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# -*- coding: utf-8 -*-
cimport pcl_segmentation as pclseg
cimport pcl_sample_consensus as pcl_sc
cimport pcl_defs as cpp
cimport eigen as eigen3
cdef class Segmentation:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pclseg.SACSegmentation_t *me
def __cinit__(self):
self.me = new pclseg.SACSegmentation_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sc.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
def set_MaxIterations(self, int count):
self.me.setMaxIterations (count)
cdef class Segmentation_PointXYZI:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pclseg.SACSegmentation_PointXYZI_t *me
def __cinit__(self):
self.me = new pclseg.SACSegmentation_PointXYZI_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sc.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
cdef class Segmentation_PointXYZRGB:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pclseg.SACSegmentation_PointXYZRGB_t *me
def __cinit__(self):
self.me = new pclseg.SACSegmentation_PointXYZRGB_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sc.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
cdef class Segmentation_PointXYZRGBA:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pclseg.SACSegmentation_PointXYZRGBA_t *me
def __cinit__(self):
self.me = new pclseg.SACSegmentation_PointXYZRGBA_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sc.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
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