add hdiff option

CSFDemo/CSFDemo.cpp

@@ -60,6 +60,8 @@ int main(int argc,char* argv[])
 	cfg.readConfigFile("params.cfg", "time_step", time_step);
 	std::string terr_pointClouds_filepath;
 	cfg.readConfigFile("params.cfg", "terr_pointClouds_filepath", terr_pointClouds_filepath);
+	std::string height_diff_threshold;
+	cfg.readConfigFile("params.cfg", "height_diff_threshold", height_diff_threshold);
 
 	CSF csf;
 	//step 1 Input the point cloud
@@ -78,6 +80,7 @@ int main(int argc,char* argv[])
 	csf.params.interations = atoi(iterations.c_str());
 	csf.params.rigidness = atoi(rigidness.c_str());
 	csf.params.time_step = atof(time_step.c_str());
+	csf.params.height_diff_threshold = atof(height_diff_threshold.c_str());
 
 	//step3 do filtering
 	std::vector<int> groundIndexes, offGroundIndexes;

CSFDemo/params.cfg

@@ -4,4 +4,5 @@ cloth_resolution=0.5
 rigidness=3
 iterations=500
 class_threshold=0.5
-time_step=0.65
+time_step=0.65
+height_diff_threshold=0.3

python/CSF/CSF.py

@@ -555,6 +555,7 @@ class Params(object):
     cloth_resolution = property(_CSF.Params_cloth_resolution_get, _CSF.Params_cloth_resolution_set)
     rigidness = property(_CSF.Params_rigidness_get, _CSF.Params_rigidness_set)
     interations = property(_CSF.Params_interations_get, _CSF.Params_interations_set)
+    height_diff_threshold = property(_CSF.Params_height_diff_threshold_get, _CSF.Params_height_diff_threshold_set)
 
     def __init__(self):
         _CSF.Params_swiginit(self, _CSF.new_Params())

python/CSF/CSF_wrap.cxx

@@ -5614,7 +5614,7 @@ SWIG_AsVal_bool (PyObject *obj, bool *val)
     return success;
   }
 
-  /* Require the given PyArrayObject to to be Fortran ordered.  If the
+  /* Require the given PyArrayObject to be Fortran ordered.  If the
    * the PyArrayObject is already Fortran ordered, do nothing.  Else,
    * set the Fortran ordering flag and recompute the strides.
    */
@@ -14242,6 +14242,58 @@ SWIGINTERN PyObject *_wrap_Params_interations_get(PyObject *SWIGUNUSEDPARM(self)
 }
 
 
+SWIGINTERN PyObject *_wrap_Params_height_diff_threshold_set(PyObject *SWIGUNUSEDPARM(self), PyObject *args) {
+  PyObject *resultobj = 0;
+  Params *arg1 = (Params *) 0 ;
+  double arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  PyObject *swig_obj[2] ;
+
+  if (!SWIG_Python_UnpackTuple(args, "Params_height_diff_threshold_set", 2, 2, swig_obj)) SWIG_fail;
+  res1 = SWIG_ConvertPtr(swig_obj[0], &argp1,SWIGTYPE_p_Params, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Params_height_diff_threshold_set" "', argument " "1"" of type '" "Params *""'"); 
+  }
+  arg1 = reinterpret_cast< Params * >(argp1);
+  ecode2 = SWIG_AsVal_double(swig_obj[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Params_height_diff_threshold_set" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->height_diff_threshold = arg2;
+  resultobj = SWIG_Py_Void();
+  return resultobj;
+fail:
+  return NULL;
+}
+
+
+SWIGINTERN PyObject *_wrap_Params_height_diff_threshold_get(PyObject *SWIGUNUSEDPARM(self), PyObject *args) {
+  PyObject *resultobj = 0;
+  Params *arg1 = (Params *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  PyObject *swig_obj[1] ;
+  double result;
+
+  if (!args) SWIG_fail;
+  swig_obj[0] = args;
+  res1 = SWIG_ConvertPtr(swig_obj[0], &argp1,SWIGTYPE_p_Params, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Params_height_diff_threshold_get" "', argument " "1"" of type '" "Params *""'"); 
+  }
+  arg1 = reinterpret_cast< Params * >(argp1);
+  result = (double) ((arg1)->height_diff_threshold);
+  resultobj = SWIG_From_double(static_cast< double >(result));
+  return resultobj;
+fail:
+  return NULL;
+}
+
+
 SWIGINTERN PyObject *_wrap_new_Params(PyObject *SWIGUNUSEDPARM(self), PyObject *args) {
   PyObject *resultobj = 0;
   Params *result = 0 ;
@@ -15194,6 +15246,8 @@ static PyMethodDef SwigMethods[] = {
 	 { "Params_rigidness_get", _wrap_Params_rigidness_get, METH_O, NULL},
 	 { "Params_interations_set", _wrap_Params_interations_set, METH_VARARGS, NULL},
 	 { "Params_interations_get", _wrap_Params_interations_get, METH_O, NULL},
+	 { "Params_height_diff_threshold_set", _wrap_Params_height_diff_threshold_set, METH_VARARGS, NULL},
+	 { "Params_height_diff_threshold_get", _wrap_Params_height_diff_threshold_get, METH_O, NULL},
 	 { "new_Params", _wrap_new_Params, METH_NOARGS, NULL},
 	 { "delete_Params", _wrap_delete_Params, METH_O, NULL},
 	 { "Params_swigregister", Params_swigregister, METH_O, NULL},

setup.py

@@ -42,7 +42,7 @@
 
 setup(
     name="cloth_simulation_filter",
-    version="1.1.5",
+    version="1.1.6",
     author="Jianbo Qi",
     url="http://ramm.bnu.edu.cn/projects/CSF/",
     long_description=readme_content,

src/CSF.cpp

@@ -32,6 +32,7 @@ CSF::CSF(int index) {
     params.cloth_resolution = 1;
     params.rigidness        = 3;
     params.interations      = 500;
+    params.height_diff_threshold = 0.3;
 
     this->index = index;
 }
@@ -43,7 +44,8 @@ CSF::CSF() {
 	params.cloth_resolution = 1;
 	params.rigidness = 3;
 	params.interations = 500;
-	this->index = 0;
+    params.height_diff_threshold = 0.3;
+    this->index = 0;
 }
 
 CSF::~CSF()
@@ -140,7 +142,7 @@ Cloth CSF::do_cloth() {
         height_num,
         params.cloth_resolution,
         params.cloth_resolution,
-        0.3,
+        params.height_diff_threshold,
         9999,
         params.rigidness,
         params.time_step

src/CSF.h

@@ -49,6 +49,7 @@ struct Params {
     double cloth_resolution;
     int rigidness;
     int interations;
+    double height_diff_threshold;
 };
 
 #ifdef _CSF_DLL_EXPORT_