File size: 3,620 Bytes
f6dd1c2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 | #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> // ✅ 支持 std::vector<int>
#include <Eigen/Dense>
namespace py = pybind11;
// ======================= 模块定义 ==========================
PYBIND11_MODULE(pyregister, m) {
// -------- Registration 基类 --------
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"));
// -------- 暴露 spare::Parameters --------
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);
// -------- Rigid FRICP Registration --------
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_);
// -------- Nonrigid Spare Registration --------
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); // ✅ 暴露 paras
}
|