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# -*- coding: utf-8 -*-
cimport pcl_defs as cpp
cimport pcl_octree as pcloct
cdef class OctreePointCloudChangeDetector(OctreePointCloud2Buf):
"""
Octree pointcloud ChangeDetector
"""
# override OctreePointCloud(OctreePointCloud_t)
# cdef pcloct.OctreePointCloudChangeDetector_t *me
cdef pcloct.OctreePointCloudChangeDetector_t *me2
def __cinit__(self, double resolution):
"""
Constructs octree pointcloud with given resolution at lowest octree level
"""
self.me2 = NULL
self.me = NULL
if resolution <= 0.:
raise ValueError("Expected resolution > 0., got %r" % resolution)
self.me2 = <pcloct.OctreePointCloudChangeDetector_t*> new pcloct.OctreePointCloudChangeDetector_t(resolution)
self.me = <pcloct.OctreePointCloud2Buf_t*> self.me2
def get_PointIndicesFromNewVoxels (self):
cdef vector[int] newPointIdxVector
self.me2.getPointIndicesFromNewVoxels (newPointIdxVector, 0)
# for i, l in enumerate(newPointIdxVector):
# p = idx.getptr(self.thisptr(), <int> i)
# p.x, p.y, p.z = l
#
# for i in pyindices:
# ind.indices.push_back(i)
#
# cdef cpp.PointIndices ind
# self.me.segment (ind, coeffs)
# return [ind.indices[i] for i in range(ind.indices.size())]
return newPointIdxVector
# use Octree2BufBase class function
def switchBuffers (self):
cdef pcloct.Octree2BufBase_t* buf
buf = <pcloct.Octree2BufBase_t*>self.me2
buf.switchBuffers()
# base OctreePointCloud2Buf
def define_bounding_box(self):
"""
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
"""
self.me2.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.me2.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.me2.addPointsFromInputCloud()
def is_voxel_occupied_at_point(self, point):
"""
Check if voxel at given point coordinates exist.
"""
return self.me2.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.me2.getOccupiedVoxelCenters (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.me2.deleteVoxelAtPoint(to_point_t(point))
cdef class OctreePointCloudChangeDetector_PointXYZI(OctreePointCloud2Buf_PointXYZI):
"""
Octree pointcloud ChangeDetector
"""
# override OctreePointCloud_PointXYZI
# cdef pcloct.OctreePointCloudChangeDetector_PointXYZI_t *me
cdef pcloct.OctreePointCloudChangeDetector_PointXYZI_t *me2
def __cinit__(self, double resolution):
"""
Constructs octree pointcloud with given resolution at lowest octree level
"""
self.me2 = NULL
self.me = NULL
if resolution <= 0.:
raise ValueError("Expected resolution > 0., got %r" % resolution)
self.me2 = <pcloct.OctreePointCloudChangeDetector_PointXYZI_t*> new pcloct.OctreePointCloudChangeDetector_PointXYZI_t(resolution)
self.me = <pcloct.OctreePointCloud2Buf_PointXYZI_t*> self.me2
def get_PointIndicesFromNewVoxels (self):
cdef vector[int] newPointIdxVector
self.me2.getPointIndicesFromNewVoxels (newPointIdxVector, 0)
return newPointIdxVector
# use Octree2BufBase class function
# def switchBuffers (self):
# self.me.switchBuffers()
# base OctreePointCloud2Buf
def define_bounding_box(self):
"""
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
"""
self.me2.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.me2.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.me2.addPointsFromInputCloud()
def is_voxel_occupied_at_point(self, point):
"""
Check if voxel at given point coordinates exist.
"""
return self.me2.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.me2.getOccupiedVoxelCenters (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.me2.deleteVoxelAtPoint(to_point2_t(point))
cdef class OctreePointCloudChangeDetector_PointXYZRGB(OctreePointCloud2Buf_PointXYZRGB):
"""
Octree pointcloud ChangeDetector
"""
# override OctreePointCloud_PointXYZRGB
# cdef pcloct.OctreePointCloudChangeDetector_PointXYZRGB_t *me
cdef pcloct.OctreePointCloudChangeDetector_PointXYZRGB_t *me2
def __cinit__(self, double resolution):
"""
Constructs octree pointcloud with given resolution at lowest octree level
"""
self.me2 = NULL
self.me = NULL
if resolution <= 0.:
raise ValueError("Expected resolution > 0., got %r" % resolution)
self.me2 = <pcloct.OctreePointCloudChangeDetector_PointXYZRGB_t*> new pcloct.OctreePointCloudChangeDetector_PointXYZRGB_t(resolution)
self.me = <pcloct.OctreePointCloud2Buf_PointXYZRGB_t*> self.me2
def get_PointIndicesFromNewVoxels (self):
cdef vector[int] newPointIdxVector
self.me2.getPointIndicesFromNewVoxels (newPointIdxVector, 0)
return newPointIdxVector
# use Octree2BufBase class function
# def switchBuffers (self):
# self.me2.switchBuffers()
# base OctreePointCloud2Buf
def define_bounding_box(self):
"""
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
"""
self.me2.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.me2.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.me2.addPointsFromInputCloud()
def is_voxel_occupied_at_point(self, point):
"""
Check if voxel at given point coordinates exist.
"""
return self.me2.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.me2.getOccupiedVoxelCenters (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.me2.deleteVoxelAtPoint(to_point3_t(point))
cdef class OctreePointCloudChangeDetector_PointXYZRGBA(OctreePointCloud2Buf_PointXYZRGBA):
"""
Octree pointcloud ChangeDetector
"""
# override OctreePointCloud_PointXYZRGBA
# cdef pcloct.OctreePointCloudChangeDetector_PointXYZRGBA_t *me
cdef pcloct.OctreePointCloudChangeDetector_PointXYZRGBA_t *me2
def __cinit__(self, double resolution):
"""
Constructs octree pointcloud with given resolution at lowest octree level
"""
self.me2 = NULL
self.me = NULL
if resolution <= 0.:
raise ValueError("Expected resolution > 0., got %r" % resolution)
self.me2 = <pcloct.OctreePointCloudChangeDetector_PointXYZRGBA_t*> new pcloct.OctreePointCloudChangeDetector_PointXYZRGBA_t(resolution)
self.me = <pcloct.OctreePointCloud2Buf_PointXYZRGBA_t*> self.me2
def get_PointIndicesFromNewVoxels (self):
cdef vector[int] newPointIdxVector
self.me2.getPointIndicesFromNewVoxels (newPointIdxVector, 0)
return newPointIdxVector
# use Octree2BufBase class function
# def switchBuffers (self):
# self.me.switchBuffers()
# base OctreePointCloud2Buf
def define_bounding_box(self):
"""
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
"""
self.me2.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.me2.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.me2.addPointsFromInputCloud()
def is_voxel_occupied_at_point(self, point):
"""
Check if voxel at given point coordinates exist.
"""
return self.me2.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.me2.getOccupiedVoxelCenters (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.me2.deleteVoxelAtPoint(to_point4_t(point))
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