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# -*- coding: utf-8 -*-
from libcpp.vector cimport vector
from libcpp cimport bool
cimport pcl_defs as cpp
cimport pcl_filters_180 as pclfil
cimport pcl_segmentation_180 as pclseg
cdef class RadiusOutlierRemoval:
"""
RadiusOutlierRemoval class for ...
"""
cdef pclfil.RadiusOutlierRemoval_t *me
def __cinit__(self):
self.me = new pclfil.RadiusOutlierRemoval_t()
def __dealloc__(self):
del self.me
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud pc = PointCloud()
# Cython 0.25.2 NG(0.24.1 OK)
# self.me.filter(pc.thisptr()[0])
# self.me.filter(<cpp.PointCloud[cpp.PointXYZ]> pc.thisptr()[0])
# Cython 0.24.1 NG(0.25.2 NG)
# self.me.filter(<vector[int]> pc)
# pcl 1.7.2
self.me.filter(<vector[int]&> pc)
return pc
def set_radius_search(self, double radius):
self.me.setRadiusSearch(radius)
def get_radius_search(self):
return self.me.getRadiusSearch()
def set_MinNeighborsInRadius(self, int min_pts):
self.me.setMinNeighborsInRadius (min_pts)
def get_MinNeighborsInRadius(self):
return self.me.getMinNeighborsInRadius ()
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