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# -*- coding: utf-8 -*-
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
cimport pcl_keypoints as keypt
# boost
from boost_shared_ptr cimport shared_ptr
###############################################################################
# Types
###############################################################################
### base class ###
cdef class HarrisKeypoint3D:
"""
HarrisKeypoint3D class for
"""
cdef keypt.HarrisKeypoint3D_t *me
def __cinit__(self, PointCloud pc not None):
self.me = new keypt.HarrisKeypoint3D_t()
self.me.setInputCloud(pc.thisptr_shared)
# pass
def __dealloc__(self):
del self.me
def set_NonMaxSupression(self, bool param):
self.me.setNonMaxSupression (param)
def set_Radius(self, float param):
self.me.setRadius (param)
def set_RadiusSearch(self, double param):
self.me.setRadiusSearch (param)
def compute(self):
keypoints = PointCloud_PointXYZI()
sp_assign(keypoints.thisptr_shared, new cpp.PointCloud[cpp.PointXYZI]())
cdef cpp.PointCloud_PointXYZI_t *ckeypoints = <cpp.PointCloud_PointXYZI_t*>keypoints.thisptr()
self.me.compute (<cpp.PointCloud[cpp.PointXYZI]&> deref(ckeypoints))
return keypoints
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