From: Jochen Sprickerhof Date: Sun, 14 Jun 2020 11:26:46 +0200 Subject: Use PCL 1.11 API --- pcl/_pcl_180.pyx | 1 - pcl/boost_shared_ptr.pxd | 35 ---------------------- pcl/boost_shared_ptr_assign.h | 11 ------- pcl/eigen.pxd | 2 +- pcl/pcl_common.pxd | 2 +- pcl/pcl_defs.pxd | 2 +- pcl/pcl_features.pxd | 2 +- pcl/pcl_features_172.pxd | 2 +- pcl/pcl_features_180.pxd | 2 +- pcl/pcl_filters.pxd | 2 +- pcl/pcl_filters_180.pxd | 2 +- pcl/pcl_io_172.pxd | 2 +- pcl/pcl_kdtree.pxd | 2 +- pcl/pcl_kdtree_172.pxd | 2 +- pcl/pcl_kdtree_180.pxd | 2 +- pcl/pcl_keypoints_180.pxd | 4 +-- pcl/pcl_octree_180.pxd | 2 +- pcl/pcl_range_image.pxd | 2 +- pcl/pcl_range_image_172.pxd | 2 +- pcl/pcl_range_image_180.pxd | 2 +- pcl/pcl_registration_180.pxd | 2 +- pcl/pcl_sample_consensus.pxd | 2 +- pcl/pcl_sample_consensus_180.pxd | 2 +- pcl/pcl_segmentation_180.pxd | 2 +- pcl/pcl_surface_180.pxd | 6 ++-- pcl/pcl_visualization.pyx | 1 - pcl/pcl_visualization_defs.pxd | 2 +- pcl/pxi/Common/RangeImage/RangeImages_180.pxi | 5 ++-- .../Features/IntegralImageNormalEstimation_180.pxi | 5 ++-- pcl/pxi/Features/NormalEstimation_180.pxi | 4 +-- pcl/pxi/Filters/ConditionAnd_180.pxi | 5 ++-- pcl/pxi/Filters/ConditionalRemoval_180.pxi | 2 +- pcl/pxi/Filters/CropBox_180.pxi | 2 +- pcl/pxi/Filters/CropHull_180.pxi | 2 +- pcl/pxi/KeyPoint/HarrisKeypoint3D_180.pxi | 4 +-- pcl/pxi/PointCloud_Normal.pxi | 5 ++-- pcl/pxi/PointCloud_PointNormal.pxi | 5 ++-- pcl/pxi/PointCloud_PointWithViewpoint.pxi | 5 ++-- pcl/pxi/PointCloud_PointXYZI_180.pxi | 5 ++-- pcl/pxi/PointCloud_PointXYZRGBA_180.pxi | 5 ++-- pcl/pxi/PointCloud_PointXYZRGB_180.pxi | 5 ++-- pcl/pxi/PointCloud_PointXYZ_180.pxi | 11 ++++--- .../SampleConsensusModelCylinder.pxi | 2 +- .../SampleConsensus/SampleConsensusModelLine.pxi | 2 +- .../SampleConsensus/SampleConsensusModelPlane.pxi | 2 +- .../SampleConsensusModelRegistration.pxi | 2 +- .../SampleConsensus/SampleConsensusModelSphere.pxi | 5 ++-- .../SampleConsensus/SampleConsensusModelStick.pxi | 2 +- pcl/pxi/Surface/MovingLeastSquares_180.pxi | 8 ++--- pcl/pxi/Vertices.pxi | 4 +-- pcl/pxi/Visualization/CloudViewing.pxi | 5 ++-- .../Handler/PointCloudColorHandleringCustom.pxi | 5 ++-- .../PointCloudColorHandleringGenericField.pxi | 1 - .../Handler/PointCloudColorHandleringHSVField.pxi | 1 - .../Handler/PointCloudColorHandleringRGBField.pxi | 1 - .../Handler/PointCloudColorHandleringRandom.pxi | 1 - .../Handler/PointCloudGeometryHandleringCustom.pxi | 1 - .../PointCloudGeometryHandleringSurfaceNormal.pxi | 1 - .../Handler/PointCloudGeometryHandleringXYZ.pxi | 1 - pcl/pxi/Visualization/PCLHistogramViewing.pxi | 3 +- pcl/pxi/Visualization/PCLVisualizering.pxi | 5 ++-- .../GeneralizedIterativeClosestPoint_180.pxi | 4 +-- .../IterativeClosestPointNonLinear_180.pxi | 4 +-- pcl/pxi/registration/IterativeClosestPoint_180.pxi | 4 +-- pcl/shared_ptr.pxd | 18 ----------- pcl/shared_ptr_assign.h | 11 ------- setup.py | 8 ++--- 67 files changed, 84 insertions(+), 187 deletions(-) delete mode 100644 pcl/boost_shared_ptr.pxd delete mode 100644 pcl/boost_shared_ptr_assign.h delete mode 100644 pcl/shared_ptr.pxd delete mode 100644 pcl/shared_ptr_assign.h diff --git a/pcl/_pcl_180.pyx b/pcl/_pcl_180.pyx index f83eb3c..0d23245 100644 --- a/pcl/_pcl_180.pyx +++ b/pcl/_pcl_180.pyx @@ -28,7 +28,6 @@ from libcpp.vector cimport vector # cimport pcl_segmentation as pclseg -from boost_shared_ptr cimport sp_assign cnp.import_array() diff --git a/pcl/boost_shared_ptr.pxd b/pcl/boost_shared_ptr.pxd deleted file mode 100644 index acf55f6..0000000 --- a/pcl/boost_shared_ptr.pxd +++ /dev/null @@ -1,35 +0,0 @@ -# -*- coding: utf-8 -*- -cimport pcl_defs as cpp -from libcpp cimport bool - -############################################################################### -# Types -############################################################################### - -# cdef extern from "boost/smart_ptr/shared_ptr.hpp" namespace "boost" nogil: -cdef extern from "boost/shared_ptr.hpp" namespace "boost" nogil: - cdef cppclass shared_ptr[T]: - shared_ptr() - shared_ptr(T*) - # shared_ptr(T*, T*) - # shared_ptr(T*, T*, T*) - # shared_ptr(weak_ptr[T]) - # shared_ptr(weak_ptr[T], boost::detail::sp_nothrow_tag) - - T* get() - bool unique() - long use_count() - void swap(shared_ptr[T]) - void reset(T*) - -cdef extern from "boost_shared_ptr_assign.h" nogil: - # void sp_assign(shared_ptr[cpp.PointCloud[cpp.PointXYZ]] &t, cpp.PointCloud[cpp.PointXYZ] *value) - void sp_assign[T](shared_ptr[T] &p, T *value) - -############################################################################### -# Enum -############################################################################### - -############################################################################### -# Activation -############################################################################### diff --git a/pcl/boost_shared_ptr_assign.h b/pcl/boost_shared_ptr_assign.h deleted file mode 100644 index 0150fb3..0000000 --- a/pcl/boost_shared_ptr_assign.h +++ /dev/null @@ -1,11 +0,0 @@ -#include -#include - -namespace { - // Workaround for lack of operator= support in Cython. - template - void sp_assign(boost::shared_ptr &p, T *v) - { - p = boost::shared_ptr(v); - } -} diff --git a/pcl/eigen.pxd b/pcl/eigen.pxd index 95344e7..4ee9a7f 100644 --- a/pcl/eigen.pxd +++ b/pcl/eigen.pxd @@ -6,7 +6,7 @@ from libcpp.string cimport string from libcpp cimport bool cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr from vector cimport vector as vector2 # Cython C++ wrapper operator() overloading error diff --git a/pcl/pcl_common.pxd b/pcl/pcl_common.pxd index a79a55f..d6b343c 100644 --- a/pcl/pcl_common.pxd +++ b/pcl/pcl_common.pxd @@ -11,7 +11,7 @@ from libcpp.vector cimport vector cimport eigen as eigen3 -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # common/angles.h diff --git a/pcl/pcl_defs.pxd b/pcl/pcl_defs.pxd index 1117ee6..38b88e3 100644 --- a/pcl/pcl_defs.pxd +++ b/pcl/pcl_defs.pxd @@ -5,7 +5,7 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # Eigen from eigen cimport Vector4f diff --git a/pcl/pcl_features.pxd b/pcl/pcl_features.pxd index 3dfae25..51a12d6 100644 --- a/pcl/pcl_features.pxd +++ b/pcl/pcl_features.pxd @@ -6,7 +6,7 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_features_172.pxd b/pcl/pcl_features_172.pxd index 3991b15..a39ecac 100644 --- a/pcl/pcl_features_172.pxd +++ b/pcl/pcl_features_172.pxd @@ -6,7 +6,7 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_features_180.pxd b/pcl/pcl_features_180.pxd index a3351a4..02df12a 100644 --- a/pcl/pcl_features_180.pxd +++ b/pcl/pcl_features_180.pxd @@ -6,7 +6,7 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_filters.pxd b/pcl/pcl_filters.pxd index 6638b9b..672343e 100644 --- a/pcl/pcl_filters.pxd +++ b/pcl/pcl_filters.pxd @@ -7,7 +7,7 @@ from libcpp.pair cimport pair # import cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_filters_180.pxd b/pcl/pcl_filters_180.pxd index cb6f075..0851b17 100644 --- a/pcl/pcl_filters_180.pxd +++ b/pcl/pcl_filters_180.pxd @@ -7,7 +7,7 @@ from libcpp.pair cimport pair # import cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_io_172.pxd b/pcl/pcl_io_172.pxd index 6266fe8..7cd813b 100644 --- a/pcl/pcl_io_172.pxd +++ b/pcl/pcl_io_172.pxd @@ -7,7 +7,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp -# from boost_shared_ptr cimport shared_ptr +# from libcpp.memory cimport shared_ptr cdef extern from "pcl/io/pcd_io.h" namespace "pcl::io": # XYZ diff --git a/pcl/pcl_kdtree.pxd b/pcl/pcl_kdtree.pxd index 21bf1f8..1f86775 100644 --- a/pcl/pcl_kdtree.pxd +++ b/pcl/pcl_kdtree.pxd @@ -4,7 +4,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # flann.h ### diff --git a/pcl/pcl_kdtree_172.pxd b/pcl/pcl_kdtree_172.pxd index f7d4ae0..10ba728 100644 --- a/pcl/pcl_kdtree_172.pxd +++ b/pcl/pcl_kdtree_172.pxd @@ -4,7 +4,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # flann.h ### diff --git a/pcl/pcl_kdtree_180.pxd b/pcl/pcl_kdtree_180.pxd index f7d4ae0..10ba728 100644 --- a/pcl/pcl_kdtree_180.pxd +++ b/pcl/pcl_kdtree_180.pxd @@ -4,7 +4,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # flann.h ### diff --git a/pcl/pcl_keypoints_180.pxd b/pcl/pcl_keypoints_180.pxd index ac852e4..a817fab 100644 --- a/pcl/pcl_keypoints_180.pxd +++ b/pcl/pcl_keypoints_180.pxd @@ -12,7 +12,7 @@ cimport pcl_features_172 as pclftr cimport pcl_kdtree_172 as pclkdt # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### # Types @@ -307,7 +307,7 @@ cdef extern from "pcl/keypoints/smoothed_surfaces_keypoint.h" namespace "pcl": # uniform_sampling.h # template # class UniformSampling: public Keypoint -cdef extern from "pcl/keypoints/uniform_sampling.h" namespace "pcl": +cdef extern from "pcl/filters/uniform_sampling.h" namespace "pcl": cdef cppclass UniformSampling[In](Keypoint[In, int]): UniformSampling () # public: diff --git a/pcl/pcl_octree_180.pxd b/pcl/pcl_octree_180.pxd index 9223fb9..12e06b9 100644 --- a/pcl/pcl_octree_180.pxd +++ b/pcl/pcl_octree_180.pxd @@ -4,7 +4,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eig from vector cimport vector as vector2 diff --git a/pcl/pcl_range_image.pxd b/pcl/pcl_range_image.pxd index 0adea84..3660129 100644 --- a/pcl/pcl_range_image.pxd +++ b/pcl/pcl_range_image.pxd @@ -9,7 +9,7 @@ from libcpp cimport bool cimport pcl_defs as cpp # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_range_image_172.pxd b/pcl/pcl_range_image_172.pxd index 2e4f64e..02ab9c9 100644 --- a/pcl/pcl_range_image_172.pxd +++ b/pcl/pcl_range_image_172.pxd @@ -9,7 +9,7 @@ from libcpp cimport bool cimport pcl_defs as cpp # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_range_image_180.pxd b/pcl/pcl_range_image_180.pxd index 5d63fa5..3954546 100644 --- a/pcl/pcl_range_image_180.pxd +++ b/pcl/pcl_range_image_180.pxd @@ -9,7 +9,7 @@ from libcpp cimport bool cimport pcl_defs as cpp # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cimport eigen as eigen3 diff --git a/pcl/pcl_registration_180.pxd b/pcl/pcl_registration_180.pxd index 0c5af34..3296990 100644 --- a/pcl/pcl_registration_180.pxd +++ b/pcl/pcl_registration_180.pxd @@ -7,7 +7,7 @@ from libcpp.pair cimport pair # main cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # base from eigen cimport Matrix4f diff --git a/pcl/pcl_sample_consensus.pxd b/pcl/pcl_sample_consensus.pxd index d51445b..f2c8322 100644 --- a/pcl/pcl_sample_consensus.pxd +++ b/pcl/pcl_sample_consensus.pxd @@ -6,7 +6,7 @@ from libcpp cimport bool # import cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### # Types diff --git a/pcl/pcl_sample_consensus_180.pxd