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ApproximateCoplanarFilter.cpp
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ApproximateCoplanarFilter.cpp
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/******************************************************************************
* Copyright (c) 2016, Bradley J Chambers (brad.chambers@gmail.com)
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
* names of its contributors may be used to endorse or promote
* products derived from this software without specific prior
* written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
****************************************************************************/
#include "ApproximateCoplanarFilter.hpp"
#include <pdal/EigenUtils.hpp>
#include <pdal/KDIndex.hpp>
#include <pdal/util/ProgramArgs.hpp>
#include <Eigen/Dense>
#include <string>
#include <vector>
namespace pdal
{
static StaticPluginInfo const s_info
{
"filters.approximatecoplanar",
"Estimates the planarity of a neighborhood of points using eigenvalues.",
"http://pdal.io/stages/filters.approximatecoplanar.html"
};
CREATE_STATIC_STAGE(ApproximateCoplanarFilter, s_info)
std::string ApproximateCoplanarFilter::getName() const
{
return s_info.name;
}
void ApproximateCoplanarFilter::addArgs(ProgramArgs& args)
{
args.add("knn", "k-Nearest Neighbors", m_knn, 8);
args.add("thresh1", "Threshold 1", m_thresh1, 25.0);
args.add("thresh2", "Threshold 2", m_thresh2, 6.0);
}
void ApproximateCoplanarFilter::addDimensions(PointLayoutPtr layout)
{
m_coplanar = layout->registerOrAssignDim("Coplanar",
Dimension::Type::Unsigned8);
}
void ApproximateCoplanarFilter::filter(PointView& view)
{
using namespace Eigen;
KD3Index& kdi = view.build3dIndex();
for (PointId i = 0; i < view.size(); ++i)
{
// find the k-nearest neighbors
auto ids = kdi.neighbors(i, m_knn);
// compute covariance of the neighborhood
auto B = eigen::computeCovariance(view, ids);
// perform the eigen decomposition
SelfAdjointEigenSolver<Matrix3d> solver(B);
if (solver.info() != Success)
throwError("Cannot perform eigen decomposition.");
auto ev = solver.eigenvalues();
// test eigenvalues to label points that are approximately coplanar
if ((ev[1] > m_thresh1 * ev[0]) && (m_thresh2 * ev[1] > ev[2]))
view.setField(m_coplanar, i, 1u);
else
view.setField(m_coplanar, i, 0u);
}
}
} // namespace pdal