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Update python wrapper
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@jlblancoc
jlblancoc committed Oct 18, 2023
1 parent b522e3f commit 58515af
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Showing 28 changed files with 1,905 additions and 109 deletions.
6 changes: 6 additions & 0 deletions python/all_mrpt_maps3.cpp
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Expand Up @@ -8,3 +8,9 @@
#include "src/mrpt/maps/CWeightedPointsMap.cpp"
#include "src/mrpt/maps/CWirelessPowerGridMap2D.cpp"
#include "src/mrpt/maps/metric_map_types.cpp"
#include "src/mrpt/maps/CVoxelMap.cpp"
#include "src/mrpt/maps/CVoxelMapBase.cpp"
#include "src/mrpt/maps/CVoxelMapOccupancyBase.cpp"
#include "src/mrpt/maps/CVoxelMapOccupancyBase_1.cpp"
#include "src/mrpt/maps/CVoxelMapOccupancyBase_2.cpp"

2 changes: 1 addition & 1 deletion python/all_mrpt_opengl1.cpp
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Expand Up @@ -12,4 +12,4 @@
#include "src/mrpt/opengl/COctreePointRenderer.cpp"
#include "src/mrpt/opengl/CPlanarLaserScan.cpp"
#include "src/mrpt/opengl/CPointCloudColoured.cpp"
#include "src/mrpt/opengl/CPointCloud.cpp"
#include "src/mrpt/opengl/CPointCloud.cpp"
1 change: 1 addition & 0 deletions python/all_mrpt_rtti.cpp
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Expand Up @@ -2,4 +2,5 @@
#include "src/mrpt/rtti/CObject_1.cpp"
#include "src/mrpt/rtti/CObject_2.cpp"
#include "src/mrpt/rtti/CObject_3.cpp"
#include "src/mrpt/rtti/CObject_4.cpp"
#include "src/mrpt/rtti/CObject.cpp"
2 changes: 2 additions & 0 deletions python/all_wrapped_mrpt_headers.hpp
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Expand Up @@ -166,6 +166,8 @@
#include <mrpt/maps/CWeightedPointsMap.h>
#include <mrpt/maps/CWirelessPowerGridMap2D.h>
#include <mrpt/maps/OccupancyGridCellType.h>
#include <mrpt/maps/CVoxelMap.h>
#include <mrpt/maps/CVoxelMapRGB.h>
#include <mrpt/obs/CObservationPointCloud.h>
#include <mrpt/obs/CObservationRotatingScan.h>
#include <mrpt/obs/customizable_obs_viz.h>
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2 changes: 2 additions & 0 deletions python/python.conf
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Expand Up @@ -298,3 +298,5 @@
-class std::monostate
#
+function mrpt::poses::operator+(const mrpt::poses::CPose3DPDFGaussian&, const mrpt::poses::CPose3DPDFGaussian&)
#
-namespace Bonxai
6 changes: 3 additions & 3 deletions python/src/mrpt/maps/CColouredOctoMap.cpp
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Expand Up @@ -99,7 +99,7 @@
PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
#endif

// mrpt::maps::CColouredOctoMap file:mrpt/maps/CColouredOctoMap.h line:36
// mrpt::maps::CColouredOctoMap file:mrpt/maps/CColouredOctoMap.h line:38
struct PyCallBack_mrpt_maps_CColouredOctoMap : public mrpt::maps::CColouredOctoMap {
using mrpt::maps::CColouredOctoMap::CColouredOctoMap;

