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From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
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<PointT>::ConditionBasePtr = boost::shared_ptr<pcl::ConditionBase<pcl::PointXYZ> >]
# 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(<pclfil.ConditionBase_t*>cond.me)
# direct - NG
- self.me = new pclfil.ConditionalRemoval_t(<pclfil.ConditionBasePtr_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(<pclfil.ConditionBasePtr_t>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(<pclfil.ConditionBasePtr_t>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 = <pclfil.ConditionAnd_t *>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 = <pclfil.ConditionalRemoval_t *>condRemoval.me
+ cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> 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 = <pclfil.ConditionalRemoval_t *>condRemoval.me
cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> 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 = <pclfil.ConditionAnd_t *>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 = <pclfil.ConditionalRemoval_t *>condRemoval.me
+ cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud2[cpp.PointXYZ]]> 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 = <pclfil.ConditionalRemoval_t *>condRemoval.me
cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud2[cpp.PointXYZ]]> 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
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