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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_kdtree as pclkdt
cdef class KdTree:
"""
Finds k nearest neighbours from points in another pointcloud to points in
a reference pointcloud.
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in KdTree(pc).
"""
cdef cpp.KdTree_t *me
def __cinit__(self, PointCloud pc not None):
self.me = new pclkdt.KdTree_t()
self.me.setInputCloud(pc.thisptr_shared)
def __dealloc__(self):
del self.me
cdef class KdTree_PointXYZI:
"""
Finds k nearest neighbours from points in another pointcloud to points in
a reference pointcloud.
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in KdTree(pc).
"""
cdef cpp.KdTree_PointXYZI_t *me
def __cinit__(self, PointCloud_PointXYZI pc not None):
self.me = new cpp.KdTree_PointXYZI_t()
self.me.setInputCloud(pc.thisptr_shared)
def __dealloc__(self):
del self.me
cdef class KdTree_PointXYZRGB:
"""
Finds k nearest neighbours from points in another pointcloud to points in
a reference pointcloud.
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in KdTree(pc).
"""
cdef cpp.KdTree_PointXYZRGB_t *me
def __cinit__(self, PointCloud_PointXYZRGB pc not None):
self.me = new cpp.KdTree_PointXYZRGB_t()
self.me.setInputCloud(pc.thisptr_shared)
def __dealloc__(self):
del self.me
cdef class KdTree_PointXYZRGBA:
"""
Finds k nearest neighbours from points in another pointcloud to points in
a reference pointcloud.
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in KdTree(pc).
"""
cdef cpp.KdTree_PointXYZRGBA_t *me
def __cinit__(self, PointCloud_PointXYZRGBA pc not None):
self.me = new cpp.KdTree_PointXYZRGBA_t()
self.me.setInputCloud(pc.thisptr_shared)
def __dealloc__(self):
del self.me
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