copy constructor for point clouds

larsmans · larsmans · commit 58531564d961 · 2014-10-23T14:43:59.000+02:00
diff --git a/pcl/_pcl.pyx b/pcl/_pcl.pyx
@@ -135,6 +135,8 @@ cdef class PointCloud:
     To load a point cloud from disk, use pcl.load.
     """
     def __cinit__(self, init=None):
+        cdef BasePointCloud other
+
         sp_assign(self.thisptr_shared, new cpp.PointCloud[cpp.PointXYZ]())
 
         if init is None:
@@ -145,6 +147,9 @@ cdef class PointCloud:
             self.from_array(init)
         elif isinstance(init, Sequence):
             self.from_list(init)
+        elif isinstance(init, type(self)):
+            other = init
+            self.thisptr()[0] = other.thisptr()[0]
         else:
             raise TypeError("Can't initialize a PointCloud from a %s"
                             % type(init))
diff --git a/tests/test.py b/tests/test.py
@@ -148,6 +148,14 @@ def test_pcd_read():
     assert_array_equal(p.sensor_origin,
                        np.array([.1, 0, .5, 0], dtype=np.float32))
 
+
+def test_copy():
+    a = np.random.randn(100, 3).astype(np.float32)
+    p1 = pcl.PointCloud(a)
+    p2 = pcl.PointCloud(p1)
+    assert_array_equal(p2.to_array(), a)
+
+
 SEGCYLMOD = [0.0552167, 0.0547035, 0.757707, -0.0270852, -4.41026, -2.88995, 0.0387603]
 SEGCYLIN = 11462
 