Expand Down Expand Up @@ -1106,8 +1106,8 @@ struct PyCallBack_mrpt_maps_CColouredPointsMap_TMapDefinition : public mrpt::map

void bind_mrpt_maps_CColouredOctoMap(std::function< pybind11::module &(std::string const &namespace_) > &M)
{
{ // mrpt::maps::CColouredOctoMap file:mrpt/maps/CColouredOctoMap.h line:36
pybind11::class_<mrpt::maps::CColouredOctoMap, std::shared_ptr<mrpt::maps::CColouredOctoMap>, PyCallBack_mrpt_maps_CColouredOctoMap, mrpt::maps::COctoMapBase<octomap::ColorOcTree,octomap::ColorOcTreeNode>> cl(M("mrpt::maps"), "CColouredOctoMap", "A three-dimensional probabilistic occupancy grid, implemented as an\n octo-tree with the \"octomap\" C++ library.\n This version stores both, occupancy information and RGB colour data at\n each octree node. See the base class mrpt::maps::COctoMapBase.\n\n \n CMetricMap, the example in \"MRPT/samples/octomap_simple\"\n \n\n\n ");
{ // mrpt::maps::CColouredOctoMap file:mrpt/maps/CColouredOctoMap.h line:38
pybind11::class_<mrpt::maps::CColouredOctoMap, std::shared_ptr<mrpt::maps::CColouredOctoMap>, PyCallBack_mrpt_maps_CColouredOctoMap, mrpt::maps::COctoMapBase<octomap::ColorOcTree,octomap::ColorOcTreeNode>> cl(M("mrpt::maps"), "CColouredOctoMap", "A three-dimensional probabilistic occupancy grid, implemented as an\n octo-tree with the \"octomap\" C++ library.\n This version stores both, occupancy information and RGB colour data at\n each octree node. See the base class mrpt::maps::COctoMapBase.\n\n The octomap library was presented in \n\n \n CMetricMap, the example in \"MRPT/samples/octomap_simple\"\n \n\n\n ");
cl.def( pybind11::init( [](){ return new mrpt::maps::CColouredOctoMap(); }, [](){ return new PyCallBack_mrpt_maps_CColouredOctoMap(); } ), "doc");
cl.def( pybind11::init<const double>(), pybind11::arg("resolution") );

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6 changes: 3 additions & 3 deletions python/src/mrpt/maps/CMultiMetricMap.cpp
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Expand Up @@ -95,7 +95,7 @@
PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
#endif

// mrpt::maps::CMultiMetricMap file:mrpt/maps/CMultiMetricMap.h line:119
// mrpt::maps::CMultiMetricMap file:mrpt/maps/CMultiMetricMap.h line:120
struct PyCallBack_mrpt_maps_CMultiMetricMap : public mrpt::maps::CMultiMetricMap {
using mrpt::maps::CMultiMetricMap::CMultiMetricMap;

Expand Down Expand Up @@ -421,8 +421,8 @@ struct PyCallBack_mrpt_maps_CSimpleMap : public mrpt::maps::CSimpleMap {

