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NormalFilter.cpp
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NormalFilter.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 "NormalFilter.hpp"
#include "private/Point.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.normal",
"Normal Filter",
"http://pdal.io/stages/filters.normal.html"
};
CREATE_STATIC_STAGE(NormalFilter, s_info)
struct NormalArgs
{
int m_knn;
filter::Point m_viewpoint;
bool m_up;
};
NormalFilter::NormalFilter() : m_args(new NormalArgs)
{}
NormalFilter::~NormalFilter()
{}
std::string NormalFilter::getName() const
{
return s_info.name;
}
void NormalFilter::addArgs(ProgramArgs& args)
{
args.add("knn", "k-Nearest Neighbors", m_args->m_knn, 8);
m_viewpointArg = &args.add("viewpoint",
"Viewpoint as WKT or GeoJSON", m_args->m_viewpoint);
args.add("always_up", "Normals always oriented with positive Z?",
m_args->m_up, true);
}
void NormalFilter::addDimensions(PointLayoutPtr layout)
{
using namespace Dimension;
layout->registerDims(
{Id::NormalX, Id::NormalY, Id::NormalZ, Id::Curvature});
}
// public method to access filter, used by GreedyProjection and Poisson filters
void NormalFilter::doFilter(PointView& view, int knn)
{
m_args->m_knn = knn;
ProgramArgs args;
addArgs(args);
// We're never parsing anything, so we'll just end up with default vals.
// This makes sure that the arg pointer (m_viewpointArg) is valid.
filter(view);
}
void NormalFilter::prepared(PointTableRef table)
{
if (m_args->m_up && m_viewpointArg->set())
{
log()->get(LogLevel::Warning)
<< "Viewpoint provided. Ignoring always_up = TRUE." << std::endl;
m_args->m_up = false;
}
}
void NormalFilter::filter(PointView& view)
{
KD3Index& kdi = view.build3dIndex();
for (PointId i = 0; i < view.size(); ++i)
{
// find the k-nearest neighbors
auto ids = kdi.neighbors(i, m_args->m_knn);
// compute covariance of the neighborhood
auto B = eigen::computeCovariance(view, ids);
// perform the eigen decomposition
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> solver(B);
if (solver.info() != Eigen::Success)
throwError("Cannot perform eigen decomposition.");
auto eval = solver.eigenvalues();
Eigen::Vector3f normal = solver.eigenvectors().col(0);
if (m_viewpointArg->set())
{
PointRef p = view.point(i);
Eigen::Vector3f vp(
m_args->m_viewpoint.x - p.getFieldAs<double>(Dimension::Id::X),
m_args->m_viewpoint.y - p.getFieldAs<double>(Dimension::Id::Y),
m_args->m_viewpoint.z - p.getFieldAs<double>(Dimension::Id::Z));
if (vp.dot(normal) < 0)
normal *= -1.0;
}
else if (m_args->m_up)
{
if (normal[2] < 0)
normal *= -1.0;
}
view.setField(Dimension::Id::NormalX, i, normal[0]);
view.setField(Dimension::Id::NormalY, i, normal[1]);
view.setField(Dimension::Id::NormalZ, i, normal[2]);
double sum = eval[0] + eval[1] + eval[2];
view.setField(Dimension::Id::Curvature, i,
sum ? std::fabs(eval[0] / sum) : 0);
}
}
} // namespace pdal