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# -*- coding: utf-8 -*-
cimport _pcl
cimport pcl_segmentation_172 as pclseg
cimport pcl_defs as cpp
from libcpp.vector cimport vector
cdef class EuclideanClusterExtraction:
"""
Segmentation class for EuclideanClusterExtraction
"""
cdef pclseg.EuclideanClusterExtraction_t *me
def __cinit__(self):
self.me = new pclseg.EuclideanClusterExtraction_t()
def __dealloc__(self):
del self.me
def set_ClusterTolerance(self, double b):
self.me.setClusterTolerance(b)
def set_MinClusterSize(self, int min):
self.me.setMinClusterSize(min)
def set_MaxClusterSize(self, int max):
self.me.setMaxClusterSize(max)
def set_SearchMethod(self, _pcl.KdTree kdtree):
self.me.setSearchMethod(kdtree.thisptr_shared)
# def set_Search_Method(self, _pcl.KdTreeFLANN kdtree):
# # self.me.setSearchMethod(kdtree.thisptr())
# self.me.setSearchMethod(kdtree.thisptr_shared)
# def set_
# self.me.setInputCloud (cloud_filtered)
def Extract(self):
cdef vector[cpp.PointIndices] inds
self.me.extract (inds)
# NG(not use Python)
# return inds
# return 2-dimension Array?
# return [inds[0].indices[i] for i in range(inds[0].indices.size())]
cdef vector[vector[int]] result
cdef vector[int] dim
# for j, ind in enumerate(inds):
# for ind in inds.iterator:
# for i in range(ind):
# dim.push_back(ind.indices[i])
# result.push_back(dim)
# return result
# use Iterator
# http://cython.readthedocs.io/en/latest/src/userguide/wrapping_CPlusPlus.html
# http://stackoverflow.com/questions/29200592/how-to-iterate-throught-c-sets-in-cython
# itertools?
# http://qiita.com/tomotaka_ito/items/35f3eb108f587022fa09
# https://docs.python.org/2/library/itertools.html
# set numpy?
# http://kesin.hatenablog.com/entry/20120314/1331689014
cdef vector[cpp.PointIndices].iterator it = inds.begin()
while it != inds.end():
idx = deref(it)
# for i in range(it.indices.size()):
for i in range(idx.indices.size()):
dim.push_back(idx.indices[i])
result.push_back(dim)
inc(it)
dim.clear()
return result
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