void Kernel::visualize(PointBufferPtr buffer) const
{
BufferReader bufferReader;
bufferReader.addBuffer(buffer);
StageFactory f;
WriterPtr writer(f.createWriter("writers.pclvisualizer"));
writer->setInput(&bufferReader);
PointContext ctx;
writer->prepare(ctx);
writer->execute(ctx);
}
int SmoothKernel::execute()
{
PointContext ctx;
Options readerOptions;
readerOptions.add("filename", m_inputFile);
readerOptions.add("debug", isDebug());
readerOptions.add("verbose", getVerboseLevel());
std::unique_ptr<Stage> readerStage = makeReader(readerOptions);
// go ahead and prepare/execute on reader stage only to grab input
// PointBufferSet, this makes the input PointBuffer available to both the
// processing pipeline and the visualizer
readerStage->prepare(ctx);
PointBufferSet pbSetIn = readerStage->execute(ctx);
// the input PointBufferSet will be used to populate a BufferReader that is
// consumed by the processing pipeline
PointBufferPtr input_buffer = *pbSetIn.begin();
BufferReader bufferReader;
bufferReader.setOptions(readerOptions);
bufferReader.addBuffer(input_buffer);
Options smoothOptions;
std::ostringstream ss;
ss << "{";
ss << " \"pipeline\": {";
ss << " \"filters\": [{";
ss << " \"name\": \"MovingLeastSquares\"";
ss << " }]";
ss << " }";
ss << "}";
std::string json = ss.str();
smoothOptions.add("json", json);
smoothOptions.add("debug", isDebug());
smoothOptions.add("verbose", getVerboseLevel());
std::unique_ptr<Stage> smoothStage(new filters::PCLBlock());
smoothStage->setOptions(smoothOptions);
smoothStage->setInput(&bufferReader);
Options writerOptions;
writerOptions.add("filename", m_outputFile);
setCommonOptions(writerOptions);
WriterPtr writer(KernelSupport::makeWriter(m_outputFile, smoothStage.get()));
writer->setOptions(writerOptions);
std::vector<std::string> cmd = getProgressShellCommand();
UserCallback *callback =
cmd.size() ? (UserCallback *)new ShellScriptCallback(cmd) :
(UserCallback *)new HeartbeatCallback();
writer->setUserCallback(callback);
std::map<std::string, Options> extra_opts = getExtraStageOptions();
std::map<std::string, Options>::iterator pi;
for (pi = extra_opts.begin(); pi != extra_opts.end(); ++pi)
{
std::string name = pi->first;
Options options = pi->second;
std::vector<Stage*> stages = writer->findStage(name);
std::vector<Stage*>::iterator s;
for (s = stages.begin(); s != stages.end(); ++s)
{
Options opts = (*s)->getOptions();
std::vector<Option>::iterator o;
for (o = options.getOptions().begin(); o != options.getOptions().end(); ++o)
opts.add(*o);
(*s)->setOptions(opts);
}
}
writer->prepare(ctx);
// process the data, grabbing the PointBufferSet for visualization of the
// resulting PointBuffer
PointBufferSet pbSetOut = writer->execute(ctx);
if (isVisualize())
visualize(*pbSetOut.begin());
//visualize(*pbSetIn.begin(), *pbSetOut.begin());
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;
}
int Ground::execute()
{
PointContext ctx;
Options readerOptions;
readerOptions.add<std::string>("filename", m_inputFile);
readerOptions.add<bool>("debug", isDebug());
readerOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> readerStage = makeReader(readerOptions);
// go ahead and prepare/execute on reader stage only to grab input
// PointBufferSet, this makes the input PointBuffer available to both the
// processing pipeline and the visualizer
readerStage->prepare(ctx);
PointBufferSet pbSetIn = readerStage->execute(ctx);
// the input PointBufferSet will be used to populate a BufferReader that is
// consumed by the processing pipeline
PointBufferPtr input_buffer = *pbSetIn.begin();
BufferReader bufferReader;
bufferReader.setOptions(readerOptions);
bufferReader.addBuffer(input_buffer);
Options groundOptions;
std::ostringstream ss;
ss << "{";
ss << " \"pipeline\": {";
ss << " \"filters\": [{";
ss << " \"name\": \"ProgressiveMorphologicalFilter\",";
ss << " \"setMaxWindowSize\": " << m_maxWindowSize << ",";
ss << " \"setSlope\": " << m_slope << ",";
ss << " \"setMaxDistance\": " << m_maxDistance << ",";
ss << " \"setInitialDistance\": " << m_initialDistance << ",";