b/pcl/pcl_sample_consensus_180.pxd index 601262d..25c11e3 100644 --- a/pcl/pcl_sample_consensus_180.pxd +++ b/pcl/pcl_sample_consensus_180.pxd @@ -6,7 +6,7 @@ from libcpp cimport bool # import cimport pcl_defs as cpp -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### # Types diff --git a/pcl/pcl_segmentation_180.pxd b/pcl/pcl_segmentation_180.pxd index c5e1846..549a5e3 100644 --- a/pcl/pcl_segmentation_180.pxd +++ b/pcl/pcl_segmentation_180.pxd @@ -6,7 +6,7 @@ from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr # main # cimport pcl_defs as cpp diff --git a/pcl/pcl_surface_180.pxd b/pcl/pcl_surface_180.pxd index 41a2021..fe2e345 100644 --- a/pcl/pcl_surface_180.pxd +++ b/pcl/pcl_surface_180.pxd @@ -6,7 +6,7 @@ from libcpp.vector cimport vector # main cimport pcl_defs as cpp cimport pcl_kdtree as pclkdt -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### # Types @@ -2228,7 +2228,7 @@ cdef extern from "pcl/surface/mls.h" namespace "pcl": void setSearchRadius (double) void setComputeNormals (bool compute_normals) void setPolynomialOrder(bool) - void setPolynomialFit(int) + void setPolynomialOrder(int) # void process(cpp.PointCloud[O] &) except + void process(cpp.PointCloud[O] &) except + @@ -2343,7 +2343,7 @@ ctypedef MovingLeastSquares[cpp.PointXYZRGBA, cpp.PointXYZRGBA] MovingLeastSquar # * \param[in] polynomial_fit set to true for polynomial fit # */ # inline void -# setPolynomialFit (bool polynomial_fit) { polynomial_fit_ = polynomial_fit; } +# setPolynomialOrder (bool polynomial_fit) { polynomial_fit_ = polynomial_fit; } # # /** \brief Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial). */ # inline bool diff --git a/pcl/pcl_visualization.pyx b/pcl/pcl_visualization.pyx index 13634a6..820bd40 100644 --- a/pcl/pcl_visualization.pyx +++ b/pcl/pcl_visualization.pyx @@ -20,7 +20,6 @@ from libcpp.string cimport string from libcpp cimport bool from libcpp.vector cimport vector -from boost_shared_ptr cimport sp_assign cnp.import_array() diff --git a/pcl/pcl_visualization_defs.pxd b/pcl/pcl_visualization_defs.pxd index 8b55e97..f264817 100644 --- a/pcl/pcl_visualization_defs.pxd +++ b/pcl/pcl_visualization_defs.pxd @@ -13,7 +13,7 @@ from pcl_range_image cimport RangeImage cimport eigen as eigen3 # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### # Types diff --git a/pcl/pxi/Common/RangeImage/RangeImages_180.pxi b/pcl/pxi/Common/RangeImage/RangeImages_180.pxi index e45fec4..10e8dec 100644 --- a/pcl/pxi/Common/RangeImage/RangeImages_180.pxi +++ b/pcl/pxi/Common/RangeImage/RangeImages_180.pxi @@ -5,7 +5,6 @@ cimport pcl_defs as cpp cimport pcl_range_image_180 as pcl_r_img cimport eigen as eigen3 -from boost_shared_ptr cimport sp_assign from cython.operator cimport dereference as deref, preincrement as inc @@ -16,13 +15,13 @@ cdef class RangeImages: def __cinit__(self): # self.me = new pcl_r_img.RangeImage_t() # NG : Compiler crash - # sp_assign(self.thisptr_shared, new pcl_r_img.RangeImage_t()) + # self.thisptr_shared.reset(new pcl_r_img.RangeImage_t()) pass # def __cinit__(self, PointCloud pc not None): # # self.me = new pcl_r_img.RangeImage_t() # # self.point = pc.thisptr_shared - # # sp_assign(self.thisptr_shared, new pcl_r_img.RangeImage_t()) + # # self.thisptr_shared.reset( new pcl_r_img.RangeImage_t()) # # self.thisptr().setInputCloud(pc.thisptr_shared) # pass diff --git a/pcl/pxi/Features/IntegralImageNormalEstimation_180.pxi b/pcl/pxi/Features/IntegralImageNormalEstimation_180.pxi index 7d02326..477b179 100644 --- a/pcl/pxi/Features/IntegralImageNormalEstimation_180.pxi +++ b/pcl/pxi/Features/IntegralImageNormalEstimation_180.pxi @@ -6,7 +6,6 @@ from libcpp cimport bool cimport pcl_defs as cpp cimport pcl_features_180 as pclftr -from boost_shared_ptr cimport sp_assign cdef extern from "minipcl.h": void mpcl_features_NormalEstimationMethod_AVERAGE_3D_GRADIENT(pclftr.IntegralImageNormalEstimation_t ) except + @@ -24,7 +23,7 @@ cdef class IntegralImageNormalEstimation: def __cinit__(self, _pcl.PointCloud pc not None): - # sp_assign(self.thisptr_shared, new pclftr.IntegralImageNormalEstimation[cpp.PointXYZ, cpp.Normal]()) + # self.thisptr_shared.reset(new pclftr.IntegralImageNormalEstimation[cpp.PointXYZ, cpp.Normal]()) # self.thisptr().setInputCloud(pc.thisptr_shared) # NG : Reference Count self.me = new pclftr.IntegralImageNormalEstimation_t() @@ -73,7 +72,7 @@ cdef class IntegralImageNormalEstimation: def compute(self): normal = PointCloud_Normal() - sp_assign(normal.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) + normal.thisptr_shared.reset(new cpp.PointCloud[cpp.Normal]()) cdef cpp.PointCloud_Normal_t *cNormal = normal.thisptr() # (self.thisptr()).compute(deref(cNormal)) (self.me).compute(deref(cNormal)) diff --git a/pcl/pxi/Features/NormalEstimation_180.pxi b/pcl/pxi/Features/NormalEstimation_180.pxi index 67256d9..673a45a 100644 --- a/pcl/pxi/Features/NormalEstimation_180.pxi +++ b/pcl/pxi/Features/NormalEstimation_180.pxi @@ -15,7 +15,7 @@ cdef class NormalEstimation: def __cinit__(self): self.me = new pclftr.NormalEstimation_t() - # sp_assign(self.thisptr_shared, new pclftr.NormalEstimation[cpp.PointXYZ, cpp.Normal]()) + # self.thisptr_shared.reset(new pclftr.NormalEstimation[cpp.PointXYZ, cpp.Normal]()) def __dealloc__(self): del self.me @@ -31,7 +31,7 @@ cdef class NormalEstimation: def compute(self): normals = PointCloud_Normal() - sp_assign(normals.