1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
|
#pragma once
//#######################################################################################
//# #
//# CLOUDCOMPARE PLUGIN: qCSF #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# Please cite the following paper, If you use this plugin in your work. #
//# #
//# Zhang W, Qi J, Wan P, Wang H, Xie D, Wang X, Yan G. An Easy-to-Use Airborne LiDAR #
//# Data Filtering Method Based on Cloth Simulation. Remote Sensing. 2016; 8(6):501. #
//# #
//# Copyright #
//# RAMM laboratory, School of Geography, Beijing Normal University #
//# (http://ramm.bnu.edu.cn/) #
//# #
//# Wuming Zhang; Jianbo Qi; Peng Wan; Hongtao Wang #
//# #
//# contact us: 2009zwm@gmail.com; wpqjbzwm@126.com #
//# #
//#######################################################################################
#include "wlPointCloud.h"
#include "Cloth.h"
//system
#include <vector>
class ccMainAppInterface;
class ccPointCloud;
class QWidget;
class ccMesh;
class CSF
{
public:
//! Parameters
struct Parameters
{
int k_nearest_points = 1;
bool smoothSlope = true;
double time_step = 0.65;
double class_threshold = 0.5;
double cloth_resolution = 1.0;
int rigidness = 3;
int iterations = 500;
// constants
const double clothYHeight = 0.05; // origin cloth height
const int clothBuffer = 2; // cloth buffer (grid margin size)
const double gravity = 0.2;
};
//! Main filtering routine
static bool Apply( const wl::PointCloud& csfPointCloud,
const Parameters& params,
std::vector<bool>& isGround,
bool exportClothMesh,
ccMesh* &clothMesh,
ccMainAppInterface* app = nullptr,
QWidget* parent = nullptr);
//! Shortcut for CloudCompare
static bool Apply( ccPointCloud* cloud,
const Parameters& params,
ccPointCloud*& groundCloud,
ccPointCloud*& offGroundCloud,
bool exportClothMesh,
ccMesh*& clothMesh,
ccMainAppInterface* app = nullptr);
};
|