ss << " \"setCellSize\": " << m_cellSize << ",";
ss << " \"setBase\": " << m_base << ",";
ss << " \"setExponential\": " << m_exponential;
ss << " }]";
ss << " }";
ss << "}";
std::string json = ss.str();
groundOptions.add<std::string>("json", json);
groundOptions.add<bool>("debug", isDebug());
groundOptions.add<boost::uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> groundStage(new filters::PCLBlock());
groundStage->setInput(&bufferReader);
groundStage->setOptions(groundOptions);
// the PCLBlock groundStage consumes the BufferReader rather than the
// readerStage
groundStage->setInput(&bufferReader);
Options writerOptions;
writerOptions.add<std::string>("filename", m_outputFile);
setCommonOptions(writerOptions);
std::unique_ptr<Writer> writer(AppSupport::makeWriter(m_outputFile, groundStage.get()));
writer->setOptions(writerOptions);
std::vector<std::string> cmd = getProgressShellCommand();
UserCallback *callback =
cmd.size() ? (UserCallback *)new ShellScriptCallback(cmd) :
(UserCallback *)new HeartbeatCallback();
writer->setUserCallback(callback);
for (auto pi: getExtraStageOptions())
{
std::string name = pi.first;
Options options = pi.second;
std::vector<Stage*> stages = writer->findStage(name);
for (auto s: stages)
{
Options opts = s->getOptions();
for (auto o: options.getOptions())
opts.add(o);
s->setOptions(opts);
}
}
writer->prepare(ctx);
// process the data, grabbing the PointBufferSet for visualization of the
// resulting PointBuffer
PointBufferSet pbSetOut = writer->execute(ctx);
if (isVisualize())
visualize(*pbSetOut.begin());
//visualize(*pbSetIn.begin(), *pbSetOut.begin());
return 0;
}
int PCLKernel::execute()
{
PointContext ctx;
Options readerOptions;
readerOptions.add<std::string>("filename", m_inputFile);
readerOptions.add<bool>("debug", isDebug());
readerOptions.add<uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> readerStage = makeReader(readerOptions);
// go ahead and prepare/execute on reader stage only to grab input
// PointBufferSet, this makes the input PointBuffer available to both the
// processing pipeline and the visualizer
readerStage->prepare(ctx);
PointBufferSet pbSetIn = readerStage->execute(ctx);
// the input PointBufferSet will be used to populate a BufferReader that is
// consumed by the processing pipeline
PointBufferPtr input_buffer = *pbSetIn.begin();
BufferReader bufferReader;
bufferReader.addBuffer(input_buffer);
Options pclOptions;
pclOptions.add<std::string>("filename", m_pclFile);
pclOptions.add<bool>("debug", isDebug());
pclOptions.add<uint32_t>("verbose", getVerboseLevel());
std::unique_ptr<Stage> pclStage(new filters::PCLBlock());
pclStage->setInput(&bufferReader);
pclStage->setOptions(pclOptions);
// the PCLBlock stage consumes the BufferReader rather than the
// readerStage
Options writerOptions;
writerOptions.add<std::string>("filename", m_outputFile);
setCommonOptions(writerOptions);
if (m_bCompress)
writerOptions.add<bool>("compression", true);
if (m_bForwardMetadata)
writerOptions.add("forward_metadata", true);
std::vector<std::string> cmd = getProgressShellCommand();
UserCallback *callback =
cmd.size() ? (UserCallback *)new ShellScriptCallback(cmd) :
(UserCallback *)new HeartbeatCallback();
WriterPtr
writer(KernelSupport::makeWriter(m_outputFile, pclStage.get()));
// Some options are inferred by makeWriter based on filename
// (compression, driver type, etc).
writer->setOptions(writerOptions+writer->getOptions());
writer->setUserCallback(callback);
for (const auto& pi : getExtraStageOptions())
{
std::string name = pi.first;
Options options = pi.second;
std::vector<Stage*> stages = writer->findStage(name);
for (const auto& s : stages)
{
Options opts = s->getOptions();
for (const auto& o : options.getOptions())
opts.add(o);
s->setOptions(opts);
}
}
writer->prepare(ctx);
// process the data, grabbing the PointBufferSet for visualization of the
// resulting PointBuffer
PointBufferSet pbSetOut = writer->execute(ctx);
if (isVisualize())
visualize(*pbSetOut.begin());
//visualize(*pbSetIn.begin(), *pbSetOut.begin());
return 0;
}
