CSF.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "Cloth.h"
#include "wlPointCloud.h"
 
// system
#include <string>
#include <vector>
 
class ecvMainAppInterface;
class QWidget;
class ccMesh;
 
class CSF {
public:
    CSF(wl::PointCloud& cloud);
    virtual ~CSF();
 
    // input PC from files
    bool readPointsFromFile(std::string filename);
 
    // save the ground points to file
    void saveGroundPoints(const std::vector<int>& grp, std::string path = "");
    void saveOffGroundPoints(const std::vector<int>& grp,
                             std::string path = "");
 
    // The main program: Do filtering
    bool do_filtering(std::vector<int>& groundIndexes,
                      std::vector<int>& offGroundIndexes,
                      bool exportClothMesh,
                      ccMesh*& clothMesh,
                      ecvMainAppInterface* app = 0,
                      QWidget* parent = 0);
 
private:
    wl::PointCloud& point_cloud;
 
public:
    struct Parameters {
        // parameters
        int k_nearest_points;
 
        bool bSloopSmooth;
 
        double time_step;
 
        double class_threshold;
 
        double cloth_resolution;
 
        int rigidness;
 
        int iterations;
    };
 
    Parameters params;
};