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# -*- coding: utf-8 -*-
from libcpp.vector cimport vector
cimport pcl_defs as cpp
cimport pcl_sample_consensus as pcl_sac
cdef class RandomSampleConsensus:
"""
represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm.
"""
cdef pcl_sac.RandomSampleConsensus_t *me
# build error
def __cinit__(self, model=None):
cdef SampleConsensusModel tmpModel
cdef SampleConsensusModelCylinder tmpModelCylinder
cdef SampleConsensusModelSphere tmpModelSphere
cdef SampleConsensusModelLine tmpModelLine
cdef SampleConsensusModelPlane tmpModelPlane
cdef SampleConsensusModelRegistration tmpModelRegistration
cdef SampleConsensusModelStick tmpModelStick
if model is None:
return
elif isinstance(model, SampleConsensusModel):
tmpModel = model
# tmpModel.thisptr()[0] = model.thisptr()[0]
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModel.thisptr_shared)
elif isinstance(model, SampleConsensusModelCylinder):
tmpModelCylinder = model
# tmpModelCylinder.thisptr()[0] = model.thisptr()[0]
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelCylinder.thisptr_shared)
elif isinstance(model, SampleConsensusModelLine):
tmpModelLine = model
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelLine.thisptr_shared)
elif isinstance(model, SampleConsensusModelPlane):
tmpModelPlane = model
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelPlane.thisptr_shared)
elif isinstance(model, SampleConsensusModelRegistration):
tmpModelRegistration = model
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelRegistration.thisptr_shared)
elif isinstance(model, SampleConsensusModelSphere):
tmpModelSphere = model
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelSphere.thisptr_shared)
elif isinstance(model, SampleConsensusModelStick):
tmpModelStick = model
self.me = new pcl_sac.RandomSampleConsensus_t(<pcl_sac.SampleConsensusModelPtr_t> tmpModelStick.thisptr_shared)
else:
raise TypeError("Can't initialize a RandomSampleConsensus from a %s"
% type(model))
pass
def __dealloc__(self):
del self.me
def computeModel(self):
self.me.computeModel(0)
# base Class(SampleConsensus)
def set_DistanceThreshold(self, double param):
self.me.setDistanceThreshold(param)
# base Class(SampleConsensus)
def get_Inliers(self):
cdef vector[int] inliers
self.me.getInliers(inliers)
return inliers
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