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New Pythonic pcl.{load,save} functions; PLY format support #31
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XXX the at() members of PointCloud[T] can also throw: >>> a = np.random.randn(10000, 3).astype(np.float32) >>> p = PointCloud() >>> p.from_array(a) >>> p[10000] terminate called after throwing an instance of 'std::out_of_range' what(): vector::_M_range_check Aborted ... but a bug in Cython's code generator prevents "except+" from working with a function returning a reference.
Using pointers to work around broken C++ reference support in Cython. operator[] seems to be completely broken in Cython. E.g. >>> a = np.random.randn(10000, 3).astype(np.float32) >>> p = PointCloud() >>> p.from_array(a) >>> %timeit p.to_array() 10000 loops, best of 3: 23.4 µs per loop Previously 50.8 µs per loop.
Allows splitting the big pcl.pyx module and writing parts in pure Python to speed up compilation.
Contributor
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Looks good, I have no complaints with your API changes, nor the re-organisation. Do you have a minimal PLY file you could commit to the repository for testing? I'll merge this branch as it includes #30 (which looked fine too) |
Contributor
Author
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I can push a unit test that converts a PCD to PLY and back, is that ok? |
Contributor
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Yeah, that would be fine. On Mon, Jul 7, 2014 at 1:52 PM, Lars Buitinck [email protected]
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Contributor
Author
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Added such a unit test in 4e103e8. Also changed the test to not leave clutter in |
nzjrs
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Jul 7, 2014
New Pythonic pcl.{load,save} functions; PLY format support
Contributor
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Thanks for your work! |
Sirokujira
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Mar 10, 2017
New Pythonic pcl.{load,save} functions; PLY format support
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This is a pretty massive change to the codebase. It replaces
PointCloud.{from_file,to_file}with free-standingloadandsavefunctions. To prevent excessive compile times, these functions are defined in a pure Python module, and the code is reorganized into a package to make this possible.Also, the
PointCloudconstructor was pimped to take a list, array or integer argument for initialization. I found that more Pythonic than the current "construct, then fill" idiom.The first four commits are actually the ones from #30; I wanted to avoid merge conflicts with that PR.