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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_filters as pclfil
cdef class ApproximateVoxelGrid:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.ApproximateVoxelGrid_t *me
def __cinit__(self):
self.me = new pclfil.ApproximateVoxelGrid_t()
def __dealloc__(self):
del self.me
def set_InputCloud(self, PointCloud pc not None):
(<cpp.PCLBase_t*>self.me).setInputCloud (pc.thisptr_shared)
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud pc = PointCloud()
self.me.filter(pc.thisptr()[0])
return pc
cdef class ApproximateVoxelGrid_PointXYZI:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.ApproximateVoxelGrid_PointXYZI_t *me
def __cinit__(self):
self.me = new pclfil.ApproximateVoxelGrid_PointXYZI_t()
def __dealloc__(self):
del self.me
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def set_InputCloud(self, PointCloud_PointXYZI pc not None):
(<cpp.PCLBase_PointXYZI_t*>self.me).setInputCloud (pc.thisptr_shared)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZI pc = PointCloud_PointXYZI()
self.me.filter(pc.thisptr()[0])
return pc
cdef class ApproximateVoxelGrid_PointXYZRGB:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.ApproximateVoxelGrid_PointXYZRGB_t *me
def __cinit__(self):
self.me = new pclfil.ApproximateVoxelGrid_PointXYZRGB_t()
def __dealloc__(self):
del self.me
def set_InputCloud(self, PointCloud_PointXYZRGB pc not None):
(<cpp.PCLBase_PointXYZRGB_t*>self.me).setInputCloud (pc.thisptr_shared)
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZRGB pc = PointCloud_PointXYZRGB()
self.me.filter(pc.thisptr()[0])
return pc
cdef class ApproximateVoxelGrid_PointXYZRGBA:
"""
Assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
"""
cdef pclfil.ApproximateVoxelGrid_PointXYZRGBA_t *me
def __cinit__(self):
self.me = new pclfil.ApproximateVoxelGrid_PointXYZRGBA_t()
def __dealloc__(self):
del self.me
def set_InputCloud(self, PointCloud_PointXYZRGBA pc not None):
(<cpp.PCLBase_PointXYZRGBA_t*>self.me).setInputCloud (pc.thisptr_shared)
def set_leaf_size (self, float x, float y, float z):
"""
Set the voxel grid leaf size.
"""
self.me.setLeafSize(x,y,z)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud_PointXYZRGBA pc = PointCloud_PointXYZRGBA()
self.me.filter(pc.thisptr()[0])
return pc
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