void bind_mrpt_maps_CMultiMetricMap(std::function< pybind11::module &(std::string const &namespace_) > &M)
{
{ // mrpt::maps::CMultiMetricMap file:mrpt/maps/CMultiMetricMap.h line:119
pybind11::class_<mrpt::maps::CMultiMetricMap, std::shared_ptr<mrpt::maps::CMultiMetricMap>, PyCallBack_mrpt_maps_CMultiMetricMap, mrpt::maps::CMetricMap> cl(M("mrpt::maps"), "CMultiMetricMap", "This class stores any customizable set of metric maps.\n The internal metric maps can be accessed directly by the user as smart\npointers with CMultiMetricMap::mapByIndex() or via `iterator`s.\n The utility of this container is to operate on several maps simultaneously:\nupdate them by inserting observations,\n evaluate the likelihood of one observation by fusing (multiplying) the\nlikelihoods over the different maps, etc.\n\n These kinds of metric maps can be kept inside (list may be\n incomplete, refer to classes derived from mrpt::maps::CMetricMap):\n - mrpt::maps::CSimplePointsMap: For 2D or 3D range scans, ...\n - mrpt::maps::COccupancyGridMap2D: 2D, horizontal laser range\n scans, at different altitudes.\n - mrpt::maps::COccupancyGridMap3D: 3D occupancy voxel map.\n - mrpt::maps::COctoMap: For 3D occupancy grids of variable resolution,\n with octrees (based on the library `octomap`).\n - mrpt::maps::CColouredOctoMap: The same than above, but nodes can store\n RGB data appart from occupancy.\n - mrpt::maps::CLandmarksMap: For visual landmarks,etc...\n - mrpt::maps::CGasConcentrationGridMap2D: For gas concentration maps.\n - mrpt::maps::CWirelessPowerGridMap2D: For wifi power maps.\n - mrpt::maps::CBeaconMap: For range-only SLAM.\n - mrpt::maps::CHeightGridMap2D: For elevation maps of height for each\n (x,y) location (Digital elevation model, DEM)\n - mrpt::maps::CHeightGridMap2D_MRF: DEMs as Markov Random Field (MRF)\n - mrpt::maps::CReflectivityGridMap2D: For maps of \"reflectivity\" for\n each (x,y) location.\n - mrpt::maps::CColouredPointsMap: For point map with color.\n - mrpt::maps::CWeightedPointsMap: For point map with weights (capable of\n \"fusing\").\n\n See CMultiMetricMap::setListOfMaps() for the method for initializing this\nclass programmatically.\n See also TSetOfMetricMapInitializers::loadFromConfigFile for a template of\n\".ini\"-like configuration\n file that can be used to define which maps to create and all their\nparameters.\n Alternatively, the list of maps is public so it can be directly\nmanipulated/accessed in CMultiMetricMap::maps\n\n Configuring the list of maps: Alternatives\n --------------------------------------------\n\n **Method #1: Using map definition structures**\n \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n **Method #2: Using a configuration file**\n See TSetOfMetricMapInitializers::loadFromConfigFile() for details on expected\nfile format.\n\n \n\n\n\n\n\n\n\n **Method #3: Manual manipulation**\n\n \n\n\n\n\n\n\n \n [New in MRPT 1.3.0]: `likelihoodMapSelection`, which selected the map\nto be used when\n computing the likelihood of an observation, has been removed. Use the\n`enableObservationLikelihood`\n property of each individual map declaration.\n\n \n [New in MRPT 1.3.0]: `enableInsertion_{pointsMap,...}` have been also\nremoved.\n Use the `enableObservationInsertion` property of each map declaration.\n\n \n This class belongs to [mrpt-slam] instead of [mrpt-maps] due to the\ndependency on map classes in mrpt-vision.\n \n\n CMetricMap \n\n ");
{ // mrpt::maps::CMultiMetricMap file:mrpt/maps/CMultiMetricMap.h line:120
pybind11::class_<mrpt::maps::CMultiMetricMap, std::shared_ptr<mrpt::maps::CMultiMetricMap>, PyCallBack_mrpt_maps_CMultiMetricMap, mrpt::maps::CMetricMap> cl(M("mrpt::maps"), "CMultiMetricMap", "This class stores any customizable set of metric maps.\n The internal metric maps can be accessed directly by the user as smart\npointers with CMultiMetricMap::mapByIndex() or via `iterator`s.\n The utility of this container is to operate on several maps simultaneously:\nupdate them by inserting observations,\n evaluate the likelihood of one observation by fusing (multiplying) the\nlikelihoods over the different maps, etc.\n\n These kinds of metric maps can be kept inside (list may be\n incomplete, refer to classes derived from mrpt::maps::CMetricMap):\n - mrpt::maps::CSimplePointsMap: For 2D or 3D range scans, ...\n - mrpt::maps::COccupancyGridMap2D: 2D, horizontal laser range\n scans, at different altitudes.\n - mrpt::maps::COccupancyGridMap3D: 3D occupancy voxel map.\n - mrpt::maps::COctoMap: For 3D occupancy grids of variable resolution,\n with octrees (based on the library `octomap`).\n - mrpt::maps::CVoxelMap or mrpt::maps::CVoxelMapRGB: 3D sparse voxel maps.\n - mrpt::maps::CColouredOctoMap: The same than above, but nodes can store\n RGB data appart from occupancy.\n - mrpt::maps::CLandmarksMap: For visual landmarks,etc...\n - mrpt::maps::CGasConcentrationGridMap2D: For gas concentration maps.\n - mrpt::maps::CWirelessPowerGridMap2D: For wifi power maps.\n - mrpt::maps::CBeaconMap: For range-only SLAM.\n - mrpt::maps::CHeightGridMap2D: For elevation maps of height for each\n (x,y) location (Digital elevation model, DEM)\n - mrpt::maps::CHeightGridMap2D_MRF: DEMs as Markov Random Field (MRF)\n - mrpt::maps::CReflectivityGridMap2D: For maps of \"reflectivity\" for\n each (x,y) location.\n - mrpt::maps::CColouredPointsMap: For point map with color.\n - mrpt::maps::CWeightedPointsMap: For point map with weights (capable of\n \"fusing\").\n\n See CMultiMetricMap::setListOfMaps() for the method for initializing this\nclass programmatically.\n See also TSetOfMetricMapInitializers::loadFromConfigFile for a template of\n\".ini\"-like configuration\n file that can be used to define which maps to create and all their\nparameters.\n Alternatively, the list of maps is public so it can be directly\nmanipulated/accessed in CMultiMetricMap::maps\n\n Configuring the list of maps: Alternatives\n --------------------------------------------\n\n **Method #1: Using map definition structures**\n \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n **Method #2: Using a configuration file**\n See TSetOfMetricMapInitializers::loadFromConfigFile() for details on expected\nfile format.\n\n \n\n\n\n\n\n\n\n **Method #3: Manual manipulation**\n\n \n\n\n\n\n\n\n \n [New in MRPT 1.3.0]: `likelihoodMapSelection`, which selected the map\nto be used when\n computing the likelihood of an observation, has been removed. Use the\n`enableObservationLikelihood`\n property of each individual map declaration.\n\n \n [New in MRPT 1.3.0]: `enableInsertion_{pointsMap,...}` have been also\nremoved.\n Use the `enableObservationInsertion` property of each map declaration.\n\n \n This class belongs to [mrpt-slam] instead of [mrpt-maps] due to the\ndependency on map classes in mrpt-vision.\n \n\n CMetricMap \n\n ");
cl.def( pybind11::init( [](){ return new mrpt::maps::CMultiMetricMap(); }, [](){ return new PyCallBack_mrpt_maps_CMultiMetricMap(); } ) );
cl.def( pybind11::init<const class mrpt::maps::TSetOfMetricMapInitializers &>(), pybind11::arg("initializers") );

