PipelineManagerPtr InfoKernel::makePipeline(const std::string& filename,
bool noPoints)
{
if (!pdal::FileUtils::fileExists(filename))
throw pdal_error("File not found: " + filename);
PipelineManagerPtr output(new PipelineManager);
if (filename == "STDIN")
{
output->readPipeline(std::cin);
}
else if (FileUtils::extension(filename) == ".xml" ||
FileUtils::extension(filename) == ".json")
{
output->readPipeline(filename);
}
else
{
StageFactory factory;
std::string driver = factory.inferReaderDriver(filename);
if (driver.empty())
throw pdal_error("Cannot determine input file type of " + filename);
Stage& reader = output->addReader(driver);
Options ro;
ro.add("filename", filename);
if (noPoints)
ro.add("count", 0);
reader.setOptions(ro);
m_reader = &reader;
}
return output;
}
bool ossimPdalFileReader::open(const ossimFilename& fname)
{
// PDAL opens the file here.
m_inputFilename = fname;
pdal::Stage* reader = 0;
try
{
if (m_inputFilename.contains("fauxreader"))
{
// Debug generated image:
reader = new FauxReader;
m_pdalPipe = reader;
m_pdalOptions.add("mode", "ramp");
BOX3D bbox(-0.001, -0.001, -100.0, 0.001, 0.001, 100.0);
m_pdalOptions.add("bounds", bbox);
m_pdalOptions.add("num_points", "11");
m_pdalPipe->setOptions(m_pdalOptions);
}
else
{
StageFactory factory;
const string driver = factory.inferReaderDriver(m_inputFilename.string());
if (driver == "")
throw pdal_error("File type not supported by PDAL");
reader = factory.createStage(driver);
if (!reader)
throw pdal_error("No reader created by PDAL");
m_pdalOptions.add("filename", m_inputFilename.string());
reader->setOptions(m_pdalOptions);
// Stick a stats filter in the pipeline:
m_pdalPipe = new StatsFilter();
m_pdalPipe->setInput(*reader);
}
m_pointTable = PointTablePtr(new PointTable);
m_pdalPipe->prepare(*m_pointTable);
m_pvs = m_pdalPipe->execute(*m_pointTable);
if (!m_pvs.empty())
{
m_currentPV = *(m_pvs.begin());
// Determine available data fields:
establishAvailableFields();
}
std::string wkt;
const SpatialReference& srs = reader->getSpatialReference();
wkt = srs.getWKT(SpatialReference::eCompoundOK, false);
m_geometry = new ossimPointCloudGeometry(wkt);
}
catch (std::exception& e)
{
//ossimNotify() << e.what() << endl;
return false;
}
// Establish the bounds (geographic & radiometric). These are stored in two extreme point records
// maintained by the base class:
establishMinMax();
return true;
}
int TranslateKernel::execute()
{
// setting common options for each stage propagates the debug flag and
// verbosity level
Options readerOptions, filterOptions, writerOptions;
setCommonOptions(readerOptions);
setCommonOptions(filterOptions);
setCommonOptions(writerOptions);
m_manager = std::unique_ptr<PipelineManager>(new PipelineManager);
if (!m_readerType.empty())
{
m_manager->addReader(m_readerType);
}
else
{
StageFactory factory;
std::string driver = factory.inferReaderDriver(m_inputFile);
if (driver.empty())
throw app_runtime_error("Cannot determine input file type of " +
m_inputFile);
m_manager->addReader(driver);
}
if (m_manager == NULL)
throw pdal_error("Error making pipeline\n");
Stage* reader = m_manager->getStage();
if (reader == NULL)
throw pdal_error("Error getting reader\n");
readerOptions.add("filename", m_inputFile);
reader->setOptions(readerOptions);
Stage* stage = reader;
// add each filter provided on the command-line, updating the stage pointer
for (auto const f : m_filterType)
{
std::string filter_name(f);
if (!Utils::startsWith(f, "filters."))
