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Added filter_floor and adjusted default values.

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This commit is contained in:
matlabbe
2021-10-29 13:58:00 -04:00
parent 0ab5a8f43e
commit 2ad334df90
1 changed files with 37 additions and 5 deletions
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tools/Export/main.cpp
+37 -5
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@@ -115,7 +115,8 @@ void showUsage()
" --ymax # Maximum range on Y axis to keep nodes to export.\n"
" --zmin # Minimum range on Z axis to keep nodes to export.\n"
" --zmax # Maximum range on Z axis to keep nodes to export.\n"
" --filter_ceiling # Filter points over a custom height (dafault 2 m, 0=disabled).\n"
" --filter_ceiling # Filter points over a custom height (default 0 m, 0=disabled).\n"
" --filter_floor # Filter points below a custom height (default 0 m, 0=disabled).\n"
"\n%s", Parameters::showUsage());
;
@@ -179,7 +180,8 @@ int main(int argc, char * argv[])
std::string outputName;
std::string outputDir;
cv::Vec3f min, max;
float filter_ceiling;
float filter_ceiling = 0.0f;
float filter_floor = 0.0f;
for(int i=1; i<argc; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
@@ -665,6 +667,28 @@ int main(int argc, char * argv[])
if(i<argc-1)
{
filter_ceiling = uStr2Float(argv[i]);
if(filter_floor!=0.0f && filter_ceiling != 0.0f && filter_ceiling<filter_floor)
{
printf("Option --filter_ceiling (%f) should be higher than --filter_floor option (%f)!\n", filter_ceiling, filter_floor);
showUsage();
}
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--filter_floor") == 0)
{
++i;
if(i<argc-1)
{
filter_floor = uStr2Float(argv[i]);
if(filter_floor!=0.0f && filter_ceiling != 0.0f && filter_ceiling<filter_floor)
{
printf("Option --filter_ceiling (%f) should be higher than --filter_floor option (%f)!\n", filter_ceiling, filter_floor);
showUsage();
}
}
else
{
@@ -1068,10 +1092,18 @@ int main(int argc, char * argv[])
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudToExport = mergedClouds;
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIToExport = mergedCloudsI;
if(filter_ceiling != 0.0)
if(filter_ceiling != 0.0 || filter_floor != 0.0f)
{
cloudToExport = util3d::passThrough(cloudToExport, "z", -1, filter_ceiling);
cloudIToExport = util3d::passThrough(cloudIToExport, "z", -1, filter_ceiling);
printf("Passthrough filtering of the assembled cloud along z axis... (min=%f, max=%f, %d points)\n", filter_floor, filter_ceiling, !cloudToExport->empty()?(int)cloudToExport->size():(int)cloudIToExport->size());
if(!cloudToExport->empty())
{
cloudToExport = util3d::passThrough(cloudToExport, "z", filter_floor!=0.0f?filter_floor:(float)std::numeric_limits<int>::min(), filter_ceiling!=0.0f?filter_ceiling:(float)std::numeric_limits<int>::max());
}
if(!cloudIToExport->empty())
{
cloudIToExport = util3d::passThrough(cloudIToExport, "z", filter_floor!=0.0f?filter_floor:(float)std::numeric_limits<int>::min(), filter_ceiling!=0.0f?filter_ceiling:(float)std::numeric_limits<int>::max());
}
printf("Passthrough filtering of the assembled cloud alog z axis.... done! (%fs, %d points)\n", timer.ticks(), !cloudToExport->empty()?(int)cloudToExport->size():(int)cloudIToExport->size());
}
if(voxelSize>0.0f)