Python.cc

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#include <pybind11/pybind11.h>
#include <pybind11/embed.h>
 
 
#include <ICPPlugin.hh>
#include <OpenFlipper/BasePlugin/PythonFunctions.hh>
#include <OpenFlipper/PythonInterpreter/PythonTypeConversions.hh>
 
namespace py = pybind11;
 
PYBIND11_EMBEDDED_MODULE(ICP, m) {
 
  QObject* pluginPointer = getPluginPointer("ICP");
 
  if (!pluginPointer) {
     std::cerr << "Error Getting plugin pointer for Plugin-ICP" << std::endl;
     return;
   }
 
  ICPPlugin* plugin = qobject_cast<ICPPlugin*>(pluginPointer);
 
  if (!plugin) {
    std::cerr << "Error converting plugin pointer for Plugin-ICP" << std::endl;
    return;
  }
 
  // Export our core. Make sure that the c++ worlds core object is not deleted if
  // the python side gets deleted!!
  py::class_< ICPPlugin,std::unique_ptr<ICPPlugin, py::nodelete> > icp(m, "ICP");
 
  // On the c++ side we will just return the existing core instance
  // and prevent the system to recreate a new core as we need
  // to work on the existing one.
  icp.def(py::init([plugin]() { return plugin; }));
 
  icp.def("icp", &ICPPlugin::icp,
    QCoreApplication::translate("PythonDocICP", "Execute the ICP algorithm").toLatin1().data(),
    py::arg(QCoreApplication::translate("PythonDocICP","Max Iteration count").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","MSE error threshold").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Point distance threshold").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Normal dot threshold in percent").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Enable debug output").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Enable auto resize").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Interpolate Normals").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Source object id").toLatin1().data()),
    py::arg(QCoreApplication::translate("PythonDocICP","Target object id").toLatin1().data())
    );
}