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) + normals.thisptr_shared.reset(new cpp.PointCloud[cpp.Normal]()) cdef cpp.PointCloud_Normal_t *cNormal = normals.thisptr() (self.me).compute(deref(cNormal)) return normals diff --git a/pcl/pxi/Filters/ConditionAnd_180.pxi b/pcl/pxi/Filters/ConditionAnd_180.pxi index e08c2a8..508aec6 100644 --- a/pcl/pxi/Filters/ConditionAnd_180.pxi +++ b/pcl/pxi/Filters/ConditionAnd_180.pxi @@ -7,8 +7,7 @@ cimport pcl_defs as cpp cimport pcl_filters_180 as pclfil from pcl_filters cimport CompareOp2 -from boost_shared_ptr cimport shared_ptr -from boost_shared_ptr cimport sp_assign +from libcpp.memory cimport shared_ptr # cdef class ConditionAnd(ConditionBase): cdef class ConditionAnd: @@ -43,6 +42,6 @@ cdef class ConditionAnd: self.me.addComparison( fieldComp) # NG - # sp_assign( self.fieldCompPtr, new pclfil.FieldComparison_t(string(fname_ascii), compOp, thresh) ) + # self.fieldCompPtr.reset(new pclfil.FieldComparison_t(string(fname_ascii), compOp, thresh) ) # self.me.addComparison( self.fieldCompPtr) diff --git a/pcl/pxi/Filters/ConditionalRemoval_180.pxi b/pcl/pxi/Filters/ConditionalRemoval_180.pxi index 5e25b37..52e3cb5 100644 --- a/pcl/pxi/Filters/ConditionalRemoval_180.pxi +++ b/pcl/pxi/Filters/ConditionalRemoval_180.pxi @@ -7,7 +7,7 @@ cimport pcl_filters_180 as pclfil cimport eigen as eigen3 -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cdef class ConditionalRemoval: """ diff --git a/pcl/pxi/Filters/CropBox_180.pxi b/pcl/pxi/Filters/CropBox_180.pxi index ddea64c..597b1df 100644 --- a/pcl/pxi/Filters/CropBox_180.pxi +++ b/pcl/pxi/Filters/CropBox_180.pxi @@ -7,7 +7,7 @@ cimport pcl_filters_180 as pclfil cimport eigen as eigen3 -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cdef class CropBox: """ diff --git a/pcl/pxi/Filters/CropHull_180.pxi b/pcl/pxi/Filters/CropHull_180.pxi index daed068..863c9de 100644 --- a/pcl/pxi/Filters/CropHull_180.pxi +++ b/pcl/pxi/Filters/CropHull_180.pxi @@ -5,7 +5,7 @@ from libcpp cimport bool cimport pcl_defs as cpp cimport pcl_filters_180 as pclfil -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr cdef class CropHull: """ diff --git a/pcl/pxi/KeyPoint/HarrisKeypoint3D_180.pxi b/pcl/pxi/KeyPoint/HarrisKeypoint3D_180.pxi index 8fdaf5f..8b1414a 100644 --- a/pcl/pxi/KeyPoint/HarrisKeypoint3D_180.pxi +++ b/pcl/pxi/KeyPoint/HarrisKeypoint3D_180.pxi @@ -10,7 +10,7 @@ cimport pcl_defs as cpp cimport pcl_keypoints_180 as keypt # boost -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr ############################################################################### @@ -44,7 +44,7 @@ cdef class HarrisKeypoint3D: def compute(self): keypoints = PointCloud_PointXYZI() - sp_assign(keypoints.thisptr_shared, new cpp.PointCloud[cpp.PointXYZI]()) + keypoints.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZI]()) cdef cpp.PointCloud_PointXYZI_t *ckeypoints = keypoints.thisptr() self.me.compute ( deref(ckeypoints)) return keypoints diff --git a/pcl/pxi/PointCloud_Normal.pxi b/pcl/pxi/PointCloud_Normal.pxi index 010f89a..2e71cca 100644 --- a/pcl/pxi/PointCloud_Normal.pxi +++ b/pcl/pxi/PointCloud_Normal.pxi @@ -7,7 +7,6 @@ cnp.import_array() from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign from _pcl cimport PointCloud_Normal cdef class PointCloud_Normal: @@ -24,8 +23,8 @@ cdef class PointCloud_Normal: self._view_count = 0 # TODO: NG --> import pcl --> pyd Error(python shapedptr/C++ shard ptr collusion?) - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.Normal]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.Normal]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointNormal.pxi b/pcl/pxi/PointCloud_PointNormal.pxi index 4a31cca..5ee36b5 100644 --- a/pcl/pxi/PointCloud_PointNormal.pxi +++ b/pcl/pxi/PointCloud_PointNormal.pxi @@ -7,7 +7,6 @@ cnp.import_array() from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign from _pcl cimport PointCloud_PointNormal cdef class PointCloud_PointNormal: @@ -24,8 +23,8 @@ cdef class PointCloud_PointNormal: self._view_count = 0 # TODO: NG --> import pcl --> pyd Error(python shapedptr/C++ shard ptr collusion?) - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointNormal]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointNormal]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointNormal]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointNormal]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointWithViewpoint.pxi b/pcl/pxi/PointCloud_PointWithViewpoint.pxi index 25f4ff3..d1e46f8 100644 --- a/pcl/pxi/PointCloud_PointWithViewpoint.pxi +++ b/pcl/pxi/PointCloud_PointWithViewpoint.pxi @@ -4,7 +4,6 @@ cimport pcl_io as pclio from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign cdef class PointCloud_PointWithViewpoint: """ @@ -20,8 +19,8 @@ cdef class PointCloud_PointWithViewpoint: self._view_count = 0 # TODO: NG --> import pcl --> pyd Error(python shapedptr/C++ shard ptr collusion?) - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointWithViewpoint]()) - # sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointWithViewpoint]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointWithViewpoint]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointWithViewpoint]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointXYZI_180.pxi