filter_name.insert(0, "filters.");
Stage* filter = &(m_manager->addFilter(filter_name));
if (filter == NULL)
{
std::ostringstream oss;
oss << "Unable to add filter " << filter_name << ". Filter "
"is invalid or plugin could not be loaded. Check "
"'pdal --drivers'.";
throw pdal_error("Error getting filter\n");
}
filter->setOptions(filterOptions);
filter->setInput(*stage);
stage = filter;
}
if (!m_writerType.empty())
{
m_manager->addWriter(m_writerType);
}
else
{
StageFactory factory;
std::string driver = factory.inferWriterDriver(m_outputFile);
if (driver.empty())
throw app_runtime_error("Cannot determine output file type of " +
m_outputFile);
Options options = factory.inferWriterOptionsChanges(m_outputFile);
writerOptions += options;
m_manager->addWriter(driver);
}
Stage* writer = m_manager->getStage();
if (writer == NULL)
throw pdal_error("Error getting writer\n");
writerOptions.add("filename", m_outputFile);
writer->setOptions(writerOptions);
writer->setInput(*stage);
// be sure to recurse through any extra stage options provided by the user
applyExtraStageOptionsRecursive(writer);
m_manager->execute();
if (m_pipelineOutput.size() > 0)
PipelineWriter::writePipeline(m_manager->getStage(), m_pipelineOutput);
return 0;
}
int HeightAboveGroundKernel::execute()
{
// we require separate contexts for the input and ground files
PointContextRef input_ctx;
PointContextRef ground_ctx;
// because we are appending HeightAboveGround to the input buffer, we must
// register it's Dimension
input_ctx.registerDim(Dimension::Id::HeightAboveGround);
// StageFactory will be used to create required stages
StageFactory f;
// setup the reader, inferring driver type from the filename
std::string reader_driver = f.inferReaderDriver(m_input_file);
std::unique_ptr<Reader> input(f.createReader(reader_driver));
Options readerOptions;
readerOptions.add("filename", m_input_file);
input->setOptions(readerOptions);
// go ahead and execute to get the PointBuffer
input->prepare(input_ctx);
PointBufferSet pbSetInput = input->execute(input_ctx);
PointBufferPtr input_buf = *pbSetInput.begin();
PointBufferSet pbSetGround;
PointBufferPtr ground_buf;
if (m_use_classification)
{
// the user has indicated that the classification dimension exists, so
// we will find all ground returns
Option source("source",
"import numpy as np\n"
"def yow1(ins,outs):\n"
" cls = ins['Classification']\n"
" keep_classes = [2]\n"
" keep = np.equal(cls, keep_classes[0])\n"
" outs['Mask'] = keep\n"
" return True\n"
);
Option module("module", "MyModule");
Option function("function", "yow1");
Options opts;
opts.add(source);
opts.add(module);
opts.add(function);
// and create a PointBuffer of only ground returns
std::unique_ptr<Filter> pred(f.createFilter("filters.predicate"));
pred->setOptions(opts);
pred->setInput(input.get());
pred->prepare(ground_ctx);
pbSetGround = pred->execute(ground_ctx);
ground_buf = *pbSetGround.begin();
}
else
{
// the user has provided a file containing only ground returns, setup
// the reader, inferring driver type from the filename
std::string ground_driver = f.inferReaderDriver(m_ground_file);
std::unique_ptr<Reader> ground(f.createReader(ground_driver));
Options ro;
ro.add("filename", m_ground_file);
ground->setOptions(ro);
// go ahead and execute to get the PointBuffer
ground->prepare(ground_ctx);
pbSetGround = ground->execute(ground_ctx);
