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from libc.stddef cimport size_t
from libcpp.vector cimport vector
from libcpp.string cimport string
from libcpp cimport bool
# main
cimport pcl_defs as cpp
# boost
from boost_shared_ptr cimport shared_ptr
###############################################################################
# Types
###############################################################################
# PCLHeader.h
cdef extern from "pcl/PCLHeader.h" namespace "pcl":
cdef struct PCLHeader:
PCLHeader ()
unsigned int seq
unsigned long stamp
string frame_id
# inline std::ostream& operator << (std::ostream& out, const PCLHeader &h)
# typedef boost::shared_ptr<PCLHeader> HeaderPtr;
# typedef boost::shared_ptr<PCLHeader const> HeaderConstPtr;
ctypedef shared_ptr[PCLHeader] PCLHeaderPtr_t
ctypedef shared_ptr[const PCLHeader] PCLHeaderConstPtr_t
###
# PCLImage.h
cdef extern from "pcl/PCLImage.h" namespace "pcl":
cdef struct PCLImage:
PCLImage ()
PCLHeader header
unsigned int height
unsigned int width
string encoding
unsigned char is_bigendian
unsigned int step;
vector[unsigned int] data;
# inline std::ostream& operator<<(std::ostream& s, const ::pcl::PCLImage & v)
ctypedef shared_ptr[PCLImage] PCLImagePtr_t
ctypedef shared_ptr[const PCLImage] PCLImageConstPtr_t
###
# PCLPointField
cdef extern from "pcl/PCLPointField.h" namespace "pcl":
cdef struct PCLPointField:
PCLPointField ()
string name
unsigned int offset
unsigned char datatype
unsigned int count
# inline std::ostream& operator<<(std::ostream& s, const ::pcl::PCLPointField & v)
ctypedef shared_ptr[PCLPointField] PCLPointFieldPtr_t
ctypedef shared_ptr[const PCLPointField] PCLPointFieldConstPtr_t
###
######
# namespace pcl
cdef extern from "pcl/PCLPointCloud2.h" namespace "pcl":
cdef struct PCLPointCloud2:
PointCloud2 ()
PCLHeader header
unsigned int height
unsigned int width
vector[PCLPointField] fields
unsigned char is_bigendian
unsigned int point_step
unsigned int row_step
vector[unsigned char] data
unsigned char is_dense
# inline std::ostream& operator<<(std::ostream& s, const ::pcl::PCLPointCloud2 &v)
# ctypedef shared_ptr[PCLPointCloud2] PCLPointCloud2Ptr_t
# ctypedef shared_ptr[const PCLPointCloud2] PCLPointCloud2ConstPtr_t
ctypedef cpp.PointCloud[PCLPointCloud2] PointCloud_PCLPointCloud2_t
ctypedef shared_ptr[cpp.PointCloud[PCLPointCloud2]] PointCloud_PCLPointCloud2Ptr_t
###
# pcl/conversions.h
# namespace pcl
# name space detail
# // For converting template point cloud to message.
# template<typename PointT>
# struct FieldAdder
# cdef extern from "pcl/conversions.h" namespace "pcl::detail":
# cdef struct FieldAdder[PointT]:
# FieldAdder (vector[PCLPointField]& fields)
# # template<typename U> void operator()
# vector[PCLPointField] &fields_
#
#
###
# cdef extern from "pcl/conversions.h" namespace "pcl::detail":
# cdef struct FieldMapper[PointT]:
# FieldMapper (const vector[PCLPointField] &fields, vector[FieldMapping] &map)
# # template<typename Tag> void operator ()
# const vector[PCLPointField] & fields_
# vector[FieldMapping] & map_
#
# inline bool fieldOrdering (const FieldMapping& a, const FieldMapping& b)
###
# pcl/conversions.h
# namespace pcl
# template<typename PointT> void createMapping (const std::vector<pcl::PCLPointField>& msg_fields, MsgFieldMap& field_map)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void createMapping [PointT](const vector[PCLPointField]& msg_fields, MsgFieldMap& field_map)
#
#
###
# pcl/conversions.h
# namespace pcl
# /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
# * \param[in] msg the PCLPointCloud2 binary blob
# * \param[out] cloud the resultant pcl::PointCloud<T>
# * \param[in] field_map a MsgFieldMap object
# * \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) directly or create you
# * own MsgFieldMap using:
# * \code
# * MsgFieldMap field_map;
# * createMapping<PointT> (msg.fields, field_map);
# * \endcode
# */
# template <typename PointT> void fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud, const MsgFieldMap& field_map)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void fromPCLPointCloud2 [PointT](const PCLPointCloud2& msg, PointCloud[PointT] & cloud, const MsgFieldMap& field_map)
#
#
###
# pcl/conversions.h
# namespace pcl
# /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object.
# * \param[in] msg the PCLPointCloud2 binary blob
# * \param[out] cloud the resultant pcl::PointCloud<T>
# */
# template<typename PointT> void fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void fromPCLPointCloud2 [PointT](const PCLPointCloud2& msg, PointCloud[PointT]& cloud)
#
#
###
# pcl/conversions.h
# namespace pcl
# /** \brief Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
# * \param[in] cloud the input pcl::PointCloud<T>
# * \param[out] msg the resultant PCLPointCloud2 binary blob
# */
# template<typename PointT> void toPCLPointCloud2 (const pcl::PointCloud<PointT>& cloud, pcl::PCLPointCloud2& msg)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void toPCLPointCloud2 [PointT](const PointCloud[PointT]& cloud, PCLPointCloud2& msg)
#
#
###
# pcl/conversions.h
# namespace pcl
# /** \brief Copy the RGB fields of a PointCloud into pcl::PCLImage format
# * \param[in] cloud the point cloud message
# * \param[out] msg the resultant pcl::PCLImage
# * CloudT cloud type, CloudT should be akin to pcl::PointCloud<pcl::PointXYZRGBA>
# * \note will throw std::runtime_error if there is a problem
# */
# template<typename CloudT> void toPCLPointCloud2 (const CloudT& cloud, pcl::PCLImage& msg)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void toPCLPointCloud2 [CloudT](const CloudT& cloud, PCLImage& msg)
#
#
###
# pcl/conversions.h
# namespace pcl
# /**
# * \brief Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format
# * \param cloud the point cloud message
# * \param msg the resultant pcl::PCLImage
# * will throw std::runtime_error if there is a problem
# */
# inline void toPCLPointCloud2 (const pcl::PCLPointCloud2& cloud, pcl::PCLImage& msg)
# cdef extern from "pcl/conversions.h" namespace "pcl":
# void toPCLPointCloud2 (const PCLPointCloud2& cloud, PCLImage& msg)
#
#
###
###############################################################################
# Enum
###############################################################################
cdef extern from "pcl/PCLPointField.h" namespace "pcl":
cdef enum:
INT8 = 1
UINT8 = 2
INT16 = 3
UINT16 = 4
INT32 = 5
UINT32 = 6
FLOAT32 = 7
FLOAT64 = 8
###############################################################################
# Activation
###############################################################################
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