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# -*- coding: utf-8 -*-
from libcpp.vector cimport vector
from libcpp cimport bool
cimport pcl_defs as cpp
cimport pcl_filters as pclfil
cimport eigen as eigen3
from boost_shared_ptr cimport shared_ptr
cdef class CropBox:
"""
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in CropBox(pc).
"""
cdef pclfil.CropBox_t *me
def __cinit__(self, PointCloud pc not None):
self.me = new pclfil.CropBox_t()
(<cpp.PCLBase_t*>self.me).setInputCloud (pc.thisptr_shared)
def __dealloc__(self):
del self.me
def set_InputCloud(self, PointCloud pc not None):
(<cpp.PCLBase_t*>self.me).setInputCloud (pc.thisptr_shared)
def set_Translation(self, tx, ty, tz):
# Convert Eigen::Vector3f
cdef eigen3.Vector3f origin
cdef float *data = origin.data()
data[0] = tx
data[1] = ty
data[2] = tz
self.me.setTranslation(origin)
# def set_Rotation(self, cnp.ndarray[ndim=3, dtype=int, mode='c'] ind):
def set_Rotation(self, rx, ry, rz):
# Convert Eigen::Vector3f
cdef eigen3.Vector3f origin
cdef float *data = origin.data()
data[0] = rx
data[1] = ry
data[2] = rz
self.me.setRotation(origin)
def set_Min(self, minx, miny, minz, mins):
# Convert Eigen::Vector4f
cdef eigen3.Vector4f originMin
cdef float *dataMin = originMin.data()
dataMin[0] = minx
dataMin[1] = miny
dataMin[2] = minz
dataMin[3] = mins
self.me.setMin(originMin)
def set_Max(self, maxx, maxy, maxz, maxs):
cdef eigen3.Vector4f originMax;
cdef float *dataMax = originMax.data()
dataMax[0] = maxx
dataMax[1] = maxy
dataMax[2] = maxz
dataMax[3] = maxs
self.me.setMax(originMax)
def set_MinMax(self, minx, miny, minz, mins, maxx, maxy, maxz, maxs):
# Convert Eigen::Vector4f
cdef eigen3.Vector4f originMin
cdef float *dataMin = originMin.data()
dataMin[0] = minx
dataMin[1] = miny
dataMin[2] = minz
dataMin[3] = mins
self.me.setMin(originMin)
cdef eigen3.Vector4f originMax;
cdef float *dataMax = originMax.data()
dataMax[0] = maxx
dataMax[1] = maxy
dataMax[2] = maxz
dataMax[3] = maxs
self.me.setMax(originMax)
def set_Negative(self, bool flag):
self.me.setNegative(flag)
# bool
def get_Negative (self):
self.me.getNegative ()
def get_RemovedIndices(self):
self.me.getRemovedIndices()
def filter(self):
cdef PointCloud pc = PointCloud()
# Cython 0.25.2 NG(0.24.1 OK)
# self.me.filter(deref(pc.thisptr()))
# self.me.filter(<cpp.PointCloud[cpp.PointXYZ]> pc.thisptr()[0])
# Cython 0.24.1 NG(0.25.2 OK)
# self.me.filter(<vector[int]&> pc)
self.me.c_filter(pc.thisptr()[0])
return pc
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