Python c opencv использующий dll с cpp и opencv через ctypes и пустые окна

#ifndef PyInterH
 
#include <Eigen/Cholesky>
#include <svo/config.h>
#include <svo/frame_handler_mono.h>
#include <svo/map.h>
#include <svo/frame.h>
#include <vector>
#include <string>
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
#include <sophus/se3.hpp>
#include <iostream>
 
#include <svo/camera_model.h>
 
class PythonInterface
{
    svo::AbstractCamera* cam_;
    svo::FrameHandlerMono* vo_;
    int img_id = 0;
    float RTthing[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
 
public:
    PythonInterface() {};
    ~PythonInterface();
    void Init(int screenx, int screeny, int focal);
    void Update(cv::Mat image);
    float* GetActualRT();
};
 
#ifdef __cplusplus
extern "C" {
#endif
 
    __declspec(dllexport) PythonInterface* PythonInterface_new();//
    __declspec(dllexport) void PythonInterface_del(PythonInterface* pyinter);//
    __declspec(dllexport) void PythonInterface_init(PythonInterface* pyinter, int scrx, int scry, int focal);//
    __declspec(dllexport) void PythonInterface_update(PythonInterface* pyinter, double* matrix, int row, int col);
    __declspec(dllexport) float* PythonInterface_getactualrt(PythonInterface* pyinter);
 
#ifdef __cplusplus
}
#endif
#endif

#include <Eigen/Cholesky>
#include <svo/config.h>
#include <svo/frame_handler_mono.h>
#include <svo/map.h>
#include <svo/frame.h>
#include <vector>
#include <string>
#include <opencv2/opencv.hpp>
#include <opencv2/core/eigen.hpp>
#include <sophus/se3.hpp>
#include <iostream>
 
#include <svo/camera_model.h>
 
#include "PyInter.h"
 
void PythonInterface::Init(int screenx, int screeny, int focal)
{
    cam_ = new svo::PinholeCamera(
        screenx, screeny,
        focal, focal,
        screenx / 2, screeny / 2,
        0, 0, 0, 0, 0);
 
    vo_ = new svo::FrameHandlerMono(cam_);
    vo_->start();
    cv::setNumThreads(0);
}
 
void PythonInterface::Update(cv::Mat image)
{
    img_id++;
    if (img_id < 0) return;
    //std::cout << img_id << std::endl;
    cv::imshow("origin_image", image);
    cv::waitKey(1);
    std::cout << image.empty() << std::endl;
    //vo_->addImage(image, 0.01 * img_id);
    cv::waitKey(1);
}
 
float* PythonInterface::GetActualRT()
{
    for (int i = 0; i < 6; i++) RTthing[i] = 0.0f;
    if (vo_->lastFrame() != NULL)
    {
        auto tfw = vo_->lastFrame()->T_f_w_;
        auto R = tfw.rotationMatrix();
        auto t = tfw.translation();
        cv::Mat Rmat, rvec, tvec;
        cv::eigen2cv(R, Rmat);
        cv::eigen2cv(t, tvec);
        cv::Rodrigues(Rmat, rvec);
        for (int i = 0; i < 3; i++) RTthing[i] = tvec.at<double>(i, 0);
        for (int i = 0; i < 3; i++) RTthing[i + 3] = rvec.at<double>(i, 0);
    }
    return RTthing;
}
 
PythonInterface::~PythonInterface()
{
    delete vo_;
    delete cam_;
}
 
 
/* $$$ ОБЕРТКИ $$$ */
 
PythonInterface* PythonInterface_new()
{
    return new PythonInterface();
}
 
void PythonInterface_del(PythonInterface* pyinter)
{
    delete pyinter;
}
 
void PythonInterface_init(PythonInterface* pyinter, int scrx, int scry, int focal)
{
    pyinter->Init(scrx, scry, focal);
}
 
void PythonInterface_update(PythonInterface* pyinter, double* matrix, int row, int col)
{
    //cv::Mat mat = cv::Mat(row, col, CV_64F, matrix);
    //mat = mat.clone();
    //std::cout << matrix << std::endl;
    //std::cout << reinterpret_cast<void*>(mat.data) << std::endl;
    cv::Mat mat = cv::imread("gos.jpg"), gray;
    std::cout << "HELLO FROM CPP " << mat.cols << " " << mat.rows << " " << std::endl;
    cv::cvtColor(mat, gray, cv::COLOR_BGR2GRAY);
    cv::waitKey(1);
    pyinter->Update(gray);
}
 
float* PythonInterface_getactualrt(PythonInterface* pyinter)
{
    return pyinter->GetActualRT();
}