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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_filters_180 as pclfil
cdef class VoxelGridFilter:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.VoxelGrid_t *me
def __cinit__(self):
self.me = new pclfil.VoxelGrid_t()
def __dealloc__(self):
del self.me
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud pc = PointCloud()
self.me.filter(pc.thisptr()[0])
return pc
cdef class VoxelGridFilter_PointXYZI:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.VoxelGrid_PointXYZI_t *me
def __cinit__(self):
self.me = new pclfil.VoxelGrid_PointXYZI_t()
def __dealloc__(self):
del self.me
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZI pc = PointCloud_PointXYZI()
self.me.filter(pc.thisptr()[0])
return pc
cdef class VoxelGridFilter_PointXYZRGB:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.VoxelGrid_PointXYZRGB_t *me
def __cinit__(self):
self.me = new pclfil.VoxelGrid_PointXYZRGB_t()
def __dealloc__(self):
del self.me
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZRGB pc = PointCloud_PointXYZRGB()
self.me.filter(pc.thisptr()[0])
return pc
cdef class VoxelGridFilter_PointXYZRGBA:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.VoxelGrid_PointXYZRGBA_t *me
def __cinit__(self):
self.me = new pclfil.VoxelGrid_PointXYZRGBA_t()
def __dealloc__(self):
del self.me
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZRGBA pc = PointCloud_PointXYZRGBA()
self.me.filter(pc.thisptr()[0])
return pc
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