/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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_VISION_HPP
#define VISP_PYTHON_VISION_HPP


#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <pybind11/numpy.h>
#include <visp3/core/vpConfig.h>
#include <visp3/vision/vpPose.h>

namespace py = pybind11;

void bindings_vpPose(py::class_<vpPose, std::shared_ptr<vpPose>> &pyPose)
{
  pyPose.def("computePose",
   [](vpPose &self, vpPose::vpPoseMethodType method, vpHomogeneousMatrix &cMo) -> bool {
     return self.computePose(method, cMo);
  });

  pyPose.def_static("computePlanarObjectPoseFromRGBD",
   [](const vpImage<float> &depthMap, const std::vector<vpImagePoint> &corners,
      const vpCameraParameters &colorIntrinsics,
      const std::vector<vpPoint> &point3d) -> std::tuple<bool, vpHomogeneousMatrix, double> {
        double confidence = 0.0;
        vpHomogeneousMatrix cMo;
        bool valid = vpPose::computePlanarObjectPoseFromRGBD(depthMap, corners, colorIntrinsics, point3d, cMo, &confidence);
        return std::make_tuple(valid, cMo, confidence);
  });


}


#endif
