PointViewSet LocateFilter::run(PointViewPtr inView)
{
PointViewSet viewSet;
if (!inView->size())
return viewSet;
PointId minidx, maxidx;
double minval = (std::numeric_limits<double>::max)();
double maxval = std::numeric_limits<double>::lowest();
for (PointId idx = 0; idx < inView->size(); idx++)
{
double val = inView->getFieldAs<double>(m_dimId, idx);
if (val > maxval)
{
maxval = val;
maxidx = idx;
}
if (val < minval)
{
minval = val;
minidx = idx;
}
}
PointViewPtr outView = inView->makeNew();
if (Utils::iequals("min", m_minmax))
outView->appendPoint(*inView.get(), minidx);
if (Utils::iequals("max", m_minmax))
outView->appendPoint(*inView.get(), maxidx);
viewSet.insert(outView);
return viewSet;
}
virtual PointViewSet run(PointViewPtr view)
{
PointViewSet out;
PointViewPtr v = view->makeNew();
for (PointId i = 0; i < view->size(); ++i)
{
if (i && (i % m_viewSize == 0))
{
out.insert(v);
v = v->makeNew();
}
v->appendPoint(*view, i);
}
out.insert(v);
return out;
}
PointViewSet PredicateFilter::run(PointViewPtr view)
{
MetadataNode n;
m_pythonMethod->resetArguments();
m_pythonMethod->begin(*view, n);
m_pythonMethod->execute();
if (!m_pythonMethod->hasOutputVariable("Mask"))
throw pdal::pdal_error("Mask variable not set in predicate "
"filter function.");
PointViewPtr outview = view->makeNew();
void *pydata =
m_pythonMethod->extractResult("Mask", Dimension::Type::Unsigned8);
char *ok = (char *)pydata;
for (PointId idx = 0; idx < view->size(); ++idx)
if (*ok++)
outview->appendPoint(*view, idx);
PointViewSet viewSet;
viewSet.insert(outview);
return viewSet;
}
PointViewSet DecimationFilter::run(PointViewPtr inView)
{
PointViewSet viewSet;
PointViewPtr outView = inView->makeNew();
decimate(*inView.get(), *outView.get());
viewSet.insert(outView);
return viewSet;
}
MetadataNode InfoKernel::dumpQuery(PointViewPtr inView) const
{
int count;
std::string location;
// See if there's a provided point count.
StringList parts = Utils::split2(m_queryPoint, '/');
if (parts.size() == 2)
{
location = parts[0];
count = atoi(parts[1].c_str());
}
else if (parts.size() == 1)
{
location = parts[0];
count = inView->size();
}
else
count = 0;
if (count == 0)
throw pdal_error("Invalid location specificiation. "
"--query=\"X,Y[/count]\"");
auto seps = [](char c){ return (c == ',' || c == '|' || c == ' '); };
std::vector<std::string> tokens = Utils::split2(location, seps);
std::vector<double> values;
for (auto ti = tokens.begin(); ti != tokens.end(); ++ti)
{
double d;
if (Utils::fromString(*ti, d))
values.push_back(d);
}
if (values.size() != 2 && values.size() != 3)
throw pdal_error("--points must be two or three values");
PointViewPtr outView = inView->makeNew();
std::vector<PointId> ids;
if (values.size() >= 3)
{
KD3Index kdi(*inView);
kdi.build();
ids = kdi.neighbors(values[0], values[1], values[2], count);
}
else
{
KD2Index kdi(*inView);
kdi.build();
ids = kdi.neighbors(values[0], values[1], count);
}
for (auto i = ids.begin(); i != ids.end(); ++i)
outView->appendPoint(*inView.get(), *i);
return outView->toMetadata();
}
PointViewSet PMFFilter::run(PointViewPtr input)
{
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process PMFFilter...\n";
auto idx = processGround(input);
PointViewSet viewSet;
if (!idx.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Debug2) << "Labeled " << idx.size() << " ground returns!\n";
// set the classification label of ground returns as 2
// (corresponding to ASPRS LAS specification)
for (const auto& i : idx)
{
input->setField(Dimension::Id::Classification, i, 2);
