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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_filters as pclfil
cdef class PassThroughFilter:
"""
Passes points in a cloud based on constraints for one particular field of the point type
"""
cdef pclfil.PassThrough_t *me
def __cinit__(self):
self.me = new pclfil.PassThrough_t()
def __dealloc__(self):
del self.me
def set_filter_field_name(self, field_name):
cdef bytes fname_ascii
if isinstance(field_name, unicode):
fname_ascii = field_name.encode("ascii")
elif not isinstance(field_name, bytes):
raise TypeError("field_name should be a string, got %r"
% field_name)
else:
fname_ascii = field_name
self.me.setFilterFieldName(string(fname_ascii))
def set_filter_limits(self, float filter_min, float filter_max):
self.me.setFilterLimits (filter_min, filter_max)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud pc = PointCloud()
# cdef cpp.PointCloud_t *cCondAnd = <cpp.PointCloud_t *>pc.thisptr()[0]
# self.me.filter(<cpp.PointCloud_t*> pc.thisptr()[0])
# self.me.filter (<cpp.PointCloud_t*> pc.thisptr())
self.me.c_filter(pc.thisptr()[0])
return pc
cdef class PassThroughFilter_PointXYZI:
"""
Passes points in a cloud based on constraints for one particular field of the point type
"""
cdef pclfil.PassThrough_PointXYZI_t *me
def __cinit__(self):
self.me = new pclfil.PassThrough_PointXYZI_t()
def __dealloc__(self):
del self.me
def set_filter_field_name(self, field_name):
cdef bytes fname_ascii
if isinstance(field_name, unicode):
fname_ascii = field_name.encode("ascii")
elif not isinstance(field_name, bytes):
raise TypeError("field_name should be a string, got %r"
% field_name)
else:
fname_ascii = field_name
self.me.setFilterFieldName(string(fname_ascii))
def set_filter_limits(self, float filter_min, float filter_max):
self.me.setFilterLimits (filter_min, filter_max)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new PointCloud_PointXYZI
"""
cdef PointCloud_PointXYZI pc = PointCloud_PointXYZI()
self.me.c_filter(pc.thisptr()[0])
return pc
cdef class PassThroughFilter_PointXYZRGB:
"""
Passes points in a cloud based on constraints for one particular field of the point type
"""
cdef pclfil.PassThrough_PointXYZRGB_t *me
def __cinit__(self):
self.me = new pclfil.PassThrough_PointXYZRGB_t()
def __dealloc__(self):
del self.me
def set_filter_field_name(self, field_name):
cdef bytes fname_ascii
if isinstance(field_name, unicode):
fname_ascii = field_name.encode("ascii")
elif not isinstance(field_name, bytes):
raise TypeError("field_name should be a string, got %r"
% field_name)
else:
fname_ascii = field_name
self.me.setFilterFieldName(string(fname_ascii))
def set_filter_limits(self, float filter_min, float filter_max):
self.me.setFilterLimits (filter_min, filter_max)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new PointCloud_PointXYZRGB
"""
cdef PointCloud_PointXYZRGB pc = PointCloud_PointXYZRGB()
self.me.c_filter(pc.thisptr()[0])
return pc
cdef class PassThroughFilter_PointXYZRGBA:
"""
Passes points in a cloud based on constraints for one particular field of the point type
"""
cdef pclfil.PassThrough_PointXYZRGBA_t *me
def __cinit__(self):
self.me = new pclfil.PassThrough_PointXYZRGBA_t()
def __dealloc__(self):
del self.me
def set_filter_field_name(self, field_name):
cdef bytes fname_ascii
if isinstance(field_name, unicode):
fname_ascii = field_name.encode("ascii")
elif not isinstance(field_name, bytes):
raise TypeError("field_name should be a string, got %r"
% field_name)
else:
fname_ascii = field_name
self.me.setFilterFieldName(string(fname_ascii))
def set_filter_limits(self, float filter_min, float filter_max):
self.me.setFilterLimits (filter_min, filter_max)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new PointCloud_PointXYZRGBA
"""
cdef PointCloud_PointXYZRGBA pc = PointCloud_PointXYZRGBA()
self.me.c_filter(pc.thisptr()[0])
return pc
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