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GroundFilter.cpp
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GroundFilter.cpp
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/******************************************************************************
* Copyright (c) 2015, 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 "GroundFilter.hpp"
#include "PCLConversions.hpp"
#include <pdal/Options.hpp>
#include <pdal/PointTable.hpp>
#include <pdal/PointView.hpp>
#include <pdal/StageFactory.hpp>
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/segmentation/progressive_morphological_filter.h>
#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
namespace pdal
{
static PluginInfo const s_info = PluginInfo(
"filters.ground",
"Progressive morphological filter",
"http://pdal.io/stages/filters.ground.html" );
CREATE_SHARED_PLUGIN(1, 0, GroundFilter, Filter, s_info)
std::string GroundFilter::getName() const { return s_info.name; }
void GroundFilter::processOptions(const Options& options)
{
m_maxWindowSize = options.getValueOrDefault<double>("maxWindowSize", 33);
m_slope = options.getValueOrDefault<double>("slope", 1);
m_maxDistance = options.getValueOrDefault<double>("maxDistance", 2.5);
m_initialDistance = options.getValueOrDefault<double>("initialDistance", 0.15);
m_cellSize = options.getValueOrDefault<double>("cellSize", 1);
m_classify = options.getValueOrDefault<bool>("classify", true);
m_extract = options.getValueOrDefault<bool>("extract", false);
m_approximate = options.getValueOrDefault<bool>("approximate", false);
}
void GroundFilter::addDimensions(PointLayoutPtr layout)
{
layout->registerDim(Dimension::Id::Classification);
}
PointViewSet GroundFilter::run(PointViewPtr input)
{
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process GroundFilter...\n";
// convert PointView to PointXYZ
typedef pcl::PointCloud<pcl::PointXYZ> Cloud;
Cloud::Ptr cloud(new Cloud);
BOX3D const& bounds = input->calculateBounds();
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 PMF filter
pcl::PointIndicesPtr idx(new pcl::PointIndices);
if (!m_approximate)
{
pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
pmf.setInputCloud(cloud);
pmf.setMaxWindowSize(m_maxWindowSize);
pmf.setSlope(m_slope);
pmf.setMaxDistance(m_maxDistance);
pmf.setInitialDistance(m_initialDistance);
pmf.setCellSize(m_cellSize);
// run the PMF filter, grabbing indices of ground returns
pmf.extract(idx->indices);
} else
{
pcl::ApproximateProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
pmf.setInputCloud(cloud);
pmf.setMaxWindowSize(m_maxWindowSize);
pmf.setSlope(m_slope);
pmf.setMaxDistance(m_maxDistance);
pmf.setInitialDistance(m_initialDistance);
pmf.setCellSize(m_cellSize);
// run the PMF filter, grabbing indices of ground returns
pmf.extract(idx->indices);
}
PointViewSet viewSet;
if (!idx->indices.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Debug2) << "Labeled " << idx->indices.size() << " ground returns!\n";
// set the classification label of ground returns as 2
// (corresponding to ASPRS LAS specification)
for (const auto& i : idx->indices)
{ input->setField(Dimension::Id::Classification, i, 2); }
viewSet.insert(input);
}
if (m_extract)
{
log()->get(LogLevel::Debug2) << "Extracted " << idx->indices.size() << " ground returns!\n";
// create new PointView containing only ground returns
PointViewPtr output = input->makeNew();
for (const auto& i : idx->indices)
{
output->appendPoint(*input, i);
}
viewSet.erase(input);
viewSet.insert(output);
}
}
else
{
if (idx->indices.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;
}
} // namespace pdal