文件列表:

CMakeLists.txt (96, 2019-11-11)
CSFDemo (0, 2019-11-11)
CSFDemo\CMakeLists.txt (235, 2019-11-11)
CSFDemo\CSF1.png (391218, 2019-11-11)
CSFDemo\CSF2.png (462606, 2019-11-11)
CSFDemo\CSFDemo.cpp (3128, 2019-11-11)
CSFDemo\Cfg.h (1602, 2019-11-11)
LICENSE.txt (11357, 2019-11-11)
matlab (0, 2019-11-11)
matlab\csf_filtering.cpp (2624, 2019-11-11)
matlab\demo_mex.m (1991, 2019-11-11)
matlab\demo_with_toolbox.m (3369, 2019-11-11)
matlab\demo_without_toolbox.m (3565, 2019-11-11)
matlab\sample.ply (2400216, 2019-11-11)
matlab\sample.txt (4500000, 2019-11-11)
python (0, 2019-11-11)
python\CSF.i (293, 2019-11-11)
python\CSF.py (17277, 2019-11-11)
python\CSF_wrap.cxx (504704, 2019-11-11)
python\Makefile (209, 2019-11-11)
python\PrecompiledForAnaconda2 (0, 2019-11-11)
python\PrecompiledForAnaconda2\CSF-1.1-py2.7.egg-info (217, 2019-11-11)
python\PrecompiledForAnaconda2\CSF.py (16748, 2019-11-11)
python\PrecompiledForAnaconda2\CSF.pyc (30774, 2019-11-11)
python\PrecompiledForAnaconda2\_CSF.pyd (299520, 2019-11-11)
python\notes.txt (289, 2019-11-11)
python\setup.py (965, 2019-11-11)
src (0, 2019-11-11)
src\CMakeLists.txt (584, 2019-11-11)
src\CSF.cpp (5879, 2019-11-11)
src\CSF.h (4479, 2019-11-11)
src\Cloth.cpp (15372, 2019-11-11)
src\Cloth.h (4626, 2019-11-11)
src\Constraint.cpp (1870, 2019-11-11)
src\Constraint.h (1802, 2019-11-11)
src\Particle.cpp (2519, 2019-11-11)
... ...

  # CSF Airborne LiDAR filtering method based on Cloth Simulation. This is the code for the article: W. Zhang, J. Qi*, P. Wan, H. Wang, D. Xie, X. Wang, and G. Yan, “An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” Remote Sens., vol. 8, no. 6, p. 501, 2016. (http://www.mdpi.com/2072-4292/8/6/501/htm) **New feature has been implemented:** Now, We has wrapped a Python interface for CSF with swig. It is simpler to use now. This new feature can make CSF easier to be embeded into a large project. For example, it can work with Laspy (https://github.com/laspy/laspy). What you do is just read a point cloud into a python 2D list, and pass it to CSF. The following example shows how to use it with laspy. ```python # coding: utf-8 import laspy import CSF import numpy as np inFile = laspy.file.File(r"in.las", mode='r') # read a las file points = inFile.points xyz = np.vstack((inFile.x, inFile.y, inFile.z)).transpose() # extract x, y, z and put into a list csf = CSF.CSF() # prameter settings csf.params.bSloopSmooth = False csf.params.cloth_resolution = 0.5 # more details about parameter: http://ramm.bnu.edu.cn/projects/CSF/download/ csf.setPointCloud(xyz) ground = CSF.VecInt() # a list to indicate the index of ground points after calculation non_ground = CSF.VecInt() # a list to indicate the index of non-ground points after calculation csf.do_filtering(ground, non_ground) # do actual filtering. outFile = laspy.file.File(r"ground.las", mode='w', header=inFile.header) outFile.points = points[ground] # extract ground points, and save it to a las file. outFile.close() # do not forget this ``` **Reading data from txt file:** If the lidar data is stored in txt file (x y z for each line), it can also be imported directly. ```python import CSF csf = CSF.CSF() csf.readPointsFromFile('samp52.txt') csf.params.bSloopSmooth = False csf.params.cloth_resolution = 0.5 ground = CSF.VecInt() # a list to indicate the index of ground points after calculation non_ground = CSF.VecInt() # a list to indicate the index of non-ground points after calculation csf.do_filtering(ground, non_ground) # do actual filtering. csf.savePoints(ground,"ground.txt") ``` ### How to use CSF in Python Download the source code. under python folder: ```python python setup.py build python setup.py install ``` ### How to use CSF in Matlab see more details from file `demo_mex.m` under matlab folder. ### How to use CSF in R Thanks to the nice work of @Jean-Romain, through the collaboration, the CSF has been made as a R package, the details can be found in the [RCSF repository](https://github.com/Jean-Romain/RCSF). This package can be used easily with the [lidR package](https://github.com/Jean-Romain/lidR): ```r library(lidR) las <- readLAS("file.las") las <- lasground(las, csf()) ``` ### How to use CSF in C++ Now, CSF is built by CMake, it produces a static library, which can be used by other c++ programs. #### linux To build the library, run: ```bash cmake . make sudo make install ``` #### Windows You can use CMake GUI to generate visual studio solution file. ### Binary Version For binary release version, it can be downloaded at: http://ramm.bnu.edu.cn/projects/CSF/download/ Note: This code has been changed a lot since the publication of the corresponding paper. A lot of optimizations have been made. We are still working on it, and wish it could be better. ### Cloudcompare Pulgin At last, if you are interested in Cloudcompare, there is a good news. our method has been implemented as a Cloudcompare plugin, you can refer to : https://github.com/cloudcompare/trunk ### License CSF is maintained and developed by Jianbo QI. It is now released under Apache 2.0.

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