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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_octree as pcloct
cimport eigen as eig
cdef class OctreePointCloud2Buf:
"""
Octree pointcloud
"""
cdef pcloct.OctreePointCloud2Buf_t *me
# def __cinit__(self, double resolution):
# self.me = NULL
# if resolution <= 0.:
# raise ValueError("Expected resolution > 0., got %r" % resolution)
# NG(Build Error)
# def __cinit__(self, double resolution):
# """
# Constructs octree pointcloud with given resolution at lowest octree level
# """
# self.me = new pcloct.OctreePointCloud2Buf_t(resolution)
# def __dealloc__(self):
# del self.me
# self.me = NULL # just to be sure
def set_input_cloud(self, PointCloud pc):
"""
Provide a pointer to the input data set.
"""
self.me.setInputCloud(pc.thisptr_shared)
# def define_bounding_box(self):
# """
# Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
# """
# self.me.defineBoundingBox()
# def define_bounding_box(self, double min_x, double min_y, double min_z, double max_x, double max_y, double max_z):
# """
# Define bounding box for octree. Bounding box cannot be changed once the octree contains elements.
# """
# self.me.defineBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z)
# def add_points_from_input_cloud(self):
# """
# Add points from input point cloud to octree.
# """
# self.me.addPointsFromInputCloud()
def delete_tree(self):
"""
Delete the octree structure and its leaf nodes.
"""
self.me.deleteTree()
# def is_voxel_occupied_at_point(self, point):
# """
# Check if voxel at given point coordinates exist.
# """
# return self.me.isVoxelOccupiedAtPoint(point[0], point[1], point[2])
# def get_occupied_voxel_centers(self):
# """
# Get list of centers of all occupied voxels.
# """
# cdef eig.AlignedPointTVector_t points_v
# cdef int num = self.me.getOccupiedVoxelCenters (points_v)
# # cdef int num = self.me.getOccupiedVoxelCenters (<eig.AlignedPointTVector_t> points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters(self.me, points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters(deref(self.me), points_v)
# return [(points_v[i].x, points_v[i].y, points_v[i].z) for i in range(num)]
# def delete_voxel_at_point(self, point):
# """
# Delete leaf node / voxel at given point.
# """
# self.me.deleteVoxelAtPoint(to_point_t(point))
# # mpcl_deleteVoxelAtPoint(self.me, to_point_t(point))
# # mpcl_deleteVoxelAtPoint(deref(self.me), to_point_t(point))
cdef class OctreePointCloud2Buf_PointXYZI:
"""
Octree pointcloud
"""
cdef pcloct.OctreePointCloud2Buf_PointXYZI_t *me
# def __cinit__(self, double resolution):
# self.me = NULL
# if resolution <= 0.:
# raise ValueError("Expected resolution > 0., got %r" % resolution)
# NG(BUild Error)
# def __cinit__(self, double resolution):
# """
# Constructs octree pointcloud with given resolution at lowest octree level
# """
# self.me = new pcloct.OctreePointCloud2Buf_PointXYZI_t(resolution)
# def __dealloc__(self):
# del self.me
# self.me = NULL # just to be sure
def set_input_cloud(self, PointCloud_PointXYZI pc):
"""
Provide a pointer to the input data set.
"""
self.me.setInputCloud(pc.thisptr_shared)
# def define_bounding_box(self):
# """
# Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
# """
# self.me.defineBoundingBox()
# def define_bounding_box(self, double min_x, double min_y, double min_z, double max_x, double max_y, double max_z):
# """
# Define bounding box for octree. Bounding box cannot be changed once the octree contains elements.
# """
# self.me.defineBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z)
# def add_points_from_input_cloud(self):
# """
# Add points from input point cloud to octree.
# """
# self.me.addPointsFromInputCloud()
def delete_tree(self):
"""
Delete the octree structure and its leaf nodes.
"""
self.me.deleteTree()
# def is_voxel_occupied_at_point(self, point):
# """
# Check if voxel at given point coordinates exist.
# """
# return self.me.isVoxelOccupiedAtPoint(point[0], point[1], point[2])
# def get_occupied_voxel_centers(self):
# """
# Get list of centers of all occupied voxels.
# """
# cdef eig.AlignedPointTVector_PointXYZI_t points_v
# cdef int num = self.me.getOccupiedVoxelCenters (points_v)
# # cdef int num = self.me.getOccupiedVoxelCenters (<eig.AlignedPointTVector_PointXYZI_t> points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters(self.me, points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters_PointXYZI(deref(self.me), points_v)
