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Segmentation_180.pxi
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# -*- coding: utf-8 -*-
cimport pcl_segmentation_180 as pcl_seg
cimport pcl_sample_consensus_180 as pcl_sac
cimport pcl_defs as cpp
cimport eigen as eigen3
cdef class Segmentation:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pcl_seg.SACSegmentation_t *me
def __cinit__(self):
self.me = new pcl_seg.SACSegmentation_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sac.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
def set_max_iterations(self, int count):
self.me.setMaxIterations (count)
def set_eps_angle(self, double ea):
(<pcl_seg.SACSegmentation_t*>self.me).setEpsAngle (ea)
def get_eps_angle(self):
return (<pcl_seg.SACSegmentation_t*>self.me).getEpsAngle()
def set_axis(self, double ax1, double ax2, double ax3):
cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
(<pcl_seg.SACSegmentation_t*>self.me).setAxis(deref(vec))
def get_axis(self):
vec = (<pcl_seg.SACSegmentation_t*>self.me).getAxis()
cdef float *data = vec.data()
return np.array([data[0], data[1], data[2]], dtype=np.float32)
cdef class Segmentation_PointXYZI:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pcl_seg.SACSegmentation_PointXYZI_t *me
def __cinit__(self):
self.me = new pcl_seg.SACSegmentation_PointXYZI_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sac.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
def set_eps_angle(self, double ea):
(<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setEpsAngle (ea)
def get_eps_angle(self):
return (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getEpsAngle()
def set_axis(self, double ax1, double ax2, double ax3):
cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
(<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).setAxis(deref(vec))
def get_axis(self):
vec = (<pcl_seg.SACSegmentation_PointXYZI_t*>self.me).getAxis()
cdef float *data = vec.data()
return np.array([data[0], data[1], data[2]], dtype=np.float32)
cdef class Segmentation_PointXYZRGB:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pcl_seg.SACSegmentation_PointXYZRGB_t *me
def __cinit__(self):
self.me = new pcl_seg.SACSegmentation_PointXYZRGB_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sac.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
def set_eps_angle(self, double ea):
(<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setEpsAngle (ea)
def get_eps_angle(self):
return (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getEpsAngle()
def set_axis(self, double ax1, double ax2, double ax3):
cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
(<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).setAxis(deref(vec))
def get_axis(self):
vec = (<pcl_seg.SACSegmentation_PointXYZRGB_t*>self.me).getAxis()
cdef float *data = vec.data()
return np.array([data[0], data[1], data[2]], dtype=np.float32)
cdef class Segmentation_PointXYZRGBA:
"""
Segmentation class for Sample Consensus methods and models
"""
cdef pcl_seg.SACSegmentation_PointXYZRGBA_t *me
def __cinit__(self):
self.me = new pcl_seg.SACSegmentation_PointXYZRGBA_t()
def __dealloc__(self):
del self.me
def segment(self):
cdef cpp.PointIndices ind
cdef cpp.ModelCoefficients coeffs
self.me.segment (ind, coeffs)
return [ind.indices[i] for i in range(ind.indices.size())], \
[coeffs.values[i] for i in range(coeffs.values.size())]
def set_optimize_coefficients(self, bool b):
self.me.setOptimizeCoefficients(b)
def set_model_type(self, pcl_sac.SacModel m):
self.me.setModelType(m)
def set_method_type(self, int m):
self.me.setMethodType (m)
def set_distance_threshold(self, float d):
self.me.setDistanceThreshold (d)
def set_eps_angle(self, double ea):
(<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setEpsAngle (ea)
def get_eps_angle(self):
return (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getEpsAngle()
def set_axis(self, double ax1, double ax2, double ax3):
cdef eigen3.Vector3f* vec = new eigen3.Vector3f(ax1, ax2, ax3)
(<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).setAxis(deref(vec))
def get_axis(self):
vec = (<pcl_seg.SACSegmentation_PointXYZRGBA_t*>self.me).getAxis()
cdef float *data = vec.data()
return np.array([data[0], data[1], data[2]], dtype=np.float32)