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Writing a kernel

Author: Bradley Chambers
Contact: brad.chambers@gmail.com
Date: 11/02/2017

PDAL's command-line application can be extended through the development of kernel functions. In this tutorial, we will give a brief example.

The header

First, we provide a full listing of the kernel header.

.. literalinclude:: ../../examples/writing-kernel/MyKernel.hpp
   :language: cpp
   :linenos:

As with other plugins, the MyKernel class needs to return a name.

.. literalinclude:: ../../examples/writing-kernel/MyKernel.hpp
   :language: cpp
   :lines: 17

The source

Again, we start with a full listing of the kernel source.

.. literalinclude:: ../../examples/writing-kernel/MyKernel.cpp
   :language: cpp
   :linenos:

In your kernel implementation, you will use a macro defined in pdal_macros. This macro registers the plugin with the PluginManager.

.. literalinclude:: ../../examples/writing-kernel/MyKernel.cpp
   :language: cpp
   :lines: 23

To build up a processing pipeline in this example, we need to create two objects: the :cpp:class:`pdal::PointTable`.

.. literalinclude:: ../../examples/writing-kernel/MyKernel.cpp
   :language: cpp
   :lines: 35-53

To implement the actual kernel logic we implement execute(). In this case, the kernel reads a las file, decimates the data (eliminates some points) and writes the result to a text file. The base kernel class provides functions (makeReader, makeFilter, makeWriter) to create stages with options as desired. The pipeline that has been created can be run by preparing and executing the last stage in the pipeline.

When compiled, a dynamic library file will be created; in this case, libpdal_plugin_kernel_mykernel.dylib

Put this file in whatever directory PDAL_DRIVER_PATH is pointing to. Then, if you run pdal --drivers, you should see mykernel listed in the possible commands.

To run this kernel, you would use pdal mykernel -i <input las file> -o <output text file>.

Compilation

Set up a CMakeLists.txt file to compile your kernel against PDAL:

.. literalinclude:: ../../examples/writing-kernel/CMakeLists.txt
   :language: cmake
   :linenos: