Clean and publish

.travis.yml

@@ -0,0 +1,52 @@
+dist: trusty
+language: python
+matrix:
+    include:
+        - python: 3.4
+          env: NUMPY=1.10
+        - python: 3.5
+          env: NUMPY=1.11 RUN_COVERAGE=yes
+        - python: 3.6
+          env: NUMPY=1.13
+      # - os: osx
+      #   python: 3.6
+      #   env: NUMPY=1.12 BUILD_DOC=yes
+
+branches:
+    only:
+        - master
+      # - travis
+
+before_install:
+    #### Install Miniconda ####
+    - unamestr=`uname`
+    - if [[ "$unamestr" == 'Linux' ]]; then
+        wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh;
+      elif [[ "$unamestr" == 'Darwin' ]]; then
+        wget https://repo.continuum.io/miniconda/Miniconda3-latest-MacOSX-x86_64.sh -O miniconda.sh;
+      else
+        echo Error;
+      fi
+    - chmod +x miniconda.sh
+    - ./miniconda.sh -b
+    - export PATH=$HOME/miniconda3/bin:$PATH
+    - conda config --set always_yes yes --set changeps1 no
+    - conda update -q conda
+    # Useful for debugging any issues with conda
+    - conda info -a
+    - conda create -q -n travis python=$TRAVIS_PYTHON_VERSION numpy=$NUMPY pytest cython
+    - source activate travis
+    - if [ "$RUN_COVERAGE" == "yes" ]; then pip install coveralls pytest-cov -q; fi
+
+install:
+    - pip install .
+
+script:
+    - if [ "$RUN_COVERAGE" == "yes" ]; then
+        py.test test/ --cov;
+      else
+        py.test test/;
+      fi
+
+after_success:
+    - if [ "$RUN_COVERAGE" == "yes" ]; then coveralls; fi

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2017, Jacob Zhong
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

TODO.md

@@ -1,6 +1,6 @@
 - [ ] Add unit tests and tests
 - [ ] Implement official test codes
-- [ ] Add conversion between numpy array and Eigen objects
+- [x] Add conversion between numpy array and Eigen objects
 - [ ] Migrate original implementations of pypcl
 - [ ] Fix TODOs in the code
 - [ ] Instantiate template classes to given point-type (e.g. PointXYZ)

pcl/CMakeLists.txt

@@ -19,7 +19,7 @@ python_extension_module(PointField)
 install(TARGETS PointField LIBRARY DESTINATION pcl)
 
 add_cython_target(PointCloud CXX)
-add_library(PointCloud MODULE ${PointCloud} PointCloud_Impl.cxx)
+add_library(PointCloud MODULE ${PointCloud})
 target_link_libraries(PointCloud ${PCL_LIBRARIES})
 python_extension_module(PointCloud)
 install(TARGETS PointCloud LIBRARY DESTINATION pcl)

pcl/PointCloud.pxd

@@ -13,8 +13,3 @@ cdef public class PointCloud[object CyPointCloud, type CyPointCloud_py]:
     cdef Quaternionf _orientation
     cdef string _ptype
     cdef PCLPointCloud2* ptr(self)
-
-cdef extern from "PointCloud.hpp" namespace "pcl":
-    cdef cppclass PointCloudFused
-    void CyTemplatize(PointCloud input, const PointCloudFused &output)
-    void CyInstantiate(PointCloud output, PointCloudFused &input)

pcl/PointCloud.pyx

@@ -243,13 +243,23 @@ cdef public class PointCloud[object CyPointCloud, type CyPointCloud_py]:
         def __get__(self): 
             return [field.name.decode('ascii') for field in self.ptr().fields]
     property sensor_orientation:
-        ''' Sensor acquisition pose (rotation). '''
+        ''' Sensor acquisition pose (rotation) in quaternion (x,y,z,w). '''
         def __get__(self):
-            raise NotImplementedError()
+            cdef float *mem_ptr = self._orientation.coeffs().data()
+            cdef float[:] mem_view = <float[:4]>mem_ptr
+            cdef np.ndarray arr_raw = np.asarray(mem_view)
+            return arr_raw
+        def __set__(self, value):
+            self._orientation = Quaternionf(value[3], value[0], value[1], value[2])
     property sensor_origin:
         ''' Sensor acquisition pose (origin/translation). '''
         def __get__(self):
-            raise NotImplementedError()
+            cdef float *mem_ptr = self._origin.data()
+            cdef float[:] mem_view = <float[:3]>mem_ptr
+            cdef np.ndarray arr_raw = np.asarray(mem_view)
+            return arr_raw
+        def __set__(self, value):
+            self._origin = Vector4f(value[0], value[1], value[2], 0)
 
