From ce8630945a7eb34371e982fa0aedc4e5535a02cf Mon Sep 17 00:00:00 2001
From: Samuel Felton <samuel.felton@irisa.fr>
Date: Tue, 8 Oct 2024 12:45:16 +0200
Subject: [PATCH] Setup trampoline class for visual odometry interface

---
 modules/python/bindings/include/rbt.hpp       |  2 +
 modules/python/bindings/include/rbt/vo.hpp    | 49 +++++++++++++++++++
 modules/python/config/rbt.json                |  4 ++
 .../include/visp3/rbt/vpRBVisualOdometry.h    | 18 +++++++
 4 files changed, 73 insertions(+)
 create mode 100644 modules/python/bindings/include/rbt/vo.hpp
 create mode 100644 modules/tracker/rbt/include/visp3/rbt/vpRBVisualOdometry.h

diff --git a/modules/python/bindings/include/rbt.hpp b/modules/python/bindings/include/rbt.hpp
index a3c1b127a2..b918ec0826 100644
--- a/modules/python/bindings/include/rbt.hpp
+++ b/modules/python/bindings/include/rbt.hpp
@@ -36,6 +36,8 @@
 #define VISP_PYTHON_RBT_HPP
 
 #include "rbt/feature_tracker.hpp"
+#include "rbt/vo.hpp"
+
 
 
 
diff --git a/modules/python/bindings/include/rbt/vo.hpp b/modules/python/bindings/include/rbt/vo.hpp
new file mode 100644
index 0000000000..50462b1fea
--- /dev/null
+++ b/modules/python/bindings/include/rbt/vo.hpp
@@ -0,0 +1,49 @@
+
+#ifndef VISP_PYTHON_RBT_VO_HPP
+#define VISP_PYTHON_RBT_VO_HPP
+
+#include <visp3/rbt/vpRBVisualOdometry.h>
+#include <pybind11/pybind11.h>
+
+
+class TrampolineRBVisualOdometry : public vpRBVisualOdometry
+{
+public:
+  using vpRBVisualOdometry::vpRBVisualOdometry;
+
+  TrampolineRBVisualOdometry() : vpRBVisualOdometry() { }
+
+  virtual void compute(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame) VP_OVERRIDE
+  {
+    pybind11::gil_scoped_acquire gil;  // Acquire the GIL while in this scope.
+    // Try to look up the overridden method on the Python side.
+    pybind11::function override = pybind11::get_override(this, "compute");
+    if (override) {  // method is found
+      // Pybind seems to copy the frames, so we pass the pointers
+      override(&frame, &previousFrame);
+    }
+  }
+
+  virtual vpHomogeneousMatrix getCameraMotion() const VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE(
+      vpHomogeneousMatrix,           /* Return type */
+      vpRBVisualOdometry,     /* Parent class */
+      getCameraMotion,       /* Name of function in C++ (must match Python name) */
+
+      );
+  }
+  virtual vpHomogeneousMatrix getCameraPose() const VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE(
+      vpHomogeneousMatrix,           /* Return type */
+      vpRBVisualOdometry,     /* Parent class */
+      getCameraPose,       /* Name of function in C++ (must match Python name) */
+
+      );
+  }
+};
+
+
+
+#endif
diff --git a/modules/python/config/rbt.json b/modules/python/config/rbt.json
index 08efe92ceb..1c595e35d6 100644
--- a/modules/python/config/rbt.json
+++ b/modules/python/config/rbt.json
@@ -264,6 +264,10 @@
         }
       ]
     },
+    "vpRBVisualOdometry": {
+      "trampoline": "TrampolineRBVisualOdometry",
+      "use_publicist": true
+    },
     "vpObjectCentricRenderer": {
       "methods": [
         {
diff --git a/modules/tracker/rbt/include/visp3/rbt/vpRBVisualOdometry.h b/modules/tracker/rbt/include/visp3/rbt/vpRBVisualOdometry.h
new file mode 100644
index 0000000000..9a89021331
--- /dev/null
+++ b/modules/tracker/rbt/include/visp3/rbt/vpRBVisualOdometry.h
@@ -0,0 +1,18 @@
+#ifndef VP_RB_VISUAL_ODOMETRY_H
+#define VP_RB_VISUAL_ODOMETRY_H
+
+#include <visp3/core/vpConfig.h>
+
+class vpRBFeatureTrackerInput;
+class vpHomogeneousMatrix;
+
+class VISP_EXPORT vpRBVisualOdometry
+{
+public:
+  virtual void compute(const vpRBFeatureTrackerInput &frame, const vpRBFeatureTrackerInput &previousFrame) = 0;
+  virtual vpHomogeneousMatrix getCameraMotion() const = 0;
+  virtual vpHomogeneousMatrix getCameraPose() const = 0;
+};
+
+
+#endif