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Export CLI: added noise_radius and noise_k options to filter noise

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matlabbe
2021-05-10 14:45:35 -04:00
parent b4f11e18f3
commit 854a52c6a5
3 changed files with 58 additions and 0 deletions
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40
tools/Export/main.cpp
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@@ -93,6 +93,8 @@ void showUsage()
" --max_range # Maximum range of the created clouds (default 4 m, 0 m with --scan).\n"
" --decimation # Depth image decimation before creating the clouds (default 4, 1 with --scan).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m, 0 m with --scan).\n"
" --noise_radius # Noise filtering search radius (default 0, 0=disabled).\n"
" --noise_k # Noise filtering minimum neighbors in search radius (default 5, 0=disabled)."
" --color_radius # Radius used to colorize polygons (default 0.05 m, 0 m with --scan). Set 0 for nearest color.\n"
" --scan Use laser scan for the point cloud.\n"
" --save_in_db Save resulting assembled point cloud or mesh in the database.\n"
@@ -132,6 +134,8 @@ int main(int argc, char * argv[])
int decimation = -1;
float maxRange = -1.0f;
float voxelSize = -1.0f;
float noiseRadius = 0.0f;
int noiseMinNeighbors = 5;
int textureSize = 4096;
int textureCount = 1;
int textureRange = 0;
@@ -377,6 +381,30 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--noise_radius") == 0)
{
++i;
if(i<argc-1)
{
noiseRadius = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--noise_k") == 0)
{
++i;
if(i<argc-1)
{
noiseMinNeighbors = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--color_radius") == 0)
{
++i;
@@ -673,10 +701,18 @@ int main(int argc, char * argv[])
if(scan.hasRGB())
{
cloud = util3d::laserScanToPointCloudRGB(scan, scan.localTransform());
if(noiseRadius>0.0f && noiseMinNeighbors>0)
{
indices = util3d::radiusFiltering(cloud, noiseRadius, noiseMinNeighbors);
}
}
else
{
cloudI = util3d::laserScanToPointCloudI(scan, scan.localTransform());
if(noiseRadius>0.0f && noiseMinNeighbors>0)
{
indices = util3d::radiusFiltering(cloudI, noiseRadius, noiseMinNeighbors);
}
}
}
else
@@ -688,6 +724,10 @@ int main(int argc, char * argv[])
maxRange, // maximum depth of the cloud
0.0f,
indices.get());
if(noiseRadius>0.0f && noiseMinNeighbors>0)
{
indices = util3d::radiusFiltering(cloud, indices, noiseRadius, noiseMinNeighbors);
}
}
if(exportImages && !rgb.empty())