diff --git a/pcl/pxi/Features/NormalEstimation.pxi b/pcl/pxi/Features/NormalEstimation.pxi index a2d7ab669..82391d266 100644 --- a/pcl/pxi/Features/NormalEstimation.pxi +++ b/pcl/pxi/Features/NormalEstimation.pxi @@ -29,6 +29,9 @@ cdef class NormalEstimation: def set_KSearch (self, int param): self.me.setKSearch (param) + def set_ViewPoint(self, float vpx, float vpy, float vpz): + self.me.setViewPoint(vpx, vpy, vpz) + def compute(self): normal = PointCloud_Normal() sp_assign(normal.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) diff --git a/pcl/pxi/Features/NormalEstimation_172.pxi b/pcl/pxi/Features/NormalEstimation_172.pxi index 686be26dc..9b7087c8f 100644 --- a/pcl/pxi/Features/NormalEstimation_172.pxi +++ b/pcl/pxi/Features/NormalEstimation_172.pxi @@ -28,6 +28,9 @@ cdef class NormalEstimation: def set_KSearch (self, int param): self.me.setKSearch (param) + def set_ViewPoint(self, float vpx, float vpy, float vpz): + self.me.setViewPoint(vpx, vpy, vpz) + def compute(self): normal = PointCloud_Normal() sp_assign(normal.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) diff --git a/pcl/pxi/Features/NormalEstimation_180.pxi b/pcl/pxi/Features/NormalEstimation_180.pxi index 19f42f90d..23a98a34f 100644 --- a/pcl/pxi/Features/NormalEstimation_180.pxi +++ b/pcl/pxi/Features/NormalEstimation_180.pxi @@ -29,6 +29,9 @@ cdef class NormalEstimation: def set_KSearch (self, int param): self.me.setKSearch (param) + def set_ViewPoint(self, float vpx, float vpy, float vpz): + self.me.setViewPoint(vpx, vpy, vpz) + def compute(self): normals = PointCloud_Normal() sp_assign(normals.thisptr_shared, new cpp.PointCloud[cpp.Normal]()) diff --git a/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi b/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi index 7ee462382..705daabd0 100644 --- a/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi +++ b/pcl/pxi/registration/GeneralizedIterativeClosestPoint_180.pxi @@ -51,7 +51,7 @@ cdef class GeneralizedIterativeClosestPoint: cdef np.ndarray[dtype=np.float32_t, ndim=2, mode='fortran'] transf cdef np.float32_t *transf_data - transf = np.empty((4, 4), dtype=np.float32, order='fortran') + transf = np.empty((4, 4), dtype=np.float32, order='F') transf_data = np.PyArray_DATA(transf) for i in range(16): diff --git a/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi b/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi index f8586db08..deb5a7733 100644 --- a/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi +++ b/pcl/pxi/registration/IterativeClosestPointNonLinear_180.pxi @@ -51,7 +51,7 @@ cdef class IterativeClosestPointNonLinear: cdef np.ndarray[dtype=np.float32_t, ndim=2, mode='fortran'] transf cdef np.float32_t *transf_data - transf = np.empty((4, 4), dtype=np.float32, order='fortran') + transf = np.empty((4, 4), dtype=np.float32, order='F') transf_data = np.PyArray_DATA(transf) for i in range(16): diff --git a/pcl/pxi/registration/IterativeClosestPoint_180.pxi b/pcl/pxi/registration/IterativeClosestPoint_180.pxi index 0e0215ba5..81313a77a 100644 --- a/pcl/pxi/registration/IterativeClosestPoint_180.pxi +++ b/pcl/pxi/registration/IterativeClosestPoint_180.pxi @@ -68,7 +68,7 @@ cdef class IterativeClosestPoint: cdef np.ndarray[dtype=np.float32_t, ndim=2, mode='fortran'] transf cdef np.float32_t *transf_data - transf = np.empty((4, 4), dtype=np.float32, order='fortran') + transf = np.empty((4, 4), dtype=np.float32, order='F') transf_data = np.PyArray_DATA(transf) for i in range(16): diff --git a/setup.py b/setup.py index d26ca8bcd..0aca315f3 100644 --- a/setup.py +++ b/setup.py @@ -723,7 +723,7 @@ def pkgconfig_win(flag, cut): vtk_library_dir = os.path.join('/usr/lib') elif pcl_version == '-1.8': # pcl 1.8.0/1?