doc/run_slam_image.png
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30 changes: 30 additions & 0 deletions include/SlamCore/data/buffer_collection.h
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Expand Up @@ -147,9 +147,39 @@ namespace slam {
*/
BufferCollection SelectItems(const std::vector<size_t> &indices) const;

////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// Buffer protocol
////////////////////////////////////////////////////////////////////////////////////////////////////////////////

// BufferInfo possess all information to construct numpy buffer protocol bindings
// From ItemBuffer(s)
struct BufferInfo {
char *item_data_ptr = nullptr; // The item buffer, starting at the first element of the field
size_t num_items = 0; // The number of items in the buffer
size_t item_size = 0; // The item size (or the stride between two field in the item buffer)
size_t field_size = 0; // The size of each field
size_t dimensions = 0; // The dimension of the field
slam::PROPERTY_TYPE property_type; // The elementary property type of the field
};

bool IsElementAValidBufferInfo(const std::string &element_name) const;

/*! @returns A buffer info corresponding to an element
*
* @warning A BufferInfo is only valid if the element has an homogeneous type (with one unique property type)
* If this is not the case, the
*/
BufferInfo GetBufferInfoFromElement(const std::string &element_name) const;

/*! @returns A buffer info corresponding to a property
*/
BufferInfo GetBufferInfoFromProperty(const std::string &element_name, const std::string &pty_name) const;

private:
std::vector<ItemBufferPtr> item_buffers;

friend struct PointCloud; // Allows the Point Cloud access the item buffers

// Returns whether the sizes are consistent
static bool AreSizesConsistent(const std::vector<ItemBufferPtr> &buffer);

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4 changes: 2 additions & 2 deletions include/SlamCore/io.h
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Expand Up @@ -177,10 +177,10 @@ namespace slam {
void WritePLY(const std::string &file, const std::vector<slam::WPoint3D> &points);

// Writes a point cloud to a file
void WritePLY(std::ostream &output_file, const PointCloud &pointcloud, const PLYSchemaMapper &schema);;
void WritePLY(std::ostream &output_file, const PointCloud &pointcloud, const PLYSchemaMapper &schema);

// Writes a point cloud to a file
void WritePLY(const std::string &file, const PointCloud &points, const PLYSchemaMapper &schema);;
void WritePLY(const std::string &file, const PointCloud &points, const PLYSchemaMapper &schema);

// Writes a buffer collection to a file
void WritePLY(const std::string &output_file, const BufferCollection &collection, const PLYSchemaMapper &schema);
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15 changes: 10 additions & 5 deletions include/SlamCore/pointcloud.h
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Expand Up @@ -183,7 +183,7 @@ namespace slam {
int name ## Dimension() const { return sizeof(default_type) / PropertySize(property_type);};\
public: \
inline Field Get ## name ## Field() const { \
SLAM_CHECK_STREAM(element_name .has_value(), "The field ##element_name is not defined !"); \
SLAM_CHECK_STREAM(element_name .has_value(), "The field " #element_name " is not defined !"); \
return element_name .value(); \
} \
inline bool IsValid ## name () const { \
Expand All @@ -194,22 +194,22 @@ namespace slam {
} \
template<typename DataT> \
View<DataT> name() { \
SLAM_CHECK_STREAM(element_name.has_value(), "The field ##element_name is not defined !"); \
SLAM_CHECK_STREAM(element_name.has_value(), "The field " #element_name " is not defined !"); \
return FieldView<DataT>(*element_name); \
} \
template<typename ScalarT> \
const View<ScalarT> name() const { \
SLAM_CHECK_STREAM(element_name.has_value(), "The field ##element_name is not defined !"); \
SLAM_CHECK_STREAM(element_name.has_value(), "The field " #element_name " is not defined !"); \
return FieldView<ScalarT>(*element_name); \
} \
template<typename ScalarT> \
ProxyView<ScalarT> name ## Proxy() { \
SLAM_CHECK_STREAM(element_name.has_value(), "The field ##element_name is not defined !"); \
SLAM_CHECK_STREAM(element_name.has_value(), "The field " #element_name " is not defined !"); \
return ProxyFieldView<ScalarT>(*element_name); \
} \
template<typename ScalarT> \
const ProxyView<ScalarT> name ## Proxy() const { \
SLAM_CHECK_STREAM(element_name.has_value(), "The field ##element_name is not defined !"); \
SLAM_CHECK_STREAM(element_name.has_value(), "The field " #element_name " is not defined !"); \
return ProxyFieldView<ScalarT>(*element_name); \
} \
void Set ## name ## Field(Field&& field ) { \
Expand Down Expand Up @@ -267,6 +267,11 @@ namespace slam {
/// Schema Infos & Management
////////////////////////////////////////////////////////////////////////////////////////////////////////////////


// Returns Buffer information about the point cloud
// /!\ This is a dangerous operation, as the pointer allows to modify raw data despite the const of this method
BufferCollection::BufferInfo GetBufferInfoFromField(const Field &field) const;;

// Returns a const reference to the underlying buffer collection
const BufferCollection &GetCollection() const;

Expand Down
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