Introduce display helpers for python to display multiple points and l…

…ines

modules/python/bindings/include/core.hpp

@@ -39,6 +39,8 @@
 #include "core/images.hpp"
 #include "core/pixel_meter.hpp"
 #include "core/image_conversions.hpp"
+#include "core/display.hpp"
+
 
 
 #endif

modules/python/bindings/include/core/display.hpp

@@ -0,0 +1,104 @@
+/*
+ * ViSP, open source Visual Servoing Platform software.
+ * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
+ *
+ * This software is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ * See the file LICENSE.txt at the root directory of this source
+ * distribution for additional information about the GNU GPL.
+ *
+ * For using ViSP with software that can not be combined with the GNU
+ * GPL, please contact Inria about acquiring a ViSP Professional
+ * Edition License.
+ *
+ * See https://visp.inria.fr for more information.
+ *
+ * This software was developed at:
+ * Inria Rennes - Bretagne Atlantique
+ * Campus Universitaire de Beaulieu
+ * 35042 Rennes Cedex
+ * France
+ *
+ * If you have questions regarding the use of this file, please contact
+ * Inria at visp@inria.fr
+ *
+ * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Description:
+ * Python bindings.
+ */
+
+#ifndef VISP_PYTHON_CORE_DISPLAY_HPP
+#define VISP_PYTHON_CORE_DISPLAY_HPP
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/numpy.h>
+
+#include <visp3/core/vpConfig.h>
+#include <visp3/core/vpDisplay.h>
+
+namespace py = pybind11;
+
+void bindings_vpDisplay(py::class_<vpDisplay, std::shared_ptr<vpDisplay>> &pyDisplay)
+{
+
+  pyDisplay.def_static("displayCrosses",
+  [](const vpImage<vpRGBa> &I,
+     const py::array_t<int, py::array::c_style> &is,
+     const py::array_t<int, py::array::c_style> &js,
+     unsigned int size, const vpColor &color, unsigned int thickness = 1) {
+
+       py::buffer_info bufi = is.request(), bufj = js.request();
+       if (bufi.ndim != bufj.ndim || bufi.shape != bufj.shape) {
+         std::stringstream ss;
+         ss << "is and js must have the same number of dimensions and same number of elements, but got is = " << shape_to_string(bufi.shape);
+         ss << "and js = " << shape_to_string(bufj.shape);
+         throw std::runtime_error(ss.str());
+       }
+
+       const int *i_ptr = static_cast<const int *>(bufi.ptr);
+       const int *j_ptr = static_cast<const int *>(bufj.ptr);
+
+       for (py::ssize_t i = 0; i < bufi.size; ++i) {
+         vpDisplay::displayCross(I, i_ptr[i], j_ptr[i], size, color, thickness);
+       }
+
+  });
+
+  pyDisplay.def_static("displayLines",
+  [](const vpImage<vpRGBa> &I,
+     const py::array_t<int, py::array::c_style> &is1,
+     const py::array_t<int, py::array::c_style> &js1,
+     const py::array_t<int, py::array::c_style> &is2,
+     const py::array_t<int, py::array::c_style> &js2,
+     const vpColor &color, unsigned int thickness = 1, bool segment = true) {
+
+       py::buffer_info bufi1 = is1.request(), bufj1 = js1.request();
+       py::buffer_info bufi2 = is2.request(), bufj2 = js2.request();
+
+       if (bufi1.shape != bufj1.shape || bufi1.shape != bufi2.shape || bufi1.shape != bufj2.shape) {
+         std::stringstream ss;
+         ss << "In display lines: numpy arrays must have same dimensions!";
+         throw std::runtime_error(ss.str());
+       }
+
+       const int *i1_ptr = static_cast<const int *>(bufi1.ptr);
+       const int *j1_ptr = static_cast<const int *>(bufj1.ptr);
+
+       const int *i2_ptr = static_cast<const int *>(bufi2.ptr);
+       const int *j2_ptr = static_cast<const int *>(bufj2.ptr);
+
+
+       for (py::ssize_t i = 0; i < bufi1.size; ++i) {
+         vpDisplay::displayLine(I, i1_ptr[i], j1_ptr[i], i2_ptr[i], j2_ptr[i], color, thickness, segment);
+       }
+
+  });
+
+}
+
+#endif