ground_buf = *pbSetGround.begin();
}
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> Cloud;
typedef Cloud::Ptr CloudPtr;
// convert the input PointBuffer to a PointCloud
CloudPtr cloud(new Cloud);
BOX3D const& bounds = input_buf->calculateBounds();
pclsupport::PDALtoPCD(*input_buf, *cloud, bounds);
// convert the ground PointBuffer to a PointCloud
CloudPtr cloud_g(new Cloud);
// here, we offset the ground cloud by the input bounds so that the two are aligned
pclsupport::PDALtoPCD(*ground_buf, *cloud_g, bounds);
// create a set of planar coefficients with X=Y=0,Z=1
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
coefficients->values.resize(4);
coefficients->values[0] = coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;
// create the filtering object and project ground returns into xy plane
pcl::ProjectInliers<PointT> proj;
proj.setModelType(pcl::SACMODEL_PLANE);
proj.setInputCloud(cloud_g);
proj.setModelCoefficients(coefficients);
CloudPtr cloud_projected(new Cloud);
proj.filter(*cloud_projected);
// setup the KdTree
pcl::KdTreeFLANN<PointT> tree;
tree.setInputCloud(cloud_projected);
// loop over all points in the input cloud, finding the nearest neighbor in
// the ground returns (XY plane only), and calculating the difference in z
int32_t k = 1;
for (size_t idx = 0; idx < cloud->points.size(); ++idx)
{
// Search for nearesrt neighbor of the query point
std::vector<int32_t> neighbors(k);
std::vector<float> distances(k);
PointT temp_pt = cloud->points[idx];
temp_pt.z = 0.0f;
int num_neighbors = tree.nearestKSearch(temp_pt, k, neighbors, distances);
double hag = cloud->points[idx].z - cloud_g->points[neighbors[0]].z;
input_buf->setField(Dimension::Id::HeightAboveGround, idx, hag);
}
// populate BufferReader with the input PointBuffer, which now has the
// HeightAboveGround dimension
BufferReader bufferReader;
bufferReader.addBuffer(input_buf);
// we require that the output be BPF for now, to house our non-standard
// dimension
Options wo;
wo.add("filename", m_output_file);
std::unique_ptr<Writer> writer(f.createWriter("writers.bpf"));
writer->setOptions(wo);
writer->setInput(&bufferReader);
writer->prepare(input_ctx);
writer->execute(input_ctx);
return 0;
}
TIndexKernel::FileInfo TIndexKernel::getFileInfo(KernelFactory& factory,
const std::string& filename)
{
FileInfo fileInfo;
StageFactory f;
std::string driverName = f.inferReaderDriver(filename);
Stage *s = f.createStage(driverName);
Options ops;
ops.add("filename", filename);
setCommonOptions(ops);
s->setOptions(ops);
applyExtraStageOptionsRecursive(s);
if (m_fastBoundary)
{
QuickInfo qi = s->preview();
std::stringstream polygon;
polygon << "POLYGON ((";
polygon << qi.m_bounds.minx << " " << qi.m_bounds.miny;
polygon << ", " << qi.m_bounds.maxx << " " << qi.m_bounds.miny;
polygon << ", " << qi.m_bounds.maxx << " " << qi.m_bounds.maxy;
polygon << ", " << qi.m_bounds.minx << " " << qi.m_bounds.maxy;
polygon << ", " << qi.m_bounds.minx << " " << qi.m_bounds.miny;
polygon << "))";
fileInfo.m_boundary = polygon.str();
if (!qi.m_srs.empty())
fileInfo.m_srs = qi.m_srs.getWKT();
}
else
{
PointTable table;
Stage *hexer = f.createStage("filters.hexbin");
if (! hexer)
{
std::ostringstream oss;
oss << "Unable to create hexer stage to create boundaries. "
<< "Is PDAL_DRIVER_PATH environment variable set?";
throw pdal_error(oss.str());
}
hexer->setInput(*s);
hexer->prepare(table);
