From 208b181210d18891214d85e2ebe51263be3b3f23 Mon Sep 17 00:00:00 2001
From: Rainer Kuemmerle <rainer.kuemmerle@gmail.com>
Date: Sun, 25 Aug 2024 15:13:59 +0200
Subject: [PATCH] Wrap IO helpers to python

---
 python/core/py_io_format.cpp       | 14 ++++++++++++++
 python/core/py_robust_kernel.cpp   |  4 ----
 python/examples/simple_optimize.py | 12 ++++++++----
 todo.md                            |  2 +-
 4 files changed, 23 insertions(+), 9 deletions(-)
 mode change 100644 => 100755 python/examples/simple_optimize.py

diff --git a/python/core/py_io_format.cpp b/python/core/py_io_format.cpp
index 1780c71f6..5d7aabd74 100644
--- a/python/core/py_io_format.cpp
+++ b/python/core/py_io_format.cpp
@@ -4,11 +4,25 @@
 
 namespace g2o {
 
+namespace {
+struct IoWrapper {};
+}  // namespace
+
 void declareIOFormat(py::module& m) {
   py::enum_<io::Format>(m, "IoFormat")
       .value("G2O", io::Format::kG2O, "G2O's custom ASCII IO format")
       .value("JSON", io::Format::kJson, "JSON IO format")
       .value("BINARY", io::Format::kBinary, "G2O's custom binary format");
+
+  py::class_<io::FileFilter>(m, "IoFileFilter")
+      .def(py::init<std::string, io::Format>(), "filter"_a, "format"_a)
+      .def_readwrite("filter", &io::FileFilter::filter)
+      .def_readwrite("format", &io::FileFilter::format);
+
+  py::class_<IoWrapper>(m, "IoWrapper")
+      .def_static("to_string", &io::to_string)
+      .def_static("file_filter", &io::getFileFilter)
+      .def_static("format_for_file_extension", &io::formatForFileExtension);
 }
 
 }  // end namespace g2o
diff --git a/python/core/py_robust_kernel.cpp b/python/core/py_robust_kernel.cpp
index a64c290fb..75af76cca 100644
--- a/python/core/py_robust_kernel.cpp
+++ b/python/core/py_robust_kernel.cpp
@@ -7,9 +7,6 @@ namespace g2o {
 
 void declareRobustKernel(py::module& m) {
   py::class_<RobustKernel, std::shared_ptr<RobustKernel>>(m, "BaseRobustKernel")
-      //.def(py::init<>())
-      //.def(py::init<double>(),
-      //        "delta"_a)
       .def("robustify", &RobustKernel::robustify, "squared_error"_a,
            "rho"_a)  // (double, Vector3&) -> void
       .def("set_delta", &RobustKernel::setDelta,
@@ -24,7 +21,6 @@ void declareRobustKernel(py::module& m) {
       .def(py::init<double>(), "delta"_a = 1.)
       .def(py::init<const RobustKernelPtr&, double>(), "kernel"_a,
            "delta"_a = 1., py::keep_alive<1, 2>())
-      .def(py::init<double>(), "delta"_a)
       .def("kernel", &RobustKernelScaleDelta::kernel)  // -> RobustKernelPtr&
       .def("set_kernel", &RobustKernelScaleDelta::setKernel, "ptr"_a,
            py::keep_alive<1, 2>())  // const RobustKernelPtr& ->
diff --git a/python/examples/simple_optimize.py b/python/examples/simple_optimize.py
old mode 100644
new mode 100755
index b67267600..5d2d5b455
--- a/python/examples/simple_optimize.py
+++ b/python/examples/simple_optimize.py
@@ -1,10 +1,13 @@
+#!/usr/bin/env python3
+
 import argparse
 
 import g2opy as g2o
 
 
 def to_io_format(value: str) -> g2o.IoFormat:
-    return g2o.IoFormat.__members__[value.upper()]
+    format = g2o.IoWrapper.format_for_file_extension(value)
+    return format if format is not None else g2o.IoFormat.G2O
 
 
 def main():
@@ -19,7 +22,7 @@ def main():
     parser.add_argument(
         "--output-format",
         type=str,
-        choices=["g2o", "json", "xml", "binary"],
+        choices=["g2o", "json", "bin"],
         default=g2o.IoFormat.G2O.name,
         help="define the output format",
     )
@@ -51,8 +54,9 @@ def main():
         print(f"Final chi2: {optimizer.chi2()}")
 
     if len(args.output) > 0:
-        print(f"Saving to {args.output}")
-        optimizer.save(args.output, to_io_format(args.output_format))
+        io_output_format = to_io_format(args.output_format)
+        print(f"Saving to {args.output} as {g2o.IoWrapper.to_string(io_output_format)}")
+        optimizer.save(args.output, io_output_format)
 
 
 if __name__ == "__main__":
diff --git a/todo.md b/todo.md
index 36d372b59..067d3c5f0 100644
--- a/todo.md
+++ b/todo.md
@@ -1,6 +1,6 @@
 [x] drop cereal (replace with json directly, drop xml)
 [ ] install json on Windows CI
-[ ] wrap io_format.h to python
+[x] wrap io_format.h to python
 [x] wrap simulator into library
 [x] add config types for simulation
 [ ] add tests for simulator