}
viewSet.insert(input);
}
if (m_extract)
{
log()->get(LogLevel::Debug2) << "Extracted " << idx.size() << " ground returns!\n";
// create new PointView containing only ground returns
PointViewPtr output = input->makeNew();
for (const auto& i : idx)
{
output->appendPoint(*input, i);
}
viewSet.erase(input);
viewSet.insert(output);
}
}
else
{
if (idx.empty())
log()->get(LogLevel::Debug2) << "Filtered cloud has no ground returns!\n";
if (!(m_classify || m_extract))
log()->get(LogLevel::Debug2) << "Must choose --classify or --extract\n";
// return the input buffer unchanged
viewSet.insert(input);
}
return viewSet;
}
PointViewSet SMRFilter::run(PointViewPtr view)
{
log()->get(LogLevel::Info) << "run: Process SMRFilter...\n";
std::vector<PointId> idx = processGround(view);
PointViewSet viewSet;
if (!idx.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Info) << "run: Labeled " << idx.size() << " ground returns!\n";
// set the classification label of ground returns as 2
// (corresponding to ASPRS LAS specification)
for (const auto& i : idx)
{
view->setField(Dimension::Id::Classification, i, 2);
}
viewSet.insert(view);
}
if (m_extract)
{
log()->get(LogLevel::Info) << "run: Extracted " << idx.size() << " ground returns!\n";
// create new PointView containing only ground returns
PointViewPtr output = view->makeNew();
for (const auto& i : idx)
{
output->appendPoint(*view, i);
}
viewSet.erase(view);
viewSet.insert(output);
}
}
else
{
if (idx.empty())
log()->get(LogLevel::Info) << "run: Filtered cloud has no ground returns!\n";
if (!(m_classify || m_extract))
log()->get(LogLevel::Info) << "run: Must choose --classify or --extract\n";
// return the view buffer unchanged
viewSet.insert(view);
}
return viewSet;
}
PointViewSet run(PointViewPtr view)
{
if (m_count > view->size())
log()->get(LogLevel::Warning)
<< "Requested number of points (count=" << m_count
<< ") exceeds number of available points.\n";
PointViewSet viewSet;
PointViewPtr outView = view->makeNew();
for (PointId i = view->size() - std::min(m_count, view->size());
i < view->size(); ++i)
outView->appendPoint(*view, i);
viewSet.insert(outView);
return viewSet;
}
PointViewSet VoxelGridFilter::run(PointViewPtr input)
{
PointViewPtr output = input->makeNew();
PointViewSet viewSet;
viewSet.insert(output);
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process VoxelGridFilter..." << std::endl;
BOX3D buffer_bounds;
input->calculateBounds(buffer_bounds);
// convert PointView to PointNormal
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
pclsupport::PDALtoPCD(input, *cloud, buffer_bounds);
pclsupport::setLogLevel(log()->getLevel());
// initial setup
pcl::VoxelGrid<pcl::PointXYZ> vg;
vg.setInputCloud(cloud);
vg.setLeafSize(m_leaf_x, m_leaf_y, m_leaf_z);
// create PointCloud for results
Cloud::Ptr cloud_f(new Cloud);
vg.filter(*cloud_f);
if (cloud_f->points.empty())
{
log()->get(LogLevel::Debug2) << "Filtered cloud has no points!" << std::endl;
return viewSet;
}
pclsupport::PCDtoPDAL(*cloud_f, output, buffer_bounds);
log()->get(LogLevel::Debug2) << cloud->points.size() << " before, " <<
cloud_f->points.size() << " after" << std::endl;
log()->get(LogLevel::Debug2) << output->size() << std::endl;
return viewSet;
}
PointViewSet SampleFilter::run(PointViewPtr inView)
{
point_count_t np = inView->size();
// Return empty PointViewSet if the input PointView has no points.
// Otherwise, make a new output PointView.
PointViewSet viewSet;
if (!np)
return viewSet;
PointViewPtr outView = inView->makeNew();
// Build the 3D KD-tree.
