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# -*- coding: utf-8 -*-
cimport _pcl
cimport pcl_defs as cpp
cimport numpy as cnp
cimport cython
cimport pcl_visualization
cimport pcl_visualization_defs as pclvis
from libcpp.string cimport string
from boost_shared_ptr cimport shared_ptr
from boost_shared_ptr cimport sp_assign
cdef class PCLVisualizering:
"""
"""
cdef pclvis.PCLVisualizerPtr_t thisptr_shared
def __cinit__(self):
sp_assign(self.thisptr_shared, new pclvis.PCLVisualizer('visual', True))
cdef inline pclvis.PCLVisualizer *thisptr(self) nogil:
# Shortcut to get raw pointer to underlying PCLVisualizer
return self.thisptr_shared.get()
def SetFullScreen(self, bool mode):
self.thisptr().setFullScreen(mode)
def SetWindowBorders(self, bool mode):
self.thisptr().setWindowBorders(mode)
def Spin(self):
self.thisptr().spin()
def SpinOnce(self, int millis_to_wait = 1, bool force_redraw = False):
self.thisptr().spinOnce (millis_to_wait, force_redraw)
def AddCoordinateSystem(self, double scale = 1.0, const string &id = "reference", int viewpoint = 0):
self.thisptr().addCoordinateSystem(scale, id, viewpoint)
def AddCoordinateSystem(self, double scale, float x, float y, float z, const string &id = "reference", int viewpoint = 0):
self.thisptr().addCoordinateSystem(scale, x, y, z, id, viewpoint)
# void addCoordinateSystem (double scale, const eigen3.Affine3f& t, int viewport)
# return bool
def removeCoordinateSystem (self, const string &id = "reference",int viewport = 0):
return self.thisptr().removeCoordinateSystem (id, viewport)
# return bool
def RemovePointCloud(self, string id, int viewport):
return self.thisptr().removePointCloud (id, viewport)
def RemovePolygonMesh(self, string id, int viewport):
return self.thisptr().removePolygonMesh (id, viewport)
def RemoveShape(self, string id, int viewport):
return self.thisptr().removeShape (id, viewport)
def RemoveText3D(self, string id, int viewport):
return self.thisptr().removeText3D (id, viewport)
def RemoveAllPointClouds(self, int viewport):
return self.thisptr().removeAllPointClouds (viewport)
def RemoveAllShapes(self, int viewport):
return self.thisptr().removeAllShapes (viewport)
def SetBackgroundColor (self, int r, int g, int b):
self.thisptr().setBackgroundColor(r, g, b, 0)
# return bool
def AddText (self, string text, int xpos, int ypos, id, int viewport):
return self.thisptr().addText (text, xpos, ypos, <string> id, viewport)
# return bool
def AddText (self, string text, int xpos, int ypos, double r, double g, double b, id, int viewport):
return self.thisptr().addText (text, xpos, ypos, r, g, b, <string> id, viewport)
# return bool
def AddText (self, string text, int xpos, int ypos, int fontsize, double r, double g, double b, id, int viewport):
return self.thisptr().addText (text, xpos, ypos, fontsize, r, g, b, <string> id, viewport)
# return bool
# def UpdateText (self, string text, int xpos, int ypos, const string &id):
def UpdateText (self, string text, int xpos, int ypos, id):
return self.thisptr().updateText (text, xpos, ypos, <string> id)
# return bool
# def UpdateText (self, string text, int xpos, int ypos, double r, double g, double b, const string &id):
def UpdateText (self, string text, int xpos, int ypos, double r, double g, double b, id):
return self.thisptr().updateText (text, xpos, ypos, r, g, b, <string> id)
# return bool
# def UpdateText (self, string text, int xpos, int ypos, int fontsize, double r, double g, double b, const string &id):
def UpdateText (self, string text, int xpos, int ypos, int fontsize, double r, double g, double b, id):
return self.thisptr().updateText (text, xpos, ypos, fontsize, r, g, b, <string> id)
# bool updateShapePose (const string &id, const eigen3.Affine3f& pose)
# return bool
# def AddText3D[PointT](const string &text, const PointT &position, double textScale, double r, double g, double b, const string &id, int viewport)
# return self.thisptr().AddText3D[PointT](const string &text, const PointT &position, double textScale, double r, double g, double b, const string &id, int viewport)
# bool addPointCloudNormals [PointNT](cpp.PointCloud[PointNT] cloud, int level, double scale, string id, int viewport)
# bool addPointCloudNormals [PointT, PointNT] (const shared_ptr[cpp.PointCloud[PointT]] &cloud, const shared_ptr[cpp.PointCloud[PointNT]] &normals, int level, double scale, const string &id, int viewport)
# bool updatePointCloud[PointT](const shared_ptr[cpp.PointCloud[PointT]] &cloud, string &id)
# bool updatePointCloud[PointT](const shared_ptr[cpp.PointCloud[PointT]] &cloud, const PointCloudGeometryHandler[PointT] &geometry_handler, string &id)
# def updatePointCloud(self, _pcl.PointCloud cloud, string id = 'cloud'):
# flag = self.thisptr().updatePointCloud[cpp.PointXYZ](<cpp.PointCloudPtr_t> cloud.thisptr_shared, id)
# return flag
# def AddPointCloud (self, _pcl.PointCloud cloud, string id = 'cloud', int viewport = 0):
# call (ex. id=b'range image')
def AddPointCloud (self, _pcl.PointCloud cloud, id = b'cloud', int viewport = 0):
self.thisptr().addPointCloud(cloud.thisptr_shared, <string> id, viewport)
pass
# <const shared_ptr[PointCloudColorHandler[PointT]]>
# def AddPointCloud_ColorHandler(self, _pcl.PointCloud cloud, pcl_visualization.PointCloudColorHandleringCustom color_handler, string id = 'cloud', int viewport = 0):
def AddPointCloud_ColorHandler(self, _pcl.PointCloud cloud, pcl_visualization.PointCloudColorHandleringCustom color_handler, id = b'cloud', viewport = 0):
# NG : Base Class
# self.thisptr().addPointCloud[cpp.PointXYZ](cloud.thisptr_shared, <const pclvis.PointCloudColorHandler[cpp.PointXYZ]> deref(color_handler.thisptr_shared.get()), id, viewport)
# OK? : Inheritance Class(PointCloudColorHandler)
# self.thisptr().addPointCloud[cpp.PointXYZ](cloud.thisptr_shared, <const pclvis.PointCloudColorHandlerCustom[cpp.PointXYZ]> deref(color_handler.thisptr_shared.get()), id, viewport)
self.thisptr().addPointCloud[cpp.PointXYZ](cloud.thisptr_shared, <const pclvis.PointCloudColorHandlerCustom[cpp.PointXYZ]> deref(color_handler.thisptr_shared.get()), <string> id, viewport)
pass
def AddPointCloud_ColorHandler(self, _pcl.RangeImages cloud, pcl_visualization.PointCloudColorHandleringCustom color_handler, id = b'cloud', int viewport = 0):
# self.thisptr().addPointCloud[cpp.PointWithRange](cloud.thisptr_shared, <const pclvis.PointCloudColorHandlerCustom[cpp.PointXYZ]> deref(color_handler.thisptr_shared.get()), id, viewport)
pass
# <const shared_ptr[PointCloudGeometryHandler[PointT]]>
# def AddPointCloud_GeometryHandler(self, _pcl.PointCloud cloud, pcl_visualization.PointCloudGeometryHandleringCustom geometry_handler, id = b'cloud', int viewport = 0):
# # overloaded
# self.thisptr().addPointCloud[cpp.PointXYZ](cloud.thisptr_shared, <const pclvis.PointCloudGeometryHandlerCustom[cpp.PointXYZ]> deref(geometry_handler.thisptr_shared.get()), <string> id, viewport)
# # pass
def AddPointCloudNormals(self, _pcl.PointCloud cloud, _pcl.PointCloud_Normal normal, int level = 100, double scale = 0.02, id = b'cloud', int viewport = 0):
self.thisptr().addPointCloudNormals[cpp.PointXYZ, cpp.Normal](<cpp.PointCloudPtr_t> cloud.thisptr_shared, <cpp.PointCloud_Normal_Ptr_t> normal.thisptr_shared, level, scale, <string> id, viewport)
def SetPointCloudRenderingProperties(self, int propType, int propValue, propName = b'cloud'):
self.thisptr().setPointCloudRenderingProperties (propType, propValue, <string> propName, 0)
def InitCameraParameters(self):
self.thisptr().initCameraParameters()
# return bool
def WasStopped(self):
return self.thisptr().wasStopped()
def ResetStoppedFlag(self):
self.thisptr().resetStoppedFlag()
def Close(self):
self.thisptr().close ()
# def AddCube(self, double min_x, double max_x, double min_y, double max_y, double min_z, double max_z, double r, double g, double b, string name):
def AddCube(self, double min_x, double max_x, double min_y, double max_y, double min_z, double max_z, double r, double g, double b, name):
self.thisptr().addCube(min_x, max_x, min_y, max_y, min_z, max_z, r, g, b, name, 0)
# def AddLine(self, _pcl.PointCloud center, _pcl.PointCloud axis, double x, double y, double z, id = b'minor eigen vector')
# # pcl::PointXYZ
# self.thisptr().addLine(center, z_axis, 0.0, 0.0, 1.0, id)
def AddCone(self):
# self.thisptr().addCone()
pass
def AddCircle(self):
# self.thisptr().addCone()
pass
def AddPlane(self):
# self.thisptr().addPlane()
pass
def AddLine(self):
# self.thisptr().addLine()
pass
def AddSphere(self):
# self.thisptr().addSphere()
pass
def AddCylinder(self):
# self.thisptr().addCylinder()
pass
def AddCircle(self):
# self.thisptr().addCone()
pass
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