utils_module.cpp

#include <pybind11/pybind11.h>

#include <sstream> 

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

#include "opencv_type_casters.h"
#include "utils.h"

namespace py = pybind11;
using namespace pybind11::literals;


PYBIND11_MODULE(pyslam_utils, m) 
{
    // optional module docstring
    m.doc() = "pybind11 plugin for pyslam_utils module";
    
    // void extract_patches( const cv::Mat& image, const std::vector<cv::KeyPoint>& kps,
    //                         const int& patchSize, std::vector<cv::Mat>& patches,
    //                         const bool use_orientation=true,
    //                         const float scale_factor=1.0,
    //                         const int warp_flags= cv::WARP_INVERSE_MAP + cv::INTER_CUBIC + cv::WARP_FILL_OUTLIERS);
    m.def("extract_patches", 
            [](cv::Mat& image, const std::vector<cv::KeyPoint>& kps,
               const int patch_size,
               const bool use_orientation,
               const float scale_factor,
               const int warp_flags
               ) 
            { 
                std::vector<cv::Mat> patches;
                utils::extract_patches(image,kps,patch_size,patches,use_orientation,scale_factor,warp_flags);
                return patches; 
            },
            "image"_a,"kps"_a,"patch_size"_a,"use_orientation"_a=true,"scale_factor"_a=1.0,"warp_flags"_a=cv::WARP_INVERSE_MAP + cv::INTER_CUBIC + cv::WARP_FILL_OUTLIERS
            );          

}