//?======================================================================================
//?Copyright?2017?State?Key?Laboratory?of?Remote?Sensing?Science?
//?Institute?of?Remote?Sensing?Science?and?Engineering?Beijing?Normal?University

//?Licensed?under?the?Apache?License?Version?2.0?（the?“License“）;
//?you?may?not?use?this?file?except?in?compliance?with?the?License.
//?You?may?obtain?a?copy?of?the?License?at

//?????http://www.apache.org/licenses/LICENSE-2.0

//?Unless?required?by?applicable?law?or?agreed?to?in?writing?software
//?distributed?under?the?License?is?distributed?on?an?“AS?IS“?BASIS
//?WITHOUT?WARRANTIES?OR?CONDITIONS?OF?ANY?KIND?either?express?or?implied.
//?See?the?License?for?the?specific?language?governing?permissions?and
//?limitations?under?the?License.
//?======================================================================================


#include?
#include?“Cfg.h“
#include?“../src/CSF.h“?
#include?
#include?
#include?
#include?
using?namespace?std;

int?main（int?argcchar*?argv[]）
{
	//讀取文本參數，僅用于調試
	Cfg?cfg;
	string?slop_smooth;
	cfg.readConfigFile（“params.cfg“?“slop_smooth“?slop_smooth）;
	bool?ss?=?false;
	if?（slop_smooth?==?“true“?||?slop_smooth?==?“True“）
	{
		ss?=?true;
	}
	else?if?（slop_smooth?==?“false“?||?slop_smooth?==?“False“）
	{
		ss?=?false;
	}
	else{
		if?（atoi（slop_smooth.c_str（））?==?0）{
			ss?=?false;
		}
		else
		{
			ss?=?true;
		}
	}

	string?class_threshold;
	cfg.readConfigFile（“params.cfg“?“class_threshold“?class_threshold）;
	string?cloth_resolution;
	cfg.readConfigFile（“params.cfg“?“cloth_resolution“?cloth_resolution）;
	string?iterations;
	cfg.readConfigFile（“params.cfg“?“iterations“?iterations）;
	string?rigidness;
	cfg.readConfigFile（“params.cfg“?“rigidness“?rigidness）;
	string?time_step;
	cfg.readConfigFile（“params.cfg“?“time_step“?time_step）;
	string?terr_pointClouds_filepath;
	cfg.readConfigFile（“params.cfg“?“terr_pointClouds_filepath“?terr_pointClouds_filepath）;

	CSF?csf;
	//step?1?輸入點云
	csf.readPointsFromFile（terr_pointClouds_filepath）;

	clock_t?start?end;
	start?=?clock（）;

	//備注：在實際使用過程中，點云數據由主程序提供，調用函數為
	//csf.setPointCloud（pc）;//pc為PointCloud類

	//step?2?設置參數
	csf.params.bSloopSmooth?=?ss;
	csf.params.class_threshold?=?atof（class_threshold.c_str（））;
	csf.params.cloth_resolution?=?atof（cloth_resolution.c_str（））;
	csf.params.interations?=?atoi（iterations.c_str（））;
	csf.params.rigidness?=?atoi（rigidness.c_str（））;
	csf.params.time_step?=?atof（time_step.c_str（））;

	//step3?執行濾波result中儲存的是地面點的索引?
	std::vector?groundIndexes?offGroundIndexes;
	if?（argc?==?2?&&?strcmp（argv[1]?“-c“）==0）
	{
		cout?<		csf.do_filtering（groundIndexes?offGroundIndexes?true）;
	}
	else
	{
		csf.do_filtering（groundIndexes?offGroundIndexes?false）;
	}
		

	end?=?clock（）;
	double?dur?=?（double）（end?-?start）;
	printf（“Use?Time:%f\n“?（dur?/?CLOCKS_PER_SEC））;

	csf.savePoints（groundIndexes“ground.txt“）;
	csf.savePoin

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-05-30?06:29??jianboqi-CSF-b4cac09\
?????文件??????????96??2019-05-30?06:29??jianboqi-CSF-b4cac09\CMakeLists.txt
?????目錄???????????0??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\
?????文件?????????235??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\CMakeLists.txt
?????文件??????391218??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\CSF1.png
?????文件??????462606??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\CSF2.png
?????文件????????3118??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\CSFDemo.cpp
?????文件????????1727??2019-05-30?06:29??jianboqi-CSF-b4cac09\CSFDemo\Cfg.h
?????文件???????11357??2019-05-30?06:29??jianboqi-CSF-b4cac09\LICENSE.txt
?????文件????????3891??2019-05-30?06:29??jianboqi-CSF-b4cac09\README.md
?????目錄???????????0??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\
?????文件????????2624??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\csf_filtering.cpp
?????文件????????1991??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\demo_mex.m
?????文件????????3369??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\demo_with_toolbox.m
?????文件????????3565??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\demo_without_toolbox.m
?????文件????????2857??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\readme.txt
?????文件?????2400216??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\sample.ply
?????文件?????4500000??2019-05-30?06:29??jianboqi-CSF-b4cac09\matlab\sample.txt
?????目錄???????????0??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\
?????文件?????????293??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\CSF.i
?????文件???????17277??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\CSF.py
?????文件??????504704??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\CSF_wrap.cxx
?????文件?????????209??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\Makefile
?????目錄???????????0??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\
?????文件?????????217??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\CSF-1.1-py2.7.egg-info
?????文件???????16748??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\CSF.py
?????文件???????30774??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\CSF.pyc
?????文件??????299520??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\_CSF.pyd
?????文件??????????50??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\PrecompiledForAnaconda2\readme.txt
?????文件?????????289??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\notes.txt
?????文件?????????965??2019-05-30?06:29??jianboqi-CSF-b4cac09\python\setup.py
............此處省略19個文件信息