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# -*- coding: utf-8 -*-
# cython: embedsignature=True
from collections import Sequence
import numbers
import numpy as np
cimport numpy as cnp
cimport pcl_common as pcl_cmn
cimport pcl_defs as cpp
cimport pcl_sample_consensus as pcl_sc
cimport pcl_features as pcl_ftr
cimport pcl_filters as pcl_fil
cimport pcl_range_image as pcl_r_img
cimport pcl_segmentation as pclseg
cimport cython
# from cython.operator import dereference as deref
from cython.operator cimport dereference as deref, preincrement as inc
from cython cimport address
from cpython cimport Py_buffer
from libcpp.string cimport string
from libcpp cimport bool
from libcpp.vector cimport vector
# cimport pcl_segmentation as pclseg
from boost_shared_ptr cimport sp_assign
cnp.import_array()
### Enum ###
## Enum Setting
SAC_RANSAC = pcl_sc.SAC_RANSAC
SAC_LMEDS = pcl_sc.SAC_LMEDS
SAC_MSAC = pcl_sc.SAC_MSAC
SAC_RRANSAC = pcl_sc.SAC_RRANSAC
SAC_RMSAC = pcl_sc.SAC_RMSAC
SAC_MLESAC = pcl_sc.SAC_MLESAC
SAC_PROSAC = pcl_sc.SAC_PROSAC
SACMODEL_PLANE = pcl_sc.SACMODEL_PLANE
SACMODEL_LINE = pcl_sc.SACMODEL_LINE
SACMODEL_CIRCLE2D = pcl_sc.SACMODEL_CIRCLE2D
SACMODEL_CIRCLE3D = pcl_sc.SACMODEL_CIRCLE3D
SACMODEL_SPHERE = pcl_sc.SACMODEL_SPHERE
SACMODEL_CYLINDER = pcl_sc.SACMODEL_CYLINDER
SACMODEL_CONE = pcl_sc.SACMODEL_CONE
SACMODEL_TORUS = pcl_sc.SACMODEL_TORUS
SACMODEL_PARALLEL_LINE = pcl_sc.SACMODEL_PARALLEL_LINE
SACMODEL_PERPENDICULAR_PLANE = pcl_sc.SACMODEL_PERPENDICULAR_PLANE
SACMODEL_PARALLEL_LINES = pcl_sc.SACMODEL_PARALLEL_LINES
SACMODEL_NORMAL_PLANE = pcl_sc.SACMODEL_NORMAL_PLANE
SACMODEL_NORMAL_SPHERE = pcl_sc.SACMODEL_NORMAL_SPHERE
SACMODEL_REGISTRATION = pcl_sc.SACMODEL_REGISTRATION
SACMODEL_PARALLEL_PLANE = pcl_sc.SACMODEL_PARALLEL_PLANE
SACMODEL_NORMAL_PARALLEL_PLANE = pcl_sc.SACMODEL_NORMAL_PARALLEL_PLANE
SACMODEL_STICK = pcl_sc.SACMODEL_STICK
### Enum Setting(define Class InternalType) ###
# CythonCompareOp
@cython.internal
cdef class _CythonCompareOp_Type:
cdef:
readonly int GT
readonly int GE
readonly int LT
readonly int LE
readonly int EQ
def __cinit__(self):
self.GT = pcl_fil.COMPAREOP_GT
self.GE = pcl_fil.COMPAREOP_GE
self.LT = pcl_fil.COMPAREOP_LT
self.LE = pcl_fil.COMPAREOP_LE
self.EQ = pcl_fil.COMPAREOP_EQ
CythonCompareOp_Type = _CythonCompareOp_Type()
# RangeImage
# CythonCoordinateFrame
@cython.internal
cdef class _CythonCoordinateFrame_Type:
cdef:
readonly int CAMERA_FRAME
readonly int LASER_FRAME
def __cinit__(self):
self.CAMERA_FRAME = pcl_r_img.COORDINATEFRAME_CAMERA
self.LASER_FRAME = pcl_r_img.COORDINATEFRAME_LASER
CythonCoordinateFrame_Type = _CythonCoordinateFrame_Type()
# # features
# # CythonBorderPolicy
# @cython.internal
# cdef class _CythonBorderPolicy_Type:
# cdef:
# readonly int BORDER_POLICY_IGNORE
# readonly int BORDER_POLICY_MIRROR
#
# def __cinit__(self):
# self.BORDER_POLICY_IGNORE = pcl_ftr.BORDERPOLICY2_IGNORE
# self.BORDER_POLICY_MIRROR = pcl_ftr.BORDERPOLICY2_MIRROR
#
# CythonBorderPolicy_Type = _CythonBorderPolicy_Type()
###
# CythonNormalEstimationMethod
# @cython.internal
# cdef class _CythonNormalEstimationMethod_Type:
# cdef:
# readonly int COVARIANCE_MATRIX
# readonly int AVERAGE_3D_GRADIENT
# readonly int AVERAGE_DEPTH_CHANGE
# readonly int SIMPLE_3D_GRADIENT
#
# def __cinit__(self):
# self.COVARIANCE_MATRIX = pcl_ftr.ESTIMATIONMETHOD2_COVARIANCE_MATRIX
# self.AVERAGE_3D_GRADIENT = pcl_ftr.ESTIMATIONMETHOD2_AVERAGE_3D_GRADIENT
# self.AVERAGE_DEPTH_CHANGE = pcl_ftr.ESTIMATIONMETHOD2_AVERAGE_DEPTH_CHANGE
# self.SIMPLE_3D_GRADIENT = pcl_ftr.ESTIMATIONMETHOD2_SIMPLE_3D_GRADIENT
#
# CythonNormalEstimationMethod_Type = _CythonNormalEstimationMethod_Type()
###
include "pxi/pxiInclude.pxi"
include "pxi/PointCloud_PointXYZ.pxi"
include "pxi/PointCloud_PointXYZI.pxi"
include "pxi/PointCloud_PointXYZRGB.pxi"
include "pxi/PointCloud_PointXYZRGBA.pxi"
include "pxi/PointCloud_PointWithViewpoint.pxi"
include "pxi/PointCloud_Normal.pxi"
include "pxi/PointCloud_PointNormal.pxi"
# Add PointCloud2
include "pxi/PointCloud_PointCloud2.pxi"
### common ###
def deg2rad(float alpha):
return pcl_cmn.deg2rad(alpha)
def rad2deg(float alpha):
return pcl_cmn.rad2deg(alpha)
# cdef double deg2rad(double alpha):
# return pcl_cmn.rad2deg(alpha)
#
# cdef double rad2deg(double alpha):
# return pcl_cmn.rad2deg(alpha)
#
# cdef float normAngle (float alpha):
# return pcl_cmn.normAngle(alpha)
# Build NG
# def copyPointCloud(_pcl.PointCloud cloud_in, indices, _pcl.PointCloud cloud_out):
# pcl_cmn.copyPointCloud_Indices [cpp.PointXYZ](<cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> cloud_in.thisptr_shared, <vector[int]> indices, <cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> cloud_out.thisptr_shared)
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