KD3Index index(*inView);
index.build();
// All points are marked as kept (1) by default. As they are masked by
// neighbors within the user-specified radius, their value is changed to 0.
std::vector<int> keep(np, 1);
// We are able to subsample in a single pass over the shuffled indices.
for (PointId i = 0; i < np; ++i)
{
// If a point is masked, it is forever masked, and cannot be part of the
// sampled cloud. Otherwise, the current index is appended to the output
// PointView.
if (keep[i] == 0)
continue;
outView->appendPoint(*inView, i);
// We now proceed to mask all neighbors within m_radius of the kept
// point.
auto ids = index.radius(i, m_radius);
for (auto const& id : ids)
keep[id] = 0;
}
// Simply calculate the percentage of retained points.
double frac = (double)outView->size() / (double)inView->size();
log()->get(LogLevel::Debug2)
<< "Retaining " << outView->size() << " of " << inView->size()
<< " points (" << 100 * frac << "%)\n";
viewSet.insert(outView);
return viewSet;
}
PointViewSet RangeFilter::run(PointViewPtr inView)
{
PointViewSet viewSet;
if (!inView->size())
return viewSet;
PointViewPtr outView = inView->makeNew();
for (PointId i = 0; i < inView->size(); ++i)
{
PointRef point = inView->point(i);
if (processOne(point))
outView->appendPoint(*inView, i);
}
viewSet.insert(outView);
return viewSet;
}
PointViewSet MADFilter::run(PointViewPtr view)
{
using namespace Dimension;
PointViewSet viewSet;
PointViewPtr output = view->makeNew();
auto estimate_median = [](std::vector<double> vals)
{
std::nth_element(vals.begin(), vals.begin()+vals.size()/2, vals.end());
return *(vals.begin()+vals.size()/2);
};
std::vector<double> z(view->size());
for (PointId j = 0; j < view->size(); ++j)
z[j] = view->getFieldAs<double>(m_dimId, j);
double median = estimate_median(z);
log()->get(LogLevel::Debug) << getName() << " estimated median value: " << median << std::endl;
std::transform(z.begin(), z.end(), z.begin(),
[median](double v) { return std::fabs(v - median); });
double mad = estimate_median(z)*m_madMultiplier;
log()->get(LogLevel::Debug) << getName() << " mad " << mad << std::endl;
for (PointId j = 0; j < view->size(); ++j)
{
if (z[j]/mad < m_multiplier)
output->appendPoint(*view, j);
}
double low_fence = median - m_multiplier * mad;
double hi_fence = median + m_multiplier * mad;
log()->get(LogLevel::Debug) << getName() << " cropping " << m_dimName
<< " in the range (" << low_fence
<< "," << hi_fence << ")" << std::endl;
viewSet.erase(view);
viewSet.insert(output);
return viewSet;
}
PointViewSet SplitterFilter::run(PointViewPtr inView)
{
PointViewSet viewSet;
if (!inView->size())
return viewSet;
// Use the location of the first point as the origin, unless specified.
// (!= test == isnan(), which doesn't exist on windows)
if (m_xOrigin != m_xOrigin)
m_xOrigin = inView->getFieldAs<double>(Dimension::Id::X, 0);
if (m_yOrigin != m_yOrigin)
m_yOrigin = inView->getFieldAs<double>(Dimension::Id::Y, 0);
// Overlay a grid of squares on the points (m_length sides). Each square
// corresponds to a new point buffer. Place the points falling in the
// each square in the corresponding point buffer.
for (PointId idx = 0; idx < inView->size(); idx++)
{
double x = inView->getFieldAs<double>(Dimension::Id::X, idx);
x -= m_xOrigin;
int xpos = x / m_length;
if (x < 0)
xpos--;
double y = inView->getFieldAs<double>(Dimension::Id::Y, idx);
y -= m_yOrigin;
int ypos = y / m_length;
if (y < 0)
ypos--;
Coord loc(xpos, ypos);
PointViewPtr& outView = m_viewMap[loc];
if (!outView)
outView = inView->makeNew();
outView->appendPoint(*inView.get(), idx);
}
// Pull the buffers out of the map and stick them in the standard
// output set.