b/pcl/pxi/PointCloud_PointXYZI_180.pxi index 1d14eb8..628636d 100644 --- a/pcl/pxi/PointCloud_PointXYZI_180.pxi +++ b/pcl/pxi/PointCloud_PointXYZI_180.pxi @@ -18,7 +18,6 @@ cimport pcl_surface_180 as pclsf from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign from _pcl cimport PointCloud_PointXYZI cdef extern from "minipcl.h": @@ -57,8 +56,8 @@ cdef class PointCloud_PointXYZI: self._view_count = 0 # TODO: NG --> import pcl --> pyd Error(python shapedptr/C++ shard ptr collusion?) - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZI]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZI]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZI]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZI]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointXYZRGBA_180.pxi b/pcl/pxi/PointCloud_PointXYZRGBA_180.pxi index 4cf1530..17edf4b 100644 --- a/pcl/pxi/PointCloud_PointXYZRGBA_180.pxi +++ b/pcl/pxi/PointCloud_PointXYZRGBA_180.pxi @@ -18,7 +18,6 @@ cimport pcl_surface_180 as pclsf from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign from _pcl cimport PointCloud_PointXYZRGBA cdef extern from "minipcl.h": @@ -56,8 +55,8 @@ cdef class PointCloud_PointXYZRGBA: self._view_count = 0 - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZRGBA]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZRGBA]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZRGBA]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZRGBA]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointXYZRGB_180.pxi b/pcl/pxi/PointCloud_PointXYZRGB_180.pxi index 75c408f..6fe51de 100644 --- a/pcl/pxi/PointCloud_PointXYZRGB_180.pxi +++ b/pcl/pxi/PointCloud_PointXYZRGB_180.pxi @@ -18,7 +18,6 @@ cimport pcl_surface_180 as pclsf from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign from _pcl cimport PointCloud_PointXYZRGB cdef extern from "minipcl.h": @@ -56,8 +55,8 @@ cdef class PointCloud_PointXYZRGB: self._view_count = 0 - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZRGB]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZRGB]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZRGB]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZRGB]()) if init is None: return diff --git a/pcl/pxi/PointCloud_PointXYZ_180.pxi b/pcl/pxi/PointCloud_PointXYZ_180.pxi index f386e9c..d5073c1 100644 --- a/pcl/pxi/PointCloud_PointXYZ_180.pxi +++ b/pcl/pxi/PointCloud_PointXYZ_180.pxi @@ -21,7 +21,6 @@ cimport pcl_range_image_180 as pcl_r_img from libcpp cimport bool cimport indexing as idx -from boost_shared_ptr cimport sp_assign cdef extern from "minipcl.h": void mpcl_compute_normals(cpp.PointCloud_t, int ksearch, @@ -64,8 +63,8 @@ cdef class PointCloud: self._view_count = 0 # TODO: NG --> import pcl --> pyd Error(python shapedptr/C++ shard ptr collusion?) - # sp_assign( self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZ]()) - sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZ]()) + # self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZ]()) + self.thisptr_shared.reset(new cpp.PointCloud[cpp.PointXYZ]()) if init is None: return @@ -535,19 +534,19 @@ cdef class PointCloud: def make_GeneralizedIterativeClosestPoint(self): generalizedIterativeClosestPoint = GeneralizedIterativeClosestPoint(self) cdef pcl_reg.GeneralizedIterativeClosestPoint_t *cGeneralizedIterativeClosestPoint = generalizedIterativeClosestPoint.me - cGeneralizedIterativeClosestPoint.setInputCloud( self.thisptr_shared) + cGeneralizedIterativeClosestPoint.setInputSource( self.thisptr_shared) return generalizedIterativeClosestPoint def make_IterativeClosestPointNonLinear(self): iterativeClosestPointNonLinear = IterativeClosestPointNonLinear(self) cdef pcl_reg.IterativeClosestPointNonLinear_t *cIterativeClosestPointNonLinear = iterativeClosestPointNonLinear.me - cIterativeClosestPointNonLinear.setInputCloud( self.thisptr_shared) + cIterativeClosestPointNonLinear.setInputSource( self.thisptr_shared) return iterativeClosestPointNonLinear def make_IterativeClosestPoint(self): iterativeClosestPoint = IterativeClosestPoint(self) cdef pcl_reg.IterativeClosestPoint_t *cIterativeClosestPoint = iterativeClosestPoint.me - cIterativeClosestPoint.setInputCloud( self.thisptr_shared) + cIterativeClosestPoint.setInputSource( self.thisptr_shared) return iterativeClosestPoint def make_MomentOfInertiaEstimation(self): diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelCylinder.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelCylinder.pxi index ba039e7..1f85808 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelCylinder.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelCylinder.pxi @@ -9,6 +9,6 @@ cdef class SampleConsensusModelCylinder: def __cinit__(self, PointCloud pc not None): # shared_ptr - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelCylinder[cpp.PointXYZ, cpp.Normal](pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelCylinder[cpp.PointXYZ, cpp.Normal](pc.thisptr_shared)) pass diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelLine.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelLine.pxi index eca5264..f3e6def 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelLine.