Remove ConditionalRemoval API and add deprecation notice

4 files changed, 36 insertions, 5 deletions

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)