(Ubuntu 18.04)(melodic) - vtk_version = '7.0' + vtk_version = '6.3' # pcl 1.8.1? # vtk_version = '8.0' vtk_include_dir = os.path.join('/usr/include/vtk-' + vtk_version) @@ -750,6 +750,22 @@ def pkgconfig_win(flag, cut): vtklibreleases = ['vtkInfovis', 'MapReduceMPI', 'vtkNetCDF', 'QVTK', 'vtkNetCDF_cxx', 'vtkRendering', 'vtkViews', 'vtkVolumeRendering', 'vtkWidgets', 'mpistubs', 'vtkalglib', 'vtkCharts', 'vtkexoIIc', 'vtkexpat', 'vtkCommon', 'vtkfreetype', 'vtkDICOMParser', 'vtkftgl', 'vtkFiltering', 'vtkhdf5', 'vtkjpeg', 'vtkGenericFiltering', 'vtklibxml2', 'vtkGeovis', 'vtkmetaio', 'vtkpng', 'vtkGraphics', 'vtkproj4', 'vtkHybrid', 'vtksqlite', 'vtksys', 'vtkIO', 'vtktiff', 'vtkImaging', 'vtkverdict', 'vtkzlib'] elif vtk_version == '6.3': vtklibreleases = ['vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkexpat-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkfreetype-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version, 'vtkhdf5_hl-' + vtk_version, 'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjpeg-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtklibxml2-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkNetCDF_cxx-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkpng-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingContextOpenGL-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLIC-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version] + vtklibreleases.remove('vtkexpat-6.3') + vtklibreleases.remove('vtkfreetype-6.3') + vtklibreleases.remove('vtkgl2ps-6.3') + vtklibreleases.remove('vtkhdf5-6.3') + vtklibreleases.remove('vtkhdf5_hl-6.3') + vtklibreleases.remove('vtkjpeg-6.3') + vtklibreleases.remove('vtkjsoncpp-6.3') + vtklibreleases.remove('vtklibxml2-6.3') + vtklibreleases.remove('vtkNetCDF-6.3') + vtklibreleases.remove('vtkNetCDF_cxx-6.3') + vtklibreleases.remove('vtkoggtheora-6.3') + vtklibreleases.remove('vtkpng-6.3') + vtklibreleases.remove('vtkproj4-6.3') + vtklibreleases.remove('vtksqlite-6.3') + vtklibreleases.remove('vtktiff-6.3') + vtklibreleases.remove('vtkzlib-6.3') elif vtk_version == '7.0': # apt package?(vtk use OpenGL?) vtklibreleases = ['vtkalglib-' + vtk_version, 'vtkChartsCore-' + vtk_version, 'vtkCommonColor-' + vtk_version, 'vtkCommonComputationalGeometry-' + vtk_version, 'vtkCommonCore-' + vtk_version, 'vtkCommonDataModel-' + vtk_version, 'vtkCommonExecutionModel-' + vtk_version, 'vtkCommonMath-' + vtk_version, 'vtkCommonMisc-' + vtk_version, 'vtkCommonSystem-' + vtk_version, 'vtkCommonTransforms-' + vtk_version, 'vtkDICOMParser-' + vtk_version, 'vtkDomainsChemistry-' + vtk_version, 'vtkexoIIc-' + vtk_version, 'vtkexpat-' + vtk_version, 'vtkFiltersAMR-' + vtk_version, 'vtkFiltersCore-' + vtk_version, 'vtkFiltersExtraction-' + vtk_version, 