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16 changes: 8 additions & 8 deletions python/src/mrpt/maps/COccupancyGridMap3D.cpp
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Expand Up @@ -89,7 +89,7 @@
PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
#endif

// mrpt::maps::COccupancyGridMap3D file:mrpt/maps/COccupancyGridMap3D.h line:33
// mrpt::maps::COccupancyGridMap3D file:mrpt/maps/COccupancyGridMap3D.h line:36
struct PyCallBack_mrpt_maps_COccupancyGridMap3D : public mrpt::maps::COccupancyGridMap3D {
using mrpt::maps::COccupancyGridMap3D::COccupancyGridMap3D;

Expand Down Expand Up @@ -316,7 +316,7 @@ struct PyCallBack_mrpt_maps_COccupancyGridMap3D : public mrpt::maps::COccupancyG
}
};

// mrpt::maps::COccupancyGridMap3D::TInsertionOptions file:mrpt/maps/COccupancyGridMap3D.h line:197
// mrpt::maps::COccupancyGridMap3D::TInsertionOptions file:mrpt/maps/COccupancyGridMap3D.h line:200
struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TInsertionOptions : public mrpt::maps::COccupancyGridMap3D::TInsertionOptions {
using mrpt::maps::COccupancyGridMap3D::TInsertionOptions::TInsertionOptions;

