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Fix pybind __eq__ methods #578

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Fix pybind __eq__ methods #578

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8a53f32
Fix pybind __eq__ methods
boxanm Jul 2, 2024
41a7b7b
Fix tests on new boost
boxanm Jul 2, 2024
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33 changes: 10 additions & 23 deletions pointmatcher/IO.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -377,14 +377,14 @@ typename PointMatcher<T>::DataPoints PointMatcher<T>::DataPoints::load(const std
const boost::filesystem::path path(fileName);
if (path.has_extension())
{
const string& ext(path.extension().string());
if(boost::iequals(ext, ".vtk"))
const string ext(path.extension().string());
if(ext == ".vtk")
return PointMatcherIO<T>::loadVTK(fileName);
else if(boost::iequals(ext, ".csv"))
else if(ext == ".csv")
return PointMatcherIO<T>::loadCSV(fileName);
else if(boost::iequals(ext, ".ply"))
else if(ext == ".ply")
return PointMatcherIO<T>::loadPLY(fileName);
else if(boost::iequals(ext, ".pcd"))
else if(ext == ".pcd")
return PointMatcherIO<T>::loadPCD(fileName);
else
throw runtime_error("loadAnyFormat(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
Expand Down Expand Up @@ -818,18 +818,18 @@ void PointMatcher<T>::DataPoints::save(const std::string& fileName, bool binary,
const boost::filesystem::path path(fileName);
if (path.has_extension())
{
const string& ext(path.extension().string());
if (boost::iequals(ext, ".vtk"))
const string ext(path.extension().string());
if (ext == ".vtk")
return PointMatcherIO<T>::saveVTK(*this, fileName, binary, precision);

if (binary)
throw runtime_error("save(): Binary writing is not supported together with extension \"" + ext + "\". Currently binary writing is only supported with \".vtk\".");

if (boost::iequals(ext, ".csv"))
if (ext == ".csv")
return PointMatcherIO<T>::saveCSV(*this, fileName, precision);
else if (boost::iequals(ext, ".ply"))
else if (ext == ".ply")
return PointMatcherIO<T>::savePLY(*this, fileName, precision);
else if (boost::iequals(ext, ".pcd"))
else if (ext == ".pcd")
return PointMatcherIO<T>::savePCD(*this, fileName, precision);
else
throw runtime_error("save(): Unknown extension \"" + ext + "\" for file \"" + fileName + "\", extension must be either \".vtk\", \".ply\", \".pcd\" or \".csv\"");
Expand Down Expand Up @@ -1845,19 +1845,6 @@ bool PointMatcherIO<T>::plyPropTypeValid(const std::string& type) {
}


template <typename T>
bool PointMatcherIO<T>::PLYElement::operator==(const PLYElement& rhs) const
{
return name == rhs.name;
}


template <typename T>
bool PointMatcherIO<T>::PLYProperty::operator==(const PLYProperty& rhs) const
{
return name == rhs.name && type == rhs.type;
}


//! @brief Load Point Cloud Library (pcd) file
//! @param fileName a string containing the path and the file name
Expand Down
19 changes: 17 additions & 2 deletions pointmatcher/IO.h
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Expand Up @@ -285,7 +285,15 @@ struct PointMatcherIO
// list property
PLYProperty(const std::string& idx_type, const std::string& type, const std::string& name, const unsigned pos); //! list prop ctor

bool operator==(const PLYProperty& other) const; //! compare with other property
bool friend operator==(const PLYProperty& lhs, const PLYProperty& rhs) //! compare with other property
{
return lhs.name == rhs.name && lhs.type == rhs.type;
}

bool friend operator!=(const PLYProperty& lhs, const PLYProperty& rhs) //! compare with other property
{
return lhs.name != rhs.name || lhs.type != rhs.type;
}
};

//! Map from a descriptor name to a list PLY property
Expand Down Expand Up @@ -325,8 +333,15 @@ struct PointMatcherIO