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelLine.pxi @@ -9,6 +9,6 @@ cdef class SampleConsensusModelLine: def __cinit__(self, PointCloud pc not None): # shared_ptr - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelLine[cpp.PointXYZ](pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelLine[cpp.PointXYZ](pc.thisptr_shared)) pass diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelPlane.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelPlane.pxi index c142541..7dc596a 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelPlane.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelPlane.pxi @@ -13,7 +13,7 @@ cdef class SampleConsensusModelPlane: # self.me = new pcl_sac.SampleConsensusModelPlane_t() # self.me = new pcl_sac.SampleConsensusModelPlane_t(pc.thisptr_shared) # shared_ptr - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelPlane[cpp.PointXYZ](pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelPlane[cpp.PointXYZ](pc.thisptr_shared)) pass # def __dealloc__(self): diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelRegistration.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelRegistration.pxi index fc87e60..4a5ebd8 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelRegistration.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelRegistration.pxi @@ -9,6 +9,6 @@ cdef class SampleConsensusModelRegistration: def __cinit__(self, PointCloud pc not None): # shared_ptr - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelRegistration[cpp.PointXYZ](pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelRegistration[cpp.PointXYZ](pc.thisptr_shared)) pass diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelSphere.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelSphere.pxi index a26a736..e9a7e3b 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelSphere.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelSphere.pxi @@ -2,7 +2,6 @@ cimport pcl_defs as cpp cimport pcl_sample_consensus as pcl_sac -from boost_shared_ptr cimport sp_assign cdef class SampleConsensusModelSphere: """ @@ -12,8 +11,8 @@ cdef class SampleConsensusModelSphere: def __cinit__(self, PointCloud pc not None): # NG - # sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelSphere_t(pc.thisptr_shared)) - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelSphere[cpp.PointXYZ](pc.thisptr_shared)) + # self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelSphere_t(pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelSphere[cpp.PointXYZ](pc.thisptr_shared)) pass # def __dealloc__(self): diff --git a/pcl/pxi/SampleConsensus/SampleConsensusModelStick.pxi b/pcl/pxi/SampleConsensus/SampleConsensusModelStick.pxi index 574fd1e..653e478 100644 --- a/pcl/pxi/SampleConsensus/SampleConsensusModelStick.pxi +++ b/pcl/pxi/SampleConsensus/SampleConsensusModelStick.pxi @@ -9,6 +9,6 @@ cdef class SampleConsensusModelStick: def __cinit__(self, PointCloud pc not None): # shared_ptr - sp_assign(self.thisptr_shared, new pcl_sac.SampleConsensusModelStick[cpp.PointXYZ](pc.thisptr_shared)) + self.thisptr_shared.reset(new pcl_sac.SampleConsensusModelStick[cpp.PointXYZ](pc.thisptr_shared)) pass diff --git a/pcl/pxi/Surface/MovingLeastSquares_180.pxi b/pcl/pxi/Surface/MovingLeastSquares_180.pxi index 8351493..8e6125a 100644 --- a/pcl/pxi/Surface/MovingLeastSquares_180.pxi +++ b/pcl/pxi/Surface/MovingLeastSquares_180.pxi @@ -34,7 +34,7 @@ cdef class MovingLeastSquares: Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation. """ - self.me.setPolynomialFit(fit) + self.me.setPolynomialOrder(fit) def set_Compute_Normals(self, bool flag): self.me.setComputeNormals(flag) @@ -90,7 +90,7 @@ cdef class MovingLeastSquares: # Sets whether the surface and normal are approximated using a polynomial, # or only via tangent estimation. # """ -# self.me.setPolynomialFit(fit) +# self.me.setPolynomialOrder(fit) # # def process(self): # """ @@ -132,7 +132,7 @@ cdef class MovingLeastSquares_PointXYZRGB: Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation. """ - self.me.setPolynomialFit(fit) + self.me.setPolynomialOrder(fit) def process(self): """ @@ -176,7 +176,7 @@ cdef class MovingLeastSquares_PointXYZRGBA: Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation. """ - self.me.setPolynomialFit(fit) + self.me.setPolynomialOrder(fit) def process(self): """ diff --git a/pcl/pxi/Vertices.pxi b/pcl/pxi/Vertices.pxi index baa7c06..d9f3ea8 100644 --- a/pcl/pxi/Vertices.pxi +++ b/pcl/pxi/Vertices.pxi @@ -13,8 +13,8 @@ cdef class Vertices: self._view_count = 0 # self.me = new cpp.Vertices() - # sp_assign( self.thisptr_shared, new cpp.Vertices()) - sp_assign(self.thisptr_shared, new cpp.Vertices()) + # self.thisptr_shared.reset(new cpp.Vertices()) + self.thisptr_shared.reset(new cpp.Vertices()) if init is None: return diff --git a/pcl/pxi/Visualization/CloudViewing.pxi b/pcl/pxi/Visualization/CloudViewing.pxi index 3505d40..bc37fc4 100644 --- a/pcl/pxi/Visualization/CloudViewing.pxi +++ b/pcl/pxi/Visualization/CloudViewing.