     property xyz:
         '''
@@ -291,6 +301,8 @@ cdef public class PointCloud[object CyPointCloud, type CyPointCloud_py]:
         '''
         Get whether the point cloud is organized
         '''
+        def __get__(self):
+            return self.height > 1
 
     def __len__(self):
         return self.ptr().width * self.ptr().height

pcl/_eigen.pxd

@@ -1,24 +1,18 @@
-# bindings in the package will be finally combined into eigency
-# from eigency.core cimport *
+# bindings in the package could be finally combined into eigency
 
 cdef extern from "Eigen/Eigen" namespace "Eigen" nogil:
     cdef cppclass Vector4f:
         Vector4f() except +
-        Vector4f(float c0, float c1, float c2, float c3) except + 
+        Vector4f(float, float, float, float) except + 
         float *data()
-        float& element "operator()"(int row, int col)
-
+        float& element "operator()"(int index)
         @staticmethod
         Vector4f Zero()
 
     cdef cppclass Quaternionf:
         Quaternionf()
-        Quaternionf(float, float, float, float)
-        float w()
-        float x()
-        float y()
-        float z()
-
+        Quaternionf(float w, float x, float y, float z)
+        Vector4f& coeffs()
         @staticmethod
         Quaternionf Identity()
 

setup.py

@@ -7,11 +7,26 @@
 
 setup(
     name="PyPCL",
-    version="0.1.1",
-    description="Minial PCL Binding",
+    version="0.1.2",
+    description="Cython bindings of Point Cloud Library (PCL) ",
+    long_description='(see project homepage)',
     author='Jacob Zhong',
-    license="MIT",
+    author_email='[email protected]',
+    url='https://github.com/cmpute/pypcl',
+    download_url='https://github.com/cmpute/pypcl/archive/master.zip',
+    license='BSD-3-Clause',
     packages=['pcl'],
     package_data={'pcl':['*.pxd', '*/*.pxd', '__init__.pxd']},
-    install_requires=['cython', 'eigency'],
+    install_requires=['cython', 'scikit-build'],
+    extras_require={'test': ['pytest']},
+    classifiers=[
+        'Programming Language :: C++',
+        'Programming Language :: Cython',
+        'Programming Language :: Python :: 3',
+        'License :: OSI Approved :: BSD License',
+        'Operating System :: OS Independent',
+        'Development Status :: 2 - Pre-Alpha',
+        'Topic :: Scientific/Engineering'
+    ],
+    keywords=['pcl', 'pointcloud', 'numpy', 'cython', 'binding'],
 )

test/test_pointcloud.py

@@ -30,3 +30,15 @@ def test_point_type(self):
         cloud = pcl.PointCloud([(1,2,3,255),(2,3,4,255)], 'xyzrgb')
         assert len(cloud) == 2
         assert cloud.names == ['x', 'y', 'z', 'rgb']
+
+    def test_origin(self):
+        cloud = pcl.PointCloud([(1,2,3),(2,3,4)])
+        assert np.all(cloud.sensor_origin == np.zeros(3))
+        cloud.sensor_origin = [1, 2, 3]
+        assert np.all(cloud.sensor_origin == np.array([1,2,3]))
+
+    def test_orientation(self):
+        cloud = pcl.PointCloud([(1,2,3),(2,3,4)])
+        assert np.all(cloud.sensor_orientation == np.array([0,0,0,1]))
+        cloud.sensor_orientation = [1, 2, 3, 1]
+        assert np.all(cloud.sensor_orientation == np.array([1,2,3,1]))