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Segmentation.cpp
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Segmentation.cpp
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/******************************************************************************
* Copyright (c) 2016-2017, 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 <pdal/PDALUtils.hpp>
#include <pdal/KDIndex.hpp>
#include <pdal/PointView.hpp>
#include <pdal/Stage.hpp>
#include <pdal/pdal_types.hpp>
#include "DimRange.hpp"
#include "Segmentation.hpp"
#include <numeric>
#include <vector>
namespace pdal
{
namespace Segmentation
{
std::istream& operator>>(std::istream& in, PointClasses& classes)
{
std::string s;
classes.m_classes = 0;
in >> s;
s = Utils::tolower(s);
StringList sl = Utils::split(s, ',');
for (const std::string& c : sl)
{
if (c == "keypoint")
classes.m_classes |= ClassLabel::Keypoint;
else if (c == "synthetic")
classes.m_classes |= ClassLabel::Synthetic;
else if (c == "withheld")
classes.m_classes |= ClassLabel::Withheld;
else
in.setstate(std::ios::failbit);
}
return in;
}
std::ostream& operator<<(std::ostream& out, const PointClasses& classes)
{
std::string s;
if (classes.m_classes & ClassLabel::Keypoint)
s += "keypoint,";
if (classes.m_classes & ClassLabel::Synthetic)
s += "synthetic,";
if (classes.m_classes & ClassLabel::Withheld)
s += "withheld,";
if (Utils::endsWith(s, ","))
s.resize(s.size() - 1);
out << s;
return out;
}
void ignoreDimRange(DimRange dr, PointViewPtr input, PointViewPtr keep,
PointViewPtr ignore)
{
PointRef point(*input, 0);
for (PointId i = 0; i < input->size(); ++i)
{
point.setPointId(i);
if (dr.valuePasses(point.getFieldAs<double>(dr.m_id)))
ignore->appendPoint(*input, i);
else
keep->appendPoint(*input, i);
}
}
void ignoreDimRanges(std::vector<DimRange>& ranges, PointViewPtr input,
PointViewPtr keep, PointViewPtr ignore)
{
std::sort(ranges.begin(), ranges.end());
PointRef point(*input, 0);
for (PointId i = 0; i < input->size(); ++i)
{
point.setPointId(i);
if (DimRange::pointPasses(ranges, point))
ignore->appendPoint(*input, i);
else
keep->appendPoint(*input, i);
}
}
void ignoreClassBits(PointViewPtr input, PointViewPtr keep,
PointViewPtr ignore, PointClasses classbits)
{
using namespace Dimension;
if (classbits.isNone())
{
keep->append(*input);
}
else
{
for (PointId i = 0; i < input->size(); ++i)
{
uint8_t c = input->getFieldAs<uint8_t>(Id::Classification, i);
if (classbits.bits() & c)
ignore->appendPoint(*input, i);
else
keep->appendPoint(*input, i);
}
}
}
void segmentLastReturns(PointViewPtr input, PointViewPtr last,
PointViewPtr other)
{
using namespace Dimension;
for (PointId i = 0; i < input->size(); ++i)
{
uint8_t rn = input->getFieldAs<uint8_t>(Id::ReturnNumber, i);
uint8_t nr = input->getFieldAs<uint8_t>(Id::NumberOfReturns, i);
if ((rn == nr) && (nr > 1))
last->appendPoint(*input, i);
else
other->appendPoint(*input, i);
}
}
void segmentReturns(PointViewPtr input, PointViewPtr first,
PointViewPtr second, StringList returns)
{
using namespace Dimension;
bool returnFirst = false;
bool returnIntermediate = false;
bool returnLast = false;
bool returnOnly = false;
if (!returns.size())
{
first->append(*input);
}
else
{
for (auto& r : returns)
{
Utils::trim(r);
if (r == "first")
returnFirst = true;
else if (r == "intermediate")
returnIntermediate = true;
else if (r == "last")
returnLast = true;
else if (r == "only")
returnOnly = true;
}
for (PointId i = 0; i < input->size(); ++i)
{
uint8_t rn = input->getFieldAs<uint8_t>(Id::ReturnNumber, i);
uint8_t nr = input->getFieldAs<uint8_t>(Id::NumberOfReturns, i);
if ((((rn == 1) && (nr > 1)) && returnFirst) ||
(((rn > 1) && (rn < nr)) && returnIntermediate) ||
(((rn == nr) && (nr > 1)) && returnLast) ||
((nr == 1) && returnOnly))
{
first->appendPoint(*input.get(), i);
}
else
{
second->appendPoint(*input.get(), i);
}
}
}
}
PointIdList farthestPointSampling(PointView& view, point_count_t count)
{
// Construct a KD-tree of the input view.
KD3Index& kdi = view.build3dIndex();
// Seed the output view with the first point in the current sorting.
PointId seedId(0);
PointIdList ids(count);
ids[0] = seedId;
// Compute distances from seedId to all other points.
PointIdList indices(view.size());
std::vector<double> sqr_dists(view.size());
kdi.knnSearch(seedId, view.size(), &indices, &sqr_dists);
// Sort distances by PointId.
std::vector<double> min_dists(view.size());
for (PointId i = 0; i < view.size(); ++i)
min_dists[indices[i]] = sqr_dists[i];
// Proceed until we have m_count points in the output PointView.
for (PointId i = 1; i < count; ++i)
{
// Find the max distance in min_dists, this is the farthest point from
// any point currently in the output PointView.
auto it = std::max_element(min_dists.begin(), min_dists.end());
// Record the PointId of the farthest point and add it to the output
// PointView.
PointId idx(it - min_dists.begin());
ids[i] = idx;
// Compute distances from idx to all other points.
kdi.knnSearch(idx, view.size(), &indices, &sqr_dists);
// Update distances.
for (PointId j = 0; j < view.size(); ++j)
{
if (sqr_dists[j] < min_dists[indices[j]])
min_dists[indices[j]] = sqr_dists[j];
}
}
return ids;
}
PointIdList inverseDensityImportanceSampling(PointView& view,
point_count_t count,
point_count_t knn)
{
using namespace Dimension;
// Construct a KD-tree of the input view.
KD3Index& kdi = view.build3dIndex();
// Increment knn by one to account for query point, which does not
// contribute to density calculation.
knn++;
std::vector<double> densities(view.size());
for (PointRef p : view)
{
PointIdList indices(knn);
std::vector<double> sqr_dists(knn);
kdi.knnSearch(p, knn, &indices, &sqr_dists);
std::transform(sqr_dists.begin(), sqr_dists.end(), sqr_dists.begin(),
[](double val) { return std::sqrt(val); });
double density =
std::accumulate(sqr_dists.begin(), sqr_dists.end(), 0.0);
densities[p.pointId()] = 1.0 / density;
}
PointIdList ids(densities.size());
std::iota(ids.begin(), ids.end(), 0);
auto cmp = [&densities](PointId const& i1, PointId const& i2) {
return densities[i1] > densities[i2];
};
std::stable_sort(ids.begin(), ids.end(), cmp);
if (count < view.size())
ids.resize(count);
return ids;
}
} // namespace Segmentation
} // namespace pdal