From: Jochen Sprickerhof Date: Sun, 9 Dec 2018 18:38:40 +0100 Subject: Remove ConditionalRemoval API and add deprecation notice --- examples/official/Filtering/remove_outliers.py | 3 ++- pcl/pcl_filters_180.pxd | 4 ---- pcl/pxi/Filters/ConditionalRemoval_180.pxi | 12 +++++++++++- pcl/pxi/PointCloud_PointXYZ_180.pxi | 13 +++++++++++++ pcl/pxi/PointCloud_SensorPoint.pxi | 12 ++++++++++++ tests/test_filters.py | 3 ++- 6 files changed, 40 insertions(+), 7 deletions(-) diff --git a/examples/official/Filtering/remove_outliers.py b/examples/official/Filtering/remove_outliers.py index b586737..fd1da1a 100644 --- a/examples/official/Filtering/remove_outliers.py +++ b/examples/official/Filtering/remove_outliers.py @@ -86,7 +86,8 @@ elif args.Removal == 'Condition': range_cond.add_Comparison2('z', pcl.CythonCompareOp_Type.LT, 0.8) # build the filter - condrem = cloud.make_ConditionalRemoval(range_cond) + condrem = cloud.make_ConditionalRemoval() + condrem.set_Condition(range_cond) condrem.set_KeepOrganized(True) # apply filter cloud_filtered = condrem.filter () diff --git a/pcl/pcl_filters_180.pxd b/pcl/pcl_filters_180.pxd index c272819..cb6f075 100644 --- a/pcl/pcl_filters_180.pxd +++ b/pcl/pcl_filters_180.pxd @@ -616,10 +616,6 @@ cdef extern from "pcl/filters/conditional_removal.h" namespace "pcl": ConditionalRemoval(int) # ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices = false) # python invalid default param ? - ConditionalRemoval (ConditionBasePtr_t condition, bool extract_removed_indices = false) - ConditionalRemoval (ConditionBase_PointXYZI_Ptr_t condition, bool extract_removed_indices = false) - ConditionalRemoval (ConditionBase_PointXYZRGB_Ptr_t condition, bool extract_removed_indices = false) - ConditionalRemoval (ConditionBase_PointXYZRGBA_Ptr_t condition, bool extract_removed_indices = false) # [with PointT = pcl::PointXYZ, pcl::ConditionalRemoval::ConditionBasePtr = boost::shared_ptr >] # is deprecated (declared at /usr/include/pcl-1.7/pcl/filters/conditional_removal.h:632): ConditionalRemoval(ConditionBasePtr condition, bool extract_removed_indices = false) is deprecated, # please use the setCondition (ConditionBasePtr condition) function instead. [-Wdeprecated-declarations] diff --git a/pcl/pxi/Filters/ConditionalRemoval_180.pxi b/pcl/pxi/Filters/ConditionalRemoval_180.pxi index 88a5e6d..5e25b37 100644 --- a/pcl/pxi/Filters/ConditionalRemoval_180.pxi +++ b/pcl/pxi/Filters/ConditionalRemoval_180.pxi @@ -19,7 +19,14 @@ cdef class ConditionalRemoval: def __cinit__(self, ConditionAnd cond): # self.me = new pclfil.ConditionalRemoval_t(cond.me) # direct - NG - self.me = new pclfil.ConditionalRemoval_t(cond.me) + from warnings import warn + warn("constructor with condition is deprecated, use setCondition()", + DeprecationWarning) + self.me = new pclfil.ConditionalRemoval_t() + self.me.setCondition(cond.me) + + def __cinit__(self): + self.me = new pclfil.ConditionalRemoval_t() # def __dealloc__(self): # # MemoryAccessError @@ -29,6 +36,9 @@ cdef class ConditionalRemoval: def set_KeepOrganized(self, flag): self.me.setKeepOrganized(flag) + def set_Condition(self, ConditionAnd cond): + self.me.setCondition(cond.me) + def filter(self): """ Apply the filter according to the previously set parameters and return diff --git a/pcl/pxi/PointCloud_PointXYZ_180.pxi b/pcl/pxi/PointCloud_PointXYZ_180.pxi index 7956c5c..f386e9c 100644 --- a/pcl/pxi/PointCloud_PointXYZ_180.pxi +++ b/pcl/pxi/PointCloud_PointXYZ_180.pxi @@ -468,10 +468,23 @@ cdef class PointCloud: cdef pclfil.ConditionAnd_t *cCondAnd = condAnd.me return condAnd + def make_ConditionalRemoval(self): + """ + Return a pcl.ConditionalRemoval object with this object set as the input-cloud + """ + condRemoval = ConditionalRemoval() + cdef pclfil.ConditionalRemoval_t *cCondRemoval = condRemoval.me + cCondRemoval.setInputCloud( self.thisptr_shared) + return condRemoval + def make_ConditionalRemoval(self, ConditionAnd range_conf): """ Return a pcl.ConditionalRemoval object with this object set as the input-cloud """ + from warnings import warn + warn("constructor with condition is deprecated, use setCondition()", + DeprecationWarning) + condRemoval = ConditionalRemoval(range_conf) cdef pclfil.ConditionalRemoval_t *cCondRemoval = condRemoval.me cCondRemoval.setInputCloud( self.thisptr_shared) diff --git a/pcl/pxi/PointCloud_SensorPoint.pxi b/pcl/pxi/PointCloud_SensorPoint.pxi index e26fca6..b8a5d79 100644 --- a/pcl/pxi/PointCloud_SensorPoint.pxi +++ b/pcl/pxi/PointCloud_SensorPoint.pxi @@ -466,10 +466,22 @@ cdef class PointCloud2: cdef pclfil.ConditionAnd_t *cCondAnd = condAnd.me return condAnd + def make_ConditionalRemoval(self): + """ + Return a pcl.ConditionalRemoval object with this object set as the input-cloud + """ + condRemoval = ConditionalRemoval() + cdef pclfil.ConditionalRemoval_t *cCondRemoval = condRemoval.me + cCondRemoval.setInputCloud( self.thisptr_shared) + return condRemoval + def make_ConditionalRemoval(self, ConditionAnd range_conf): """ Return a pcl.ConditionalRemoval object with this object set as the input-cloud """ + warn("constructor with condition is deprecated, use setCondition()", + DeprecationWarning) + condRemoval = ConditionalRemoval(range_conf) cdef pclfil.ConditionalRemoval_t *cCondRemoval = condRemoval.me cCondRemoval.setInputCloud( self.thisptr_shared) diff --git a/tests/test_filters.py b/tests/test_filters.py index 3c0c605..db40671 100644 --- a/tests/test_filters.py +++ b/tests/test_filters.py @@ -62,7 +62,8 @@ class TestConditionalRemoval(unittest.TestCase): # self.p = pcl.load("tests" + os.path.sep + "flydracyl.pcd") # self.p = pcl.PointCloud(_data) self.p = pcl.PointCloud(_data2) - self.fil = self.p.make_ConditionalRemoval(pcl.ConditionAnd()) + self.fil = self.p.make_ConditionalRemoval() + self.fil.set_Condition(pcl.ConditionAnd()) # result # nan nan nan