清除电脑的缓存

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del /f /s /q %windir%\prefetch\*.*
del /f /q %userprofile%\cookies\*.*
del /f /q %userprofile%\recent\*.*
del /f /s /q “%userprofile%\Local Settings\Temp\*.*”
del /f /s /q “%userprofile%\recent\*.*”

rd %temp% /s /q
md %temp%

C++程序的路径管理

CSF滤波

CSF 滤波：https://github.com/jianboqi/CSF
Cloth Simulation Filter
http://www.mdpi.com/2072-4292/8/6/501/htm
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

Identifying ground returns using ProgressiveMorphologicalFilter segmentation

BoundaryEstimate.exe F:\0Program\CPP\BoundaryExtraction\BoundaryEstimate\test_highwaytunnel_subsampled.pcd 0.5 0.5

降采样后68万个点

单线程跑出来的结果：
0.0600622
cloud_src: 679292
cloud_filtered: 672411

多线程并行跑出来的结果：