'vtkFiltersFlowPaths-' + vtk_version, 'vtkFiltersGeneral-' + vtk_version, 'vtkFiltersGeneric-' + vtk_version, 'vtkFiltersGeometry-' + vtk_version, 'vtkFiltersHybrid-' + vtk_version, 'vtkFiltersHyperTree-' + vtk_version, 'vtkFiltersImaging-' + vtk_version, 'vtkFiltersModeling-' + vtk_version, 'vtkFiltersParallel-' + vtk_version, 'vtkFiltersParallelImaging-' + vtk_version, 'vtkFiltersProgrammable-' + vtk_version, 'vtkFiltersSelection-' + vtk_version, 'vtkFiltersSMP-' + vtk_version, 'vtkFiltersSources-' + vtk_version, 'vtkFiltersStatistics-' + vtk_version, 'vtkFiltersTexture-' + vtk_version, 'vtkFiltersVerdict-' + vtk_version, 'vtkfreetype-' + vtk_version, 'vtkGeovisCore-' + vtk_version, 'vtkgl2ps-' + vtk_version, 'vtkhdf5-' + vtk_version, 'vtkhdf5_hl-' + vtk_version, 'vtkImagingColor-' + vtk_version, 'vtkImagingCore-' + vtk_version, 'vtkImagingFourier-' + vtk_version, 'vtkImagingGeneral-' + vtk_version, 'vtkImagingHybrid-' + vtk_version, 'vtkImagingMath-' + vtk_version, 'vtkImagingMorphological-' + vtk_version, 'vtkImagingSources-' + vtk_version, 'vtkImagingStatistics-' + vtk_version, 'vtkImagingStencil-' + vtk_version, 'vtkInfovisCore-' + vtk_version, 'vtkInfovisLayout-' + vtk_version, 'vtkInteractionImage-' + vtk_version, 'vtkInteractionStyle-' + vtk_version, 'vtkInteractionWidgets-' + vtk_version, 'vtkIOAMR-' + vtk_version, 'vtkIOCore-' + vtk_version, 'vtkIOEnSight-' + vtk_version, 'vtkIOExodus-' + vtk_version, 'vtkIOExport-' + vtk_version, 'vtkIOGeometry-' + vtk_version, 'vtkIOImage-' + vtk_version, 'vtkIOImport-' + vtk_version, 'vtkIOInfovis-' + vtk_version, 'vtkIOLegacy-' + vtk_version, 'vtkIOLSDyna-' + vtk_version, 'vtkIOMINC-' + vtk_version, 'vtkIOMovie-' + vtk_version, 'vtkIONetCDF-' + vtk_version, 'vtkIOParallel-' + vtk_version, 'vtkIOParallelXML-' + vtk_version, 'vtkIOPLY-' + vtk_version, 'vtkIOSQL-' + vtk_version, 'vtkIOVideo-' + vtk_version, 'vtkIOXML-' + vtk_version, 'vtkIOXMLParser-' + vtk_version, 'vtkjpeg-' + vtk_version, 'vtkjsoncpp-' + vtk_version, 'vtklibxml2-' + vtk_version, 'vtkmetaio-' + vtk_version, 'vtkNetCDF-' + vtk_version, 'vtkoggtheora-' + vtk_version, 'vtkParallelCore-' + vtk_version, 'vtkpng-' + vtk_version, 'vtkproj4-' + vtk_version, 'vtkRenderingAnnotation-' + vtk_version, 'vtkRenderingContext2D-' + vtk_version, 'vtkRenderingContextOpenGL-' + vtk_version, 'vtkRenderingCore-' + vtk_version, 'vtkRenderingFreeType-' + vtk_version, 'vtkRenderingGL2PS-' + vtk_version, 'vtkRenderingImage-' + vtk_version, 'vtkRenderingLabel-' + vtk_version, 'vtkRenderingLIC-' + vtk_version, 'vtkRenderingLOD-' + vtk_version, 'vtkRenderingOpenGL-' + vtk_version, 'vtkRenderingVolume-' + vtk_version, 'vtkRenderingVolumeOpenGL-' + vtk_version, 'vtksqlite-' + vtk_version, 'vtksys-' + vtk_version, 'vtktiff-' + vtk_version, 'vtkverdict-' + vtk_version, 'vtkViewsContext2D-' + vtk_version, 'vtkViewsCore-' + vtk_version, 'vtkViewsInfovis-' + vtk_version, 'vtkzlib-' + vtk_version] @@ -875,7 +891,7 @@ def pkgconfig_win(flag, cut): setup(name='python-pcl', description='Python bindings for the Point Cloud Library (PCL). using Cython.', url='http://github.com/strawlab/python-pcl', - version='0.3.0rc1', + version='0.3.1', author='John Stowers', author_email='john.stowers@gmail.com', maintainer='Tooru Oonuma',