#! /usr/bin/env python

from dynamic_reconfigure.parameter_generator_catkin import str_t
from dynamic_reconfigure.parameter_generator_catkin import double_t
from dynamic_reconfigure.parameter_generator_catkin import bool_t

# set up parameters that we care about
PACKAGE = 'pcl_ros'


def add_common_parameters(gen):
    # def add (self, name, paramtype, level, description, default = None, min = None,
    # max = None, edit_method = ""):
    gen.add("filter_field_name", str_t, 0, "The field name used for filtering", "z")
    gen.add("filter_limit_min", double_t, 0,
            "The minimum allowed field value a point will be considered from",
            0.0, -100000.0, 100000.0)
    gen.add("filter_limit_max", double_t, 0,
            "The maximum allowed field value a point will be considered from",
            1.0, -100000.0, 100000.0)
    gen.add("filter_limit_negative", bool_t, 0,
            ("Set to true if we want to return the data outside "
             "[filter_limit_min; filter_limit_max]."),
            False)
    gen.add("keep_organized", bool_t, 0,
            ("Set whether the filtered points should be kept and set to NaN, "
             "or removed from the PointCloud, thus potentially breaking its organized structure."),
            False)
    gen.add("input_frame", str_t, 0,
            ("The input TF frame the data should be transformed into before processing, "
             "if input.header.frame_id is different."),
            "")
    gen.add("output_frame", str_t, 0,
            ("The output TF frame the data should be transformed into after processing, "
             "if input.header.frame_id is different."),
            "")