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pclvis -from boost_shared_ptr cimport sp_assign cdef class CloudViewing: """ @@ -14,8 +13,8 @@ cdef class CloudViewing: def __cinit__(self): # self.me = new pclvis.CloudViewer() - # sp_assign( self.thisptr_shared, new pclvis.CloudViewer('cloud')) - sp_assign(self.thisptr_shared, new pclvis.CloudViewer('cloud')) + # self.thisptr_shared.reset(new pclvis.CloudViewer('cloud')) + self.thisptr_shared.reset(new pclvis.CloudViewer('cloud')) cdef inline pclvis.CloudViewer *thisptr(self) nogil: # Shortcut to get raw pointer to underlying CloudViewer diff --git a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringCustom.pxi b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringCustom.pxi index e0afac7..96c2d4d 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringCustom.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringCustom.pxi @@ -8,7 +8,6 @@ cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudColorHandleringCustom: """ @@ -20,11 +19,11 @@ cdef class PointCloudColorHandleringCustom: # void sp_assign[T](shared_ptr[T] &p, T *value) def __cinit__(self, _pcl.PointCloud pc, int r, int g, int b): - sp_assign(self.thisptr_shared, new pcl_vis.PointCloudColorHandlerCustom[cpp.PointXYZ](pc.thisptr_shared, r, g, b)) + self.thisptr_shared.reset(new pcl_vis.PointCloudColorHandlerCustom[cpp.PointXYZ](pc.thisptr_shared, r, g, b)) pass # def __cinit__(self, _pcl.RangeImages rangeImage, int r, int g, int b): - # sp_assign(self.thisptr_shared, new pcl_vis.PointCloudColorHandlerCustom[cpp.PointWithViewpoint](rangeImage.thisptr_shared, r, g, b)) + # self.thisptr_shared.reset(new pcl_vis.PointCloudColorHandlerCustom[cpp.PointWithViewpoint](rangeImage.thisptr_shared, r, g, b)) # pass def __dealloc__(self): diff --git a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringGenericField.pxi b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringGenericField.pxi index 3fc7623..95e5543 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringGenericField.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringGenericField.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudColorHandleringGenericField: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringHSVField.pxi b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringHSVField.pxi index c1f94da..16354df 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringHSVField.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringHSVField.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudColorHandleringHSVField: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRGBField.pxi b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRGBField.pxi index ccb5ce7..92aa9b3 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRGBField.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRGBField.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudColorHandleringRGBField: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRandom.pxi b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRandom.pxi index 67cecc9..ce31da9 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRandom.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudColorHandleringRandom.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudColorHandleringRandom: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringCustom.pxi b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringCustom.pxi index 37265f0..036c616 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringCustom.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringCustom.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudGeometryHandlerCustom: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringSurfaceNormal.pxi b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringSurfaceNormal.pxi index 51b4be2..feceeb5 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringSurfaceNormal.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringSurfaceNormal.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudGeometryHandleringSurfaceNormal: """ diff --git a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringXYZ.pxi b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringXYZ.pxi index 45ba5b1..e9ebf9f 100644 --- a/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringXYZ.pxi +++ b/pcl/pxi/Visualization/Handler/PointCloudGeometryHandleringXYZ.pxi @@ -4,7 +4,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pcl_vis -from boost_shared_ptr cimport sp_assign cdef class PointCloudGeometryHandleringXYZ: """ diff --git a/pcl/pxi/Visualization/PCLHistogramViewing.pxi b/pcl/pxi/Visualization/PCLHistogramViewing.pxi index 15af51e..0ee3e21 100644 --- a/pcl/pxi/Visualization/PCLHistogramViewing.pxi +++ b/pcl/pxi/Visualization/PCLHistogramViewing.pxi @@ -5,7 +5,6 @@ cimport pcl_defs as cpp cimport numpy as cnp cimport pcl_visualization_defs as pclvis -from boost_shared_ptr cimport sp_assign cdef class PCLHistogramViewing: """ @@ -13,7 +12,7 @@ cdef class PCLHistogramViewing: cdef pclvis.PCLHistogramVisualizerPtr_t thisptr_shared def __cinit__(self): - sp_assign(self.thisptr_shared, new pclvis.PCLHistogramVisualizer()) + self.thisptr_shared.reset(new pclvis.PCLHistogramVisualizer()) cdef inline pclvis.PCLHistogramVisualizer *thisptr(self) nogil: # Shortcut to get raw pointer to underlying PCLHistogramVisualizer diff --git a/pcl/pxi/Visualization/PCLVisualizering.pxi b/pcl/pxi/Visualization/PCLVisualizering.pxi index 48238db..f92465b 100644 --- a/pcl/pxi/Visualization/PCLVisualizering.pxi +++ b/pcl/pxi/Visualization/PCLVisualizering.pxi @@ -10,8 +10,7 @@ cimport pcl_visualization_defs as