//bool supportsProperty(const PLYProperty& prop) const; //!< Returns true if property pro is supported by element

bool operator==(const PLYElement& other) const; //!< comparison operator for elements
bool friend operator==(const PLYElement& lhs, const PLYElement& rhs) //!< comparison operator for elements
{
return lhs.name == rhs.name;
}

bool friend operator!=(const PLYElement& lhs, const PLYElement& rhs) //!< comparison operator for elements
{
return lhs.name != rhs.name;
}
};


Expand Down
2 changes: 1 addition & 1 deletion python/pointmatcher/data_points_filters.h
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@@ -1,5 +1,5 @@
#ifndef PYTHON_MODULES_DATA_POINTS_FILTERS_MODULE_H
#define PYTHON_MODULES_DATAPOINTSFILTERS_MODULE_H
#define PYTHON_MODULES_DATA_POINTS_FILTERS_MODULE_H

#include "pypoint_matcher_helper.h"

Expand Down
17 changes: 9 additions & 8 deletions python/pointmatcher/io.cpp
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Expand Up @@ -132,8 +132,8 @@ Note that the header must at least contain "reading".
.def(py::init<>(), "Default constructor. If used member values must be filled later.")
.def(py::init<const std::string&, const std::string&, const unsigned>(), py::arg("type"), py::arg("name"), py::arg("pos"), "regular property")
.def(py::init<const std::string&, const std::string&, const std::string&, const unsigned>(), py::arg("idx_type"), py::arg("type"), py::arg("name"), py::arg("pos"), "list property")

.def("__eq__", &PLYProperty::operator==, "compare with other property");
.def(py::self == py::self)
.def(py::self != py::self);

using PLYProperties = PMIO::PLYProperties;
py::bind_vector<PLYProperties>(pyPointMatcherIO, "PLYProperties", "Vector of properties specific to PLY files");
Expand All @@ -160,7 +160,9 @@ PLY Element constructor

This object holds information about a PLY element contained in the file.
It is filled out when reading the header and used when parsing the data.
)pbdoc").def("__eq__", &PLYElement::operator==, "comparison operator for elements");
)pbdoc")
.def(py::self == py::self)
.def(py::self != py::self);

using PLYVertex = PMIO::PLYVertex;
py::class_<PLYVertex, PLYElement>(pyPointMatcherIO, "PLYVertex", "Implementation of PLY vertex element")
Expand All @@ -173,11 +175,10 @@ Constructor
Implementation of PLY element interface for the vertex element
)pbdoc");

// FIXME : Generate undefined symbol error for "elementSupported" or "createElement" method when importing the module
// using PLYElementF = PMIO::PLYElementF;
// py::class_<PLYElementF>(pyPointMatcherIO, "PLYElementF", "Factory for PLY elements")
// .def("elementSupported", &PLYElementF::elementSupported, py::arg("elem_name"), "returns true if element named elem_name is supported by this parser")
// .def_static("createElement", &PLYElementF::createElement, py::arg("elem_name"), py::arg("elem_num"), py::arg("offset"), "factory function, build element defined by name with elem_num elements");
using PLYElementF = PMIO::PLYElementF;
py::class_<PLYElementF>(pyPointMatcherIO, "PLYElementF", "Factory for PLY elements")
.def("elementSupported", &PLYElementF::elementSupported, py::arg("elem_name"), "returns true if element named elem_name is supported by this parser")
.def_static("createElement", &PLYElementF::createElement, py::arg("elem_name"), py::arg("elem_num"), py::arg("offset"), "factory function, build element defined by name with elem_num elements");

using PCDproperty = PMIO::PCDproperty;
py::class_<PCDproperty>(pyPointMatcherIO, "PCDproperty", "Information for a PCD property")
Expand Down
3 changes: 2 additions & 1 deletion utest/ui/icp/GeneralTests.cpp
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Expand Up @@ -84,8 +84,9 @@ TEST(icpTest, icpTest)
std::cout << "Testing file " << d->path().string() << std::endl;
// Load config file, and form ICP object
PM::ICP icp;
if (d->path().has_extension() != true) continue;
if (d->path().extension().string() != ".yaml") continue;
std::string config_file = d->path().string();
if (fs::extension(config_file) != ".yaml") continue;
std::ifstream ifs(config_file.c_str());
EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << " " << config_file;

Expand Down
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