for (auto bi = m_viewMap.begin(); bi != m_viewMap.end(); ++bi)
viewSet.insert(bi->second);
return viewSet;
}
PointViewSet GroupByFilter::run(PointViewPtr inView)
{
PointViewSet viewSet;
if (!inView->size())
return viewSet;
for (PointId idx = 0; idx < inView->size(); idx++)
{
uint64_t val = inView->getFieldAs<uint64_t>(m_dimId, idx);
PointViewPtr& outView = m_viewMap[val];
if (!outView)
outView = inView->makeNew();
outView->appendPoint(*inView.get(), idx);
}
// Pull the buffers out of the map and stick them in the standard
// output set.
for (auto bi = m_viewMap.begin(); bi != m_viewMap.end(); ++bi)
viewSet.insert(bi->second);
return viewSet;
}
TEST(LasReaderTest, test_sequential)
{
PointTable table;
Options ops1;
ops1.add("filename", Support::datapath("las/1.2-with-color.las"));
ops1.add("count", 103);
LasReader reader;
reader.setOptions(ops1);
reader.prepare(table);
PointViewSet viewSet = reader.execute(table);
EXPECT_EQ(viewSet.size(), 1u);
PointViewPtr view = *viewSet.begin();
Support::check_p0_p1_p2(*view);
PointViewPtr view2 = view->makeNew();
view2->appendPoint(*view, 100);
view2->appendPoint(*view, 101);
view2->appendPoint(*view, 102);
Support::check_p100_p101_p102(*view2);
}
MetadataNode InfoKernel::dumpPoints(PointViewPtr inView) const
{
MetadataNode root;
PointViewPtr outView = inView->makeNew();
// Stick points in a inViewfer.
std::vector<PointId> points = getListOfPoints(m_pointIndexes);
for (size_t i = 0; i < points.size(); ++i)
{
PointId id = (PointId)points[i];
if (id < inView->size())
outView->appendPoint(*inView.get(), id);
}
MetadataNode tree = outView->toMetadata();
std::string prefix("point ");
for (size_t i = 0; i < outView->size(); ++i)
{
MetadataNode n = tree.findChild(std::to_string(i));
n.add("PointId", points[i]);
root.add(n.clone("point"));
}
return root;
}
void RialtoReader::doQuery(const TileMath& tmm,
const GpkgTile& tile,
PointViewPtr view,
double qMinX, double qMinY, double qMaxX, double qMaxY)
{
const uint32_t level = tile.getLevel();
const uint32_t column = tile.getColumn();
const uint32_t row = tile.getRow();
const uint32_t numPoints = tile.getNumPoints();
// if this tile is entirely inside the query box, then
// we won't need to check each point
double tileMinX, tileMinY, tileMaxX, tileMaxY;
tmm.getTileBounds(column, row, level,
tileMinX, tileMinY, tileMaxX, tileMaxY);
const bool tileEntirelyInsideQueryBox =
tmm.rectContainsRect(qMinX, qMinY, qMaxX, qMaxY,
tileMinX, tileMinY, tileMaxX, tileMaxY);
log()->get(LogLevel::Debug) << " intersecting tile "
<< "(" << level << "," << column << "," << row << ")"
<< " contains " << numPoints << " points" << std::endl;
PointViewPtr tempView = view->makeNew();
GpkgTile::exportToPV(numPoints, tempView, tile.getBlob());
for (uint32_t i=0; i<tempView->size(); i++) {
const double x = tempView->getFieldAs<double>(Dimension::Id::X, i);
const double y = tempView->getFieldAs<double>(Dimension::Id::Y, i);
if (tileEntirelyInsideQueryBox || (x >= qMinX && x <= qMaxX && y >= qMinY && y <= qMaxY))
{
view->appendPoint(*tempView, i);
}
}
}
PointViewSet RadiusOutlierFilter::run(PointViewPtr input)
{
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process RadiusOutlierFilter...\n";
// convert PointView to PointXYZ
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
BOX3D bounds;
input->calculateBounds(bounds);
pclsupport::PDALtoPCD(input, *cloud, bounds);
pclsupport::setLogLevel(log()->getLevel());
// setup the outlier filter
pcl::RadiusOutlierRemoval<pcl::PointXYZ> ror(true);
ror.setInputCloud(cloud);
ror.setMinNeighborsInRadius(m_min_neighbors);
ror.setRadiusSearch(m_radius);
pcl::PointCloud<pcl::PointXYZ> output;
ror.setNegative(true);
ror.filter(output);
// filtered to return inliers
pcl::PointIndicesPtr inliers(new pcl::PointIndices);
ror.getRemovedIndices(*inliers);
PointViewSet viewSet;