pclvis from libcpp.string cimport string -from boost_shared_ptr cimport shared_ptr -from boost_shared_ptr cimport sp_assign +from libcpp.memory cimport shared_ptr cdef class PCLVisualizering: @@ -20,7 +19,7 @@ cdef class PCLVisualizering: cdef pclvis.PCLVisualizerPtr_t thisptr_shared def __cinit__(self): - sp_assign(self.thisptr_shared, new pclvis.PCLVisualizer('visual', True)) + self.thisptr_shared.reset(new pclvis.PCLVisualizer('visual', True)) cdef inline pclvis.PCLVisualizer *thisptr(self) nogil: # Shortcut to get raw pointer to underlying PCLVisualizer diff --git a/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi b/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi index 809f737..918a130 100644 --- a/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi +++ b/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi @@ -3,7 +3,7 @@ import numpy as np cimport _pcl cimport pcl_defs as cpp cimport pcl_registration_180 as pcl_reg -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr from eigen cimport Matrix4f @@ -86,6 +86,6 @@ cdef class GeneralizedIterativeClosestPoint: Sum of squares error in the estimated transformation. """ cdef pcl_reg.GeneralizedIterativeClosestPoint_t gicp - gicp.setInputCloud(source.thisptr_shared) + gicp.setInputSource(source.thisptr_shared) return self.run(gicp, source, target, max_iter) diff --git a/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi b/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi index c3db5e9..7f21000 100644 --- a/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi +++ b/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi @@ -3,7 +3,7 @@ import numpy as np cimport _pcl cimport pcl_defs as cpp cimport pcl_registration_180 as pcl_reg -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr from eigen cimport Matrix4f @@ -87,6 +87,6 @@ cdef class IterativeClosestPointNonLinear: Sum of squares error in the estimated transformation. """ cdef pcl_reg.IterativeClosestPointNonLinear_t icp_nl - icp_nl.setInputCloud(source.thisptr_shared) + icp_nl.setInputSource(source.thisptr_shared) return self.run(icp_nl, source, target, max_iter) diff --git a/pcl/pxi/registration/IterativeClosestPoint_180.pxi b/pcl/pxi/registration/IterativeClosestPoint_180.pxi index cef4981..535dec2 100644 --- a/pcl/pxi/registration/IterativeClosestPoint_180.pxi +++ b/pcl/pxi/registration/IterativeClosestPoint_180.pxi @@ -7,7 +7,7 @@ import numpy as np cimport _pcl cimport pcl_defs as cpp cimport pcl_registration_180 as pcl_reg -from boost_shared_ptr cimport shared_ptr +from libcpp.memory cimport shared_ptr from eigen cimport Matrix4f @@ -101,5 +101,5 @@ cdef class IterativeClosestPoint: Sum of squares error in the estimated transformation. """ cdef pcl_reg.IterativeClosestPoint_t icp - icp.setInputCloud(source.thisptr_shared) + icp.setInputSource(source.thisptr_shared) return self.run(icp, source, target, max_iter) diff --git a/pcl/shared_ptr.pxd b/pcl/shared_ptr.pxd deleted file mode 100644 index 29ab9fc..0000000 --- a/pcl/shared_ptr.pxd +++ /dev/null @@ -1,18 +0,0 @@ -cimport pcl_defs as cpp -from libcpp cimport bool - -cdef extern from "boost/smart_ptr/shared_ptr.hpp" namespace "boost" nogil: - cdef cppclass shared_ptr[T]: - shared_ptr() - shared_ptr(T*) - T* get() - bool unique() - long use_count() - void swap(shared_ptr[T]) - void reset(T*) - -cdef extern from "shared_ptr_assign.h" nogil: - #void sp_assign(shared_ptr[cpp.PointCloud[cpp.PointXYZ]] &t, cpp.PointCloud[cpp.PointXYZ] *value) - void sp_assign[T](shared_ptr[T] &p, T *value) - - diff --git a/pcl/shared_ptr_assign.h b/pcl/shared_ptr_assign.h deleted file mode 100644 index 0150fb3..0000000 --- a/pcl/shared_ptr_assign.h +++ /dev/null @@ -1,11 +0,0 @@ -#include -#include - -namespace { - // Workaround for lack of operator= support in Cython. - template - void sp_assign(boost::shared_ptr &p, T *v) - { - p = boost::shared_ptr(v); - } -} diff --git a/setup.py b/setup.py index d3f34f6..2737368 100644 --- a/setup.py +++ b/setup.py @@ -510,7 +510,7 @@ else: os.environ['ARCHFLAGS'] = '' # Try to find PCL. XXX we should only do this when trying to build or install. - PCL_SUPPORTED = ["-1.10", "-1.9", "-1.8", "-1.7", "-1.6", ""] # in order of preference + PCL_SUPPORTED = ["-1.11", "-1.10", "-1.9", "-1.8", "-1.7", "-1.6", ""] # in order of preference for pcl_version in PCL_SUPPORTED: if subprocess.call(['pkg-config', 'pcl_common%s' % pcl_version]) == 0: @@ -589,10 +589,6 @@ else: ext_args['extra_link_args'].append('-lboost_system') # ext_args['extra_link_args'].append('-lboost_bind') - # Fix compile error on Ubuntu 12.04 (e.g., Travis-CI). - ext_args['define_macros'].append( - ("EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET", "1")) - if pcl_version == '-1.6': module = [Extension("pcl._pcl", ["pcl/_pcl.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args), # Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", **ext_args), @@ -621,7 +617,7 @@ else: # debug # gdb_debug=True, ] - elif pcl_version == '-1.10': + elif pcl_version == '-1.10' or pcl_version == '-1.11': module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args), Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", extra_compile_args=['-fno-strict-aliasing'], **ext_args), # Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),