1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
|
# -*- coding: utf-8 -*-
cimport _pcl
from libcpp.vector cimport vector
from libcpp cimport bool
cimport pcl_defs as cpp
cimport pcl_features as pclftr
cdef class NormalEstimation:
"""
NormalEstimation class for
"""
cdef pclftr.NormalEstimation_t *me
def __cinit__(self):
self.me = new pclftr.NormalEstimation_t()
# sp_assign(self.thisptr_shared, new pclftr.NormalEstimation[cpp.PointXYZ, cpp.Normal]())
def __dealloc__(self):
del self.me
def set_SearchMethod(self, _pcl.KdTree kdtree):
self.me.setSearchMethod(kdtree.thisptr_shared)
def set_RadiusSearch(self, double param):
self.me.setRadiusSearch(param)
def set_KSearch (self, int param):
self.me.setKSearch (param)
def compute(self):
normal = PointCloud_Normal()
sp_assign(normal.thisptr_shared, new cpp.PointCloud[cpp.Normal]())
cdef cpp.PointCloud_Normal_t *cNormal = <cpp.PointCloud_Normal_t*>normal.thisptr()
(<pclftr.Feature_t*>self.me).compute(deref(cNormal))
return normal
|