if (inliers->indices.empty())
{
log()->get(LogLevel::Warning) << "Requested filter would remove all points. Try a larger radius/smaller minimum neighbors.\n";
viewSet.insert(input);
return viewSet;
}
// inverse are the outliers
std::vector<int> outliers(input->size()-inliers->indices.size());
for (PointId i = 0, j = 0, k = 0; i < input->size(); ++i)
{
if (i == (PointId)inliers->indices[j])
{
j++;
continue;
}
outliers[k++] = i;
}
if (!outliers.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Debug2) << "Labeled " << outliers.size() << " outliers as noise!\n";
// set the classification label of outlier returns as 18
// (corresponding to ASPRS LAS specification for high noise)
for (const auto& i : outliers)
{
input->setField(Dimension::Id::Classification, i, 18);
}
viewSet.insert(input);
}
if (m_extract)
{
log()->get(LogLevel::Debug2) << "Extracted " << inliers->indices.size() << " inliers!\n";
// create new PointView containing only outliers
PointViewPtr output = input->makeNew();
for (const auto& i : inliers->indices)
{
output->appendPoint(*input, i);
}
viewSet.erase(input);
viewSet.insert(output);
}
}
else
{
if (outliers.empty())
log()->get(LogLevel::Warning) << "Filtered cloud has no outliers!\n";
if (!(m_classify || m_extract))
log()->get(LogLevel::Warning) << "Must choose --classify or --extract\n";
// return the input buffer unchanged
viewSet.insert(input);
}
return viewSet;
}
std::vector<PointId> PMFFilter::processGround(PointViewPtr view)
{
point_count_t np(view->size());
// Compute the series of window sizes and height thresholds
std::vector<float> height_thresholds;
std::vector<float> window_sizes;
int iteration = 0;
float window_size = 0.0f;
float height_threshold = 0.0f;
while (window_size < m_maxWindowSize)
{
// Determine the initial window size.
if (1) // exponential
window_size = m_cellSize * (2.0f * std::pow(2, iteration) + 1.0f);
else
window_size = m_cellSize * (2.0f * (iteration+1) * 2 + 1.0f);
// Calculate the height threshold to be used in the next iteration.
if (iteration == 0)
height_threshold = m_initialDistance;
else
height_threshold = m_slope * (window_size - window_sizes[iteration-1]) * m_cellSize + m_initialDistance;
// Enforce max distance on height threshold
if (height_threshold > m_maxDistance)
height_threshold = m_maxDistance;
window_sizes.push_back(window_size);
height_thresholds.push_back(height_threshold);
iteration++;
}
std::vector<PointId> groundIdx;
for (PointId i = 0; i < np; ++i)
groundIdx.push_back(i);
// Progressively filter ground returns using morphological open
for (size_t j = 0; j < window_sizes.size(); ++j)
{
// Limit filtering to those points currently considered ground returns
PointViewPtr ground = view->makeNew();
for (PointId i = 0; i < groundIdx.size(); ++i)
ground->appendPoint(*view, groundIdx[i]);
printf(" Iteration %ld (height threshold = %f, window size = %f)...",
j, height_thresholds[j], window_sizes[j]);
// Create new cloud to hold the filtered results. Apply the morphological
// opening operation at the current window size.
auto maxZ = morphOpen(ground, window_sizes[j]*0.5);
// Find indices of the points whose difference between the source and
// filtered point clouds is less than the current height threshold.
std::vector<PointId> pt_indices;
for (PointId i = 0; i < ground->size(); ++i)
{
double z0 = ground->getFieldAs<double>(Dimension::Id::Z, i);
double z1 = maxZ[i];
float diff = z0 - z1;
if (diff < height_thresholds[j])
pt_indices.push_back(groundIdx[i]);
}
groundIdx.swap(pt_indices);
}
return groundIdx;
}
std::vector<PointId> PMFFilter::processGround(PointViewPtr view)
{
// Compute the series of window sizes and height thresholds
std::vector<float> htvec;
std::vector<float> wsvec;
int iter = 0;
float ws = 0.0f;
float ht = 0.0f;
while (ws < m_maxWindowSize)
{
// Determine the initial window size.