PointViewSet set = hexer->execute(table);
MetadataNode m = table.metadata();
m = m.findChild("filters.hexbin:boundary");
fileInfo.m_boundary = m.value();
PointViewPtr v = *set.begin();
if (!v->spatialReference().empty())
fileInfo.m_srs = v->spatialReference().getWKT();
}
FileUtils::fileTimes(filename, &fileInfo.m_ctime, &fileInfo.m_mtime);
fileInfo.m_filename = filename;
return fileInfo;
}
void TIndexKernel::mergeFile()
{
using namespace gdal;
std::ostringstream out;
if (!openDataset(m_idxFilename))
{
std::ostringstream out;
out << "Couldn't open index dataset file '" << m_idxFilename << "'.";
throw pdal_error(out.str());
}
if (!openLayer(m_layerName))
{
std::ostringstream out;
out << "Couldn't open layer '" << m_layerName <<
"' in output file '" << m_idxFilename << "'.";
throw pdal_error(out.str());
}
FieldIndexes indexes = getFields();
SpatialRef outSrs(m_tgtSrsString);
if (!outSrs)
throw pdal_error("Couldn't interpret target SRS string.");
if (!m_wkt.empty())
{
Geometry g(m_wkt, outSrs);
if (!g)
throw pdal_error("Couldn't interpret geometry filter string.");
OGR_L_SetSpatialFilter(m_layer, g.get());
}
std::vector<FileInfo> files;
// Docs are bad here. You need this call even if you haven't read anything
// or nothing happens.
OGR_L_ResetReading(m_layer);
while (true)
{
OGRFeatureH feature = OGR_L_GetNextFeature(m_layer);
if (!feature)
break;
FileInfo fileInfo;
fileInfo.m_filename =
OGR_F_GetFieldAsString(feature, indexes.m_filename);
fileInfo.m_srs =
OGR_F_GetFieldAsString(feature, indexes.m_srs);
files.push_back(fileInfo);
OGR_F_Destroy(feature);
}
StageFactory factory;
MergeFilter merge;
Options cropOptions;
if (!m_bounds.empty())
cropOptions.add("bounds", m_bounds);
else
cropOptions.add("polygon", m_wkt);
for (auto f : files)
{
Stage *premerge = NULL;
std::string driver = factory.inferReaderDriver(f.m_filename);
Stage *reader = factory.createStage(driver);
if (!reader)
{
out << "Unable to create reader for file '" << f.m_filename << "'.";
throw pdal_error(out.str());
}
Options readerOptions;
readerOptions.add("filename", f.m_filename);
reader->setOptions(readerOptions);
premerge = reader;
if (m_tgtSrsString != f.m_srs)
{
Stage *repro = factory.createStage("filters.reprojection");
repro->setInput(*reader);
Options reproOptions;
reproOptions.add("out_srs", m_tgtSrsString);
reproOptions.add("in_srs", f.m_srs);
repro->setOptions(reproOptions);
premerge = repro;
}
// WKT is set, even if we're using a bounding box for fitering, so
// can be used as a test here.
if (!m_wkt.empty())
{
Stage *crop = factory.createStage("filters.crop");
crop->setOptions(cropOptions);
crop->setInput(*premerge);
premerge = crop;
}
merge.setInput(*premerge);
}
std::string driver = factory.inferWriterDriver(m_filespec);
Options factoryOptions = factory.inferWriterOptionsChanges(m_filespec);
Stage *writer = factory.createStage(driver);
if (!writer)
{
out << "Unable to create reader for file '" << m_filespec << "'.";
throw pdal_error(out.str());
}
writer->setInput(merge);
applyExtraStageOptionsRecursive(writer);
Options writerOptions(factoryOptions);
setCommonOptions(writerOptions);
writerOptions.add("filename", m_filespec);
writerOptions.add("offset_x", "auto");
writerOptions.add("offset_y", "auto");
writerOptions.add("offset_z", "auto");
writer->addConditionalOptions(writerOptions);
PointTable table;
writer->prepare(table);
writer->execute(table);
}