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# -*- coding: utf-8 -*-
from libcpp.vector cimport vector
from libcpp cimport bool
cimport pcl_defs as cpp
cimport pcl_filters_180 as pclfil
cimport eigen as eigen3
from libcpp.memory cimport shared_ptr
cdef class ConditionalRemoval:
"""
Must be constructed from the reference point cloud, which is copied, so
changed to pc are not reflected in ConditionalRemoval(pc).
"""
cdef pclfil.ConditionalRemoval_t *me
def __cinit__(self, ConditionAnd cond):
# self.me = new pclfil.ConditionalRemoval_t(<pclfil.ConditionBase_t*>cond.me)
# direct - NG
from warnings import warn
warn("constructor with condition is deprecated, use setCondition()",
DeprecationWarning)
self.me = new pclfil.ConditionalRemoval_t()
self.me.setCondition(<pclfil.ConditionBasePtr_t>cond.me)
def __cinit__(self):
self.me = new pclfil.ConditionalRemoval_t()
# def __dealloc__(self):
# # MemoryAccessError
# # del self.me
# self.me
def set_KeepOrganized(self, flag):
self.me.setKeepOrganized(flag)
def set_Condition(self, ConditionAnd cond):
self.me.setCondition(<pclfil.ConditionBasePtr_t>cond.me)
def filter(self):
"""
Apply the filter according to the previously set parameters and return
a new pointcloud
"""
cdef PointCloud pc = PointCloud()
self.me.filter(pc.thisptr()[0])
return pc
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