Expand Down Expand Up @@ -348,7 +348,7 @@ struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TInsertionOptions : public mrpt:
}
};

// mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions file:mrpt/maps/COccupancyGridMap3D.h line:254
// mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions file:mrpt/maps/COccupancyGridMap3D.h line:257
struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TLikelihoodOptions : public mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions {
using mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::TLikelihoodOptions;

Expand Down Expand Up @@ -427,8 +427,8 @@ struct PyCallBack_mrpt_maps_COccupancyGridMap3D_TMapDefinition : public mrpt::ma

void bind_mrpt_maps_COccupancyGridMap3D(std::function< pybind11::module &(std::string const &namespace_) > &M)
{
{ // mrpt::maps::COccupancyGridMap3D file:mrpt/maps/COccupancyGridMap3D.h line:33
pybind11::class_<mrpt::maps::COccupancyGridMap3D, std::shared_ptr<mrpt::maps::COccupancyGridMap3D>, PyCallBack_mrpt_maps_COccupancyGridMap3D, mrpt::maps::CMetricMap, mrpt::maps::CLogOddsGridMap3D<signed char>> cl(M("mrpt::maps"), "COccupancyGridMap3D", "A 3D occupancy grid map with a regular, even distribution of voxels.\n\n This is a faster alternative to COctoMap, but use with caution with limited\nmap extensions, since it could easily exaust available memory.\n\n Each voxel follows a Bernoulli probability distribution: a value of 0 means\ncertainly occupied, 1 means a certainly empty voxel. Initially 0.5 means\nuncertainty.\n\n ");
{ // mrpt::maps::COccupancyGridMap3D file:mrpt/maps/COccupancyGridMap3D.h line:36
pybind11::class_<mrpt::maps::COccupancyGridMap3D, std::shared_ptr<mrpt::maps::COccupancyGridMap3D>, PyCallBack_mrpt_maps_COccupancyGridMap3D, mrpt::maps::CMetricMap, mrpt::maps::CLogOddsGridMap3D<signed char>> cl(M("mrpt::maps"), "COccupancyGridMap3D", "A 3D occupancy grid map with a regular, even distribution of voxels.\n\n This is a faster alternative to COctoMap, but use with caution with limited\nmap extensions, since it could easily exaust available memory.\n\n Each voxel follows a Bernoulli probability distribution: a value of 0 means\ncertainly occupied, 1 means a certainly empty voxel. Initially 0.5 means\nuncertainty.\n\n An alternative, sparse representation of a 3D map is provided\n via mrpt::maps::CVoxelMap and mrpt::maps::CVoxelMapRGB\n\n ");
cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap3D(); }, [](){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D(); } ), "doc");
cl.def( pybind11::init( [](const struct mrpt::math::TPoint3D_<double> & a0){ return new mrpt::maps::COccupancyGridMap3D(a0); }, [](const struct mrpt::math::TPoint3D_<double> & a0){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D(a0); } ), "doc");
cl.def( pybind11::init( [](const struct mrpt::math::TPoint3D_<double> & a0, const struct mrpt::math::TPoint3D_<double> & a1){ return new mrpt::maps::COccupancyGridMap3D(a0, a1); }, [](const struct mrpt::math::TPoint3D_<double> & a0, const struct mrpt::math::TPoint3D_<double> & a1){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D(a0, a1); } ), "doc");
Expand Down Expand Up @@ -474,7 +474,7 @@ void bind_mrpt_maps_COccupancyGridMap3D(std::function< pybind11::module &(std::s
cl.def("asString", (std::string (mrpt::maps::COccupancyGridMap3D::*)() const) &mrpt::maps::COccupancyGridMap3D::asString, "Returns a short description of the map. \n\nC++: mrpt::maps::COccupancyGridMap3D::asString() const --> std::string");
cl.def("assign", (class mrpt::maps::COccupancyGridMap3D & (mrpt::maps::COccupancyGridMap3D::*)(const class mrpt::maps::COccupancyGridMap3D &)) &mrpt::maps::COccupancyGridMap3D::operator=, "C++: mrpt::maps::COccupancyGridMap3D::operator=(const class mrpt::maps::COccupancyGridMap3D &) --> class mrpt::maps::COccupancyGridMap3D &", pybind11::return_value_policy::automatic, pybind11::arg(""));