if (1) // exponential
ws = m_cellSize * (2.0f * std::pow(2, iter) + 1.0f);
else
ws = m_cellSize * (2.0f * (iter+1) * 2 + 1.0f);
// Calculate the height threshold to be used in the next iteration.
if (iter == 0)
ht = m_initialDistance;
else
ht = m_slope * (ws - wsvec[iter-1]) * m_cellSize + m_initialDistance;
// Enforce max distance on height threshold
if (ht > m_maxDistance)
ht = m_maxDistance;
wsvec.push_back(ws);
htvec.push_back(ht);
iter++;
}
std::vector<PointId> groundIdx;
for (PointId i = 0; i < view->size(); ++i)
groundIdx.push_back(i);
// Progressively filter ground returns using morphological open
for (size_t j = 0; j < wsvec.size(); ++j)
{
// Limit filtering to those points currently considered ground returns
PointViewPtr ground = view->makeNew();
for (PointId i = 0; i < groundIdx.size(); ++i)
ground->appendPoint(*view, groundIdx[i]);
log()->get(LogLevel::Debug) << "Iteration " << j
<< " (height threshold = " << htvec[j]
<< ", window size = " << wsvec[j]
<< ")...\n";
// Create new cloud to hold the filtered results. Apply the
// morphological opening operation at the current window size.
auto maxZ = morphOpen(ground, wsvec[j]*0.5);
// Find indices of the points whose difference between the source and
// filtered point clouds is less than the current height threshold.
std::vector<PointId> groundNewIdx;
for (PointId i = 0; i < ground->size(); ++i)
{
double z0 = ground->getFieldAs<double>(Dimension::Id::Z, i);
float diff = z0 - maxZ[i];
if (diff < htvec[j])
groundNewIdx.push_back(groundIdx[i]);
}
groundIdx.swap(groundNewIdx);
log()->get(LogLevel::Debug) << "Ground now has " << groundIdx.size()
<< " points.\n";
}
return groundIdx;
}
PointViewSet StatisticalOutlierFilter::run(PointViewPtr input)
{
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process StatisticalOutlierFilter...\n";
// convert PointView to PointXYZ
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
BOX3D bounds;
input->calculateBounds(bounds);
pclsupport::PDALtoPCD(input, *cloud, bounds);
// PCL should provide console output at similar verbosity level as PDAL
int level = log()->getLevel();
switch (level)
{
case 0:
pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS);
break;
case 1:
pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
break;
case 2:
pcl::console::setVerbosityLevel(pcl::console::L_WARN);
break;
case 3:
pcl::console::setVerbosityLevel(pcl::console::L_INFO);
break;
case 4:
pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
break;
default:
pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
break;
}
// setup the outlier filter
pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor(true);
sor.setInputCloud(cloud);
sor.setMeanK(m_meanK);
sor.setStddevMulThresh(m_multiplier);
pcl::PointCloud<pcl::PointXYZ> output;
sor.setNegative(true);
sor.filter(output);
// filtered to return inliers
pcl::PointIndicesPtr inliers(new pcl::PointIndices);
sor.getRemovedIndices(*inliers);
log()->get(LogLevel::Debug2) << inliers->indices.size() << std::endl;
PointViewSet viewSet;
if (inliers->indices.empty())
{
log()->get(LogLevel::Warning) << "Requested filter would remove all points. Try increasing the multiplier.\n";
viewSet.insert(input);
return viewSet;
}
// inverse are the outliers
std::vector<int> outliers(input->size()-inliers->indices.size());
for (PointId i = 0, j = 0, k = 0; i < input->size(); ++i)
{
if (i == (PointId)inliers->indices[j])
{
j++;
continue;
}
outliers[k++] = i;
}
if (!outliers.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Debug2) << "Labeled " << outliers.size() << " outliers as noise!\n";
// set the classification label of outlier returns as 18
// (corresponding to ASPRS LAS specification for high noise)
for (const auto& i : outliers)
{
input->setField(Dimension::Id::Classification, i, 18);
}
viewSet.insert(input);
