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return processed point cloud

This commit is contained in:
k.koide 2025-04-27 21:21:54 +09:00
parent 2c5e9e6092
commit b39b96dbc8
1 changed files with 6 additions and 2 deletions
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8
src/python/preprocess.cpp
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@ -107,7 +107,7 @@ void define_preprocess(py::module& m) {
// estimate_normals // estimate_normals
m.def( m.def(
"estimate_normals", "estimate_normals",
[](PointCloud::Ptr points, std::shared_ptr<KdTree<PointCloud>> tree, int num_neighbors, int num_threads) { [](PointCloud::Ptr points, std::shared_ptr<KdTree<PointCloud>> tree, int num_neighbors, int num_threads) -> std::shared_ptr<PointCloud> {
if (tree == nullptr) { if (tree == nullptr) {
tree = std::make_shared<KdTree<PointCloud>>(points, KdTreeBuilderOMP(num_threads)); tree = std::make_shared<KdTree<PointCloud>>(points, KdTreeBuilderOMP(num_threads));
} }
@ -117,6 +117,8 @@ void define_preprocess(py::module& m) {
} else { } else {
estimate_normals_omp(*points, *tree, num_neighbors, num_threads); estimate_normals_omp(*points, *tree, num_neighbors, num_threads);
} }
return points;
}, },
py::arg("points"), py::arg("points"),
py::arg("tree") = nullptr, py::arg("tree") = nullptr,
@ -141,7 +143,7 @@ void define_preprocess(py::module& m) {
// estimate_covariances // estimate_covariances
m.def( m.def(
"estimate_covariances", "estimate_covariances",
[](PointCloud::Ptr points, std::shared_ptr<KdTree<PointCloud>> tree, int num_neighbors, int num_threads) { [](PointCloud::Ptr points, std::shared_ptr<KdTree<PointCloud>> tree, int num_neighbors, int num_threads) -> std::shared_ptr<PointCloud> {
if (tree == nullptr) { if (tree == nullptr) {
tree = std::make_shared<KdTree<PointCloud>>(points, KdTreeBuilderOMP(num_threads)); tree = std::make_shared<KdTree<PointCloud>>(points, KdTreeBuilderOMP(num_threads));
} }
@ -151,6 +153,8 @@ void define_preprocess(py::module& m) {
} else { } else {
estimate_covariances_omp(*points, *tree, num_neighbors, num_threads); estimate_covariances_omp(*points, *tree, num_neighbors, num_threads);
} }
return points;
}, },
py::arg("points"), py::arg("points"),
py::arg("tree") = nullptr, py::arg("tree") = nullptr,