{ // mrpt::maps::COccupancyGridMap3D::TInsertionOptions file:mrpt/maps/COccupancyGridMap3D.h line:197
{ // mrpt::maps::COccupancyGridMap3D::TInsertionOptions file:mrpt/maps/COccupancyGridMap3D.h line:200
auto & enclosing_class = cl;
pybind11::class_<mrpt::maps::COccupancyGridMap3D::TInsertionOptions, std::shared_ptr<mrpt::maps::COccupancyGridMap3D::TInsertionOptions>, PyCallBack_mrpt_maps_COccupancyGridMap3D_TInsertionOptions, mrpt::config::CLoadableOptions> cl(enclosing_class, "TInsertionOptions", "With this struct options are provided to the observation insertion\n process.\n \n\n CObservation::insertIntoGridMap ");
cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap3D::TInsertionOptions(); }, [](){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D_TInsertionOptions(); } ) );
Expand All @@ -490,7 +490,7 @@ void bind_mrpt_maps_COccupancyGridMap3D(std::function< pybind11::module &(std::s
cl.def("assign", (class mrpt::maps::COccupancyGridMap3D::TInsertionOptions & (mrpt::maps::COccupancyGridMap3D::TInsertionOptions::*)(const class mrpt::maps::COccupancyGridMap3D::TInsertionOptions &)) &mrpt::maps::COccupancyGridMap3D::TInsertionOptions::operator=, "C++: mrpt::maps::COccupancyGridMap3D::TInsertionOptions::operator=(const class mrpt::maps::COccupancyGridMap3D::TInsertionOptions &) --> class mrpt::maps::COccupancyGridMap3D::TInsertionOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
}

{ // mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions file:mrpt/maps/COccupancyGridMap3D.h line:254
{ // mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions file:mrpt/maps/COccupancyGridMap3D.h line:257
auto & enclosing_class = cl;
pybind11::class_<mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, std::shared_ptr<mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions>, PyCallBack_mrpt_maps_COccupancyGridMap3D_TLikelihoodOptions, mrpt::config::CLoadableOptions> cl(enclosing_class, "TLikelihoodOptions", "With this struct options are provided to the observation likelihood\n computation process ");
cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions(); }, [](){ return new PyCallBack_mrpt_maps_COccupancyGridMap3D_TLikelihoodOptions(); } ) );
Expand All @@ -511,7 +511,7 @@ void bind_mrpt_maps_COccupancyGridMap3D(std::function< pybind11::module &(std::s
cl.def("assign", (class mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions & (mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::*)(const class mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions &)) &mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::operator=, "C++: mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::operator=(const class mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions &) --> class mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions &", pybind11::return_value_policy::automatic, pybind11::arg(""));
}

{ // mrpt::maps::COccupancyGridMap3D::TRenderingOptions file:mrpt/maps/COccupancyGridMap3D.h line:308
{ // mrpt::maps::COccupancyGridMap3D::TRenderingOptions file:mrpt/maps/COccupancyGridMap3D.h line:311
auto & enclosing_class = cl;
pybind11::class_<mrpt::maps::COccupancyGridMap3D::TRenderingOptions, std::shared_ptr<mrpt::maps::COccupancyGridMap3D::TRenderingOptions>> cl(enclosing_class, "TRenderingOptions", "Options for the conversion of a mrpt::maps::COccupancyGridMap3D into a\n mrpt::opengl::COctoMapVoxels ");
cl.def( pybind11::init( [](){ return new mrpt::maps::COccupancyGridMap3D::TRenderingOptions(); } ) );
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