}
if (m_extract)
{
log()->get(LogLevel::Debug2) << "Extracted " << inliers->indices.size() << " inliers!\n";
// create new PointView containing only outliers
PointViewPtr output = input->makeNew();
for (const auto& i : inliers->indices)
{
output->appendPoint(*input, i);
}
viewSet.erase(input);
viewSet.insert(output);
}
}
else
{
if (outliers.empty())
log()->get(LogLevel::Warning) << "Filtered cloud has no outliers!\n";
if (!(m_classify || m_extract))
log()->get(LogLevel::Warning) << "Must choose --classify or --extract\n";
// return the input buffer unchanged
viewSet.insert(input);
}
return viewSet;
}
PointViewSet DartSampleFilter::run(PointViewPtr input)
{
PointViewSet viewSet;
PointViewPtr output = input->makeNew();
log()->floatPrecision(2);
log()->get(LogLevel::Info) << "DartSampleFilter (radius="
<< m_radius << ")\n";
BOX3D buffer_bounds;
input->calculateBounds(buffer_bounds);
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
pclsupport::PDALtoPCD(input, *cloud, buffer_bounds);
int level = log()->getLevel();
switch (level)
{
case 0:
pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS);
break;
case 1:
pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
break;
case 2:
pcl::console::setVerbosityLevel(pcl::console::L_WARN);
break;
case 3:
pcl::console::setVerbosityLevel(pcl::console::L_INFO);
break;
case 4:
pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
break;
default:
pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
break;
}
pcl::DartSample<pcl::PointXYZ> ds;
ds.setInputCloud(cloud);
ds.setRadius(m_radius);
std::vector<int> samples;
ds.filter(samples);
if (samples.empty())
{
log()->get(LogLevel::Warning) << "Filtered cloud has no points!\n";
return viewSet;
}
for (const auto& i : samples)
output->appendPoint(*input, i);
double frac = (double)samples.size() / (double)cloud->size();
log()->get(LogLevel::Info) << "Retaining " << samples.size() << " of "
<< cloud->size() << " points ("
<< 100*frac
<< "%)\n";
viewSet.insert(output);
return viewSet;
}
PointViewSet PoissonFilter::run(PointViewPtr input)
{
PointViewPtr output = input->makeNew();
PointViewSet viewSet;
viewSet.insert(output);
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process PoissonFilter..." << std::endl;
BOX3D buffer_bounds;
input->calculateBounds(buffer_bounds);
// convert PointView to PointNormal
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
pclsupport::PDALtoPCD(input, *cloud, buffer_bounds);
pclsupport::setLogLevel(log()->getLevel());
// pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree;
pcl::search::KdTree<pcl::PointNormal>::Ptr tree2;
// Create search tree
tree.reset(new pcl::search::KdTree<pcl::PointXYZ> (false));
tree->setInputCloud(cloud);
// Normal estimation
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal> ());
n.setInputCloud(cloud);
n.setSearchMethod(tree);
n.setKSearch(20);
n.compute(*normals);
// Concatenate XYZ and normal information
pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);
// Create search tree
tree2.reset(new pcl::search::KdTree<pcl::PointNormal>);
tree2->setInputCloud(cloud_with_normals);
// initial setup
pcl::Poisson<pcl::PointNormal> p;
p.setInputCloud(cloud_with_normals);
p.setSearchMethod(tree2);
p.setDepth(m_depth);
p.setPointWeight(m_point_weight);
// create PointCloud for results
pcl::PolygonMesh grid;
p.reconstruct(grid);
Cloud::Ptr cloud_f(new Cloud);
pcl::fromPCLPointCloud2(grid.cloud, *cloud_f);
if (cloud_f->points.empty())
{
log()->get(LogLevel::Debug2) << "Filtered cloud has no points!" << std::endl;
return viewSet;
}
pclsupport::PCDtoPDAL(*cloud_f, output, buffer_bounds);
log()->get(LogLevel::Debug2) << cloud->points.size() << " before, " <<
cloud_f->points.size() << " after" << std::endl;
log()->get(LogLevel::Debug2) << output->size() << std::endl;
return viewSet;
}
