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perception_py.cc
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perception_py.cc
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#include "pybind11/eigen.h"
#include "pybind11/operators.h"
#include "pybind11/pybind11.h"
#include "drake/bindings/pydrake/common/cpp_param_pybind.h"
#include "drake/bindings/pydrake/common/value_pybind.h"
#include "drake/bindings/pydrake/documentation_pybind.h"
#include "drake/bindings/pydrake/pydrake_pybind.h"
#include "drake/perception/depth_image_to_point_cloud.h"
#include "drake/perception/point_cloud.h"
namespace drake {
namespace pydrake {
namespace {
// TODO(eric.cousineau): At present, these bindings expose a minimal subset of
// features (e.g. no descriptors exposed, skipping performance-based args
// (like `skip_initialization`)). Bind these if they are useful.
void init_pc_flags(py::module m) {
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::perception::pc_flags;
constexpr auto& doc = pydrake_doc.drake.perception.pc_flags;
{
using Class = BaseField;
constexpr auto& cls_doc = doc.BaseField;
py::enum_<Class>(m, "BaseField", py::arithmetic(), cls_doc.doc)
.value("kNone", Class::kNone, cls_doc.kNone.doc)
.value("kXYZs", Class::kXYZs, cls_doc.kXYZs.doc)
.value("kNormals", Class::kNormals, cls_doc.kNormals.doc)
.value("kRGBs", Class::kRGBs, cls_doc.kRGBs.doc);
}
{
using Class = Fields;
constexpr auto& cls_doc = doc.Fields;
py::class_<Class>(m, "Fields", cls_doc.doc)
.def(py::init<BaseFieldT>(), py::arg("base_fields"), cls_doc.ctor.doc)
.def("base_fields", &Class::base_fields, cls_doc.base_fields.doc)
.def("has_base_fields", &Class::has_base_fields,
cls_doc.has_base_fields.doc)
.def(py::self | py::self)
.def(py::self & py::self)
.def(py::self == py::self)
.def(py::self != py::self);
}
}
void init_perception(py::module m) {
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::perception;
constexpr auto& doc = pydrake_doc.drake.perception;
using systems::LeafSystem;
using systems::sensors::CameraInfo;
using systems::sensors::PixelType;
py::module::import("pydrake.systems.framework");
py::module::import("pydrake.systems.sensors");
{
using Class = PointCloud;
constexpr auto& cls_doc = doc.PointCloud;
py::class_<Class> cls(m, "PointCloud", cls_doc.doc);
cls.attr("T") = GetPyParam<Class::T>()[0];
cls.attr("C") = GetPyParam<Class::C>()[0];
cls.attr("D") = GetPyParam<Class::D>()[0];
// N.B. Workaround linking error for `constexpr` bits.
cls.attr("kDefaultValue") = Class::T{Class::kDefaultValue};
cls.def_static("IsDefaultValue", &Class::IsDefaultValue, py::arg("value"),
cls_doc.IsDefaultValue.doc)
.def_static("IsInvalidValue", &Class::IsInvalidValue, py::arg("value"),
cls_doc.IsInvalidValue.doc)
.def(py::init<int, pc_flags::Fields>(), py::arg("new_size") = 0,
py::arg("fields") = pc_flags::Fields(pc_flags::kXYZs),
cls_doc.ctor.doc_3args)
.def(py::init<const PointCloud&>(), py::arg("other"),
cls_doc.ctor.doc_copy)
.def("fields", &Class::fields, cls_doc.fields.doc)
.def("size", &Class::size, cls_doc.size.doc)
.def("resize",
[](PointCloud* self, int new_size) { self->resize(new_size); },
py::arg("new_size"), cls_doc.resize.doc)
// XYZs
.def("has_xyzs", &Class::has_xyzs, cls_doc.has_xyzs.doc)
.def("xyzs", &Class::xyzs, py_reference_internal, cls_doc.xyzs.doc)
.def("mutable_xyzs", &Class::mutable_xyzs, py_reference_internal,
cls_doc.mutable_xyzs.doc)
.def("xyz", &Class::xyz, py::arg("i"), cls_doc.xyz.doc)
.def("mutable_xyz", &Class::mutable_xyz, py::arg("i"),
py_reference_internal, cls_doc.mutable_xyz.doc)
// Normals
.def("has_normals", &Class::has_normals, cls_doc.has_normals.doc)
.def("normals", &Class::normals, py_reference_internal,
cls_doc.normals.doc)
.def("mutable_normals", &Class::mutable_normals, py_reference_internal,
cls_doc.mutable_normals.doc)
.def("normal", &Class::normal, py::arg("i"), cls_doc.normal.doc)
.def("mutable_normal", &Class::mutable_normal, py::arg("i"),
py_reference_internal, cls_doc.mutable_normal.doc)
// RGBs
.def("has_rgbs", &Class::has_rgbs, cls_doc.has_rgbs.doc)
.def("rgbs", &Class::rgbs, py_reference_internal, cls_doc.rgbs.doc)
.def("mutable_rgbs", &Class::mutable_rgbs, py_reference_internal,
cls_doc.mutable_rgbs.doc)
.def("rgb", &Class::rgb, py::arg("i"), cls_doc.rgb.doc)
.def("mutable_rgb", &Class::mutable_rgb, py::arg("i"),
py_reference_internal, cls_doc.mutable_rgb.doc)
// Mutators.
.def("SetFrom",
[](PointCloud* self, const PointCloud& other) {
self->SetFrom(other);
},
py::arg("other"), cls_doc.SetFrom.doc);
}
AddValueInstantiation<PointCloud>(m);
{
using Class = DepthImageToPointCloud;
constexpr auto& cls_doc = doc.DepthImageToPointCloud;
py::class_<Class, LeafSystem<double>>(
m, "DepthImageToPointCloud", cls_doc.doc)
.def(py::init<const CameraInfo&, PixelType, float,
pc_flags::BaseFieldT>(),
py::arg("camera_info"),
py::arg("pixel_type") = PixelType::kDepth32F,
py::arg("scale") = 1.0, py::arg("fields") = pc_flags::kXYZs,
cls_doc.ctor.doc)
.def("depth_image_input_port", &Class::depth_image_input_port,
py_reference_internal, cls_doc.depth_image_input_port.doc)
.def("color_image_input_port", &Class::color_image_input_port,
py_reference_internal, cls_doc.color_image_input_port.doc)
.def("point_cloud_output_port", &Class::point_cloud_output_port,
py_reference_internal, cls_doc.point_cloud_output_port.doc);
}
}
PYBIND11_MODULE(perception, m) {
// N.B. To stick to directory structure, we do not define this in a
// `pc_flags` submodule.
init_pc_flags(m);
init_perception(m);
m.doc() = "Python bindings for //perception";
}
} // namespace
} // namespace pydrake
} // namespace drake