Merge pull request strawlab#62 from larsmans/outlierfilter-getters-setters

nzjrs · nzjrs · commit 2e46583925ba · 2015-01-20T16:48:20.000+01:00
Getters and setters for StatisticalOutlierRemovalFilter
diff --git a/pcl/_pcl.pyx b/pcl/_pcl.pyx
@@ -452,6 +452,24 @@ cdef class StatisticalOutlierRemovalFilter:
     def __dealloc__(self):
         del self.me
 
+    property mean_k:
+        def __get__(self):
+            return self.me.getMeanK()
+        def __set__(self, int k):
+            self.me.setMeanK(k)
+
+    property negative:
+        def __get__(self):
+            return self.me.getNegative()
+        def __set__(self, bool neg):
+            self.me.setNegative(neg)
+
+    property stddev_mul_thresh:
+        def __get__(self):
+            return self.me.getStddevMulThresh()
+        def __set__(self, double thresh):
+            self.me.setStddevMulThresh(thresh)
+
     def set_mean_k(self, int k):
         """
         Set the number of points (k) to use for mean distance estimation. 
diff --git a/pcl/pcl_defs.pxd b/pcl/pcl_defs.pxd
@@ -192,8 +192,11 @@ ctypedef shared_ptr[PointCloud[PointXYZ]] PointCloudPtr_t
 cdef extern from "pcl/filters/statistical_outlier_removal.h" namespace "pcl":
     cdef cppclass StatisticalOutlierRemoval[T]:
         StatisticalOutlierRemoval()
+        int getMeanK()
         void setMeanK (int nr_k)
+        double getStddevMulThresh()
         void setStddevMulThresh (double std_mul)
+        bool getNegative()
         void setNegative (bool negative)
         void setInputCloud (shared_ptr[PointCloud[T]])
         void filter(PointCloud[T] &c)
diff --git a/tests/test.py b/tests/test.py
@@ -272,15 +272,19 @@ def _tneg(self, c):
     def testFilterPos(self):
         fil = self.p.make_statistical_outlier_filter()
         fil.set_mean_k (50)
+        self.assertEqual(fil.k, 50)
         fil.set_std_dev_mul_thresh (1.0)
+        self.assertEqual(fil.stddev_mul_thresh, 1.0)
         c = fil.filter()
         self._tpos(c)
 
     def testFilterNeg(self):
         fil = self.p.make_statistical_outlier_filter()
         fil.set_mean_k (50)
         fil.set_std_dev_mul_thresh (1.0)
+        self.assertEqual(fil.negative, False)
         fil.set_negative(True)
+        self.assertEqual(fil.negative, True)
         c = fil.filter()
         self._tneg(c)
 