# return [(points_v[i].x, points_v[i].y, points_v[i].z) for i in range(num)]
# def delete_voxel_at_point(self, point):
# """
# Delete leaf node / voxel at given point.
# """
# # NG (use minipcl?)
# self.me.deleteVoxelAtPoint(to_point2_t(point))
# # mpcl_deleteVoxelAtPoint(self.me, to_point2_t(point))
# # mpcl_deleteVoxelAtPoint_PointXYZI(deref(self.me), to_point2_t(point))
cdef class OctreePointCloud2Buf_PointXYZRGB:
"""
Octree pointcloud
"""
cdef pcloct.OctreePointCloud2Buf_PointXYZRGB_t *me
# def __cinit__(self, double resolution):
# self.me = NULL
# if resolution <= 0.:
# raise ValueError("Expected resolution > 0., got %r" % resolution)
# NG(BUild Error)
# def __cinit__(self, double resolution):
# """
# Constructs octree pointcloud with given resolution at lowest octree level
# """
# self.me = new pcloct.OctreePointCloud2Buf_PointXYZRGB_t(resolution)
# def __dealloc__(self):
# del self.me
# self.me = NULL # just to be sure
def set_input_cloud(self, PointCloud_PointXYZRGB pc):
"""
Provide a pointer to the input data set.
"""
self.me.setInputCloud(pc.thisptr_shared)
# def define_bounding_box(self):
# """
# Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
# """
# self.me.defineBoundingBox()
# def define_bounding_box(self, double min_x, double min_y, double min_z, double max_x, double max_y, double max_z):
# """
# Define bounding box for octree. Bounding box cannot be changed once the octree contains elements.
# """
# self.me.defineBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z)
# def add_points_from_input_cloud(self):
# """
# Add points from input point cloud to octree.
# """
# self.me.addPointsFromInputCloud()
def delete_tree(self):
"""
Delete the octree structure and its leaf nodes.
"""
self.me.deleteTree()
# def is_voxel_occupied_at_point(self, point):
# """
# Check if voxel at given point coordinates exist.
# """
# return self.me.isVoxelOccupiedAtPoint(point[0], point[1], point[2])
# def get_occupied_voxel_centers(self):
# """
# Get list of centers of all occupied voxels.
# """
# cdef eig.AlignedPointTVector_PointXYZRGB_t points_v
# cdef int num = self.me.getOccupiedVoxelCenters (points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters(self.me, points_v)
# return [(points_v[i].x, points_v[i].y, points_v[i].z) for i in range(num)]
# def delete_voxel_at_point(self, point):
# """
# Delete leaf node / voxel at given point.
# """
# # NG (minipcl?)
# self.me.deleteVoxelAtPoint(to_point3_t(point))
cdef class OctreePointCloud2Buf_PointXYZRGBA:
"""
Octree pointcloud
"""
cdef pcloct.OctreePointCloud2Buf_PointXYZRGBA_t *me
# def __cinit__(self, double resolution):
# self.me = NULL
# if resolution <= 0.:
# raise ValueError("Expected resolution > 0., got %r" % resolution)
# NG(Build Error)
# def __cinit__(self, double resolution):
# """
# Constructs octree pointcloud with given resolution at lowest octree level
# """
# self.me = new pcloct.OctreePointCloud2Buf_PointXYZRGBA_t(resolution)
# def __dealloc__(self):
# del self.me
# self.me = NULL # just to be sure
def set_input_cloud(self, PointCloud_PointXYZRGBA pc):
"""
Provide a pointer to the input data set.
"""
self.me.setInputCloud(pc.thisptr_shared)
# def define_bounding_box(self):
# """
# Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
# """
# self.me.defineBoundingBox()
# def define_bounding_box(self, double min_x, double min_y, double min_z, double max_x, double max_y, double max_z):
# """
# Define bounding box for octree. Bounding box cannot be changed once the octree contains elements.
# """
# self.me.defineBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z)
# use NG
# def add_points_from_input_cloud(self):
# """
# Add points from input point cloud to octree.
# """
# self.me.addPointsFromInputCloud()
def delete_tree(self):
"""
Delete the octree structure and its leaf nodes.
"""
self.me.deleteTree()
# def is_voxel_occupied_at_point(self, point):
# """
# Check if voxel at given point coordinates exist.
# """
# return self.me.isVoxelOccupiedAtPoint(point[0], point[1], point[2])
# def get_occupied_voxel_centers(self):
# """
# Get list of centers of all occupied voxels.
# """
# cdef eig.AlignedPointTVector_PointXYZRGBA_t points_v
# cdef int num = self.me.getOccupiedVoxelCenters (points_v)
# # cdef int num = mpcl_getOccupiedVoxelCenters(self.me, points_v)
# return [(points_v[i].x, points_v[i].y, points_v[i].z) for i in range(num)]
# def delete_voxel_at_point(self, point):
# """
# Delete leaf node / voxel at given point.
# """
# # NG (minipcl?)
# self.me.deleteVoxelAtPoint(to_point4_t(point))
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