Merge remote-tracking branch 'origin/master' into readers.numpy

io/BpfReader.cpp

@@ -135,13 +135,31 @@ void BpfReader::initialize()
             Utils::toString(zone));
        code += (zone < 10 ? "0" : "") + Utils::toString(zone);
     }
+    else if (m_header.m_coordType == static_cast<int>(BpfCoordType::TCR))
+    {
+        // TCR is ECEF meters, or EPSG:4978
+        // According to the 1.0 spec, the m_coordId must be 1 to be
+        // valid.
+        if (m_header.m_coordId == 1)
+            code = std::string("EPSG:4978");
+        else
+        {
+            std::ostringstream oss;
+            oss << "BPF has ECEF/TCR coordinate type defined, but the ID of '"
+                <<  m_header.m_coordId << "' is invalid";
+            throwError(oss.str());
+        }
+    }
     else
     {
-       // BPF supports something called Terrestrial Centered Rotational
-       // (BpfCoordType::TCR) and East North Up (BpfCoordType::ENU)
+       // BPF also supports something East North Up (BpfCoordType::ENU)
        // which we can figure out when we run into a file with these
        // coordinate systems.
-       throwError("BPF file contains unsupported coordinate system");
+        std::ostringstream oss;
+        oss << "BPF file contains unsupported coordinate system with "
+            << "coordinate type: '" << m_header.m_coordType
+            << "' and coordinate id: '" << m_header.m_coordId << "'";
+       throwError(oss.str());
     }
     SpatialReference srs(code);
     setSpatialReference(srs);

io/GDALGrid.cpp

@@ -48,6 +48,15 @@ GDALGrid::GDALGrid(size_t width, size_t height, double edgeLength,
     m_width(width), m_height(height), m_windowSize(windowSize),
     m_edgeLength(edgeLength), m_radius(radius), m_outputTypes(outputTypes)
 {
+    if (width > std::numeric_limits<int>::max() ||
+        height > std::numeric_limits<int>::max())
+    {
+        std::ostringstream oss;
+        oss << "Grid width or height is too large. Width and height are "
+            "limited to " << std::numeric_limits<int>::max() << " cells."
+            "Try setting bounds or increasing resolution.";
+        throw error(oss.str());
+    }
     size_t size(width * height);
 
     m_count.reset(new DataVec(size));
@@ -199,9 +208,11 @@ void GDALGrid::addPoint(double x, double y, double z)
     //         <- v
 
 
+    int i, j;
+    int iStart, jStart;
     // First quadrant;
-    int i = iOrigin + 1;
-    int j = jOrigin;
+    i = iStart = std::max(0, iOrigin + 1);
+    j = std::min(jOrigin, int(m_height - 1));
     while (i < (int)m_width && j >= 0)
     {
         double d = distance(i, j, x, y);
@@ -212,16 +223,16 @@ void GDALGrid::addPoint(double x, double y, double z)
         }
         else
         {
-            if (i == iOrigin + 1)
+            if (i == iStart)
                 break;
-            i = iOrigin + 1;
+            i = iStart;
             j--;
         }
     }
 
     // Second quadrant;
-    i = iOrigin;
-    j = jOrigin - 1;
+    i = std::min(iOrigin, int(m_width - 1));
+    j = jStart = std::min(jOrigin - 1, int(m_height - 1));
     while (i >= 0 && j >= 0)
     {
         double d = distance(i, j, x, y);
@@ -232,16 +243,16 @@ void GDALGrid::addPoint(double x, double y, double z)
         }
         else
         {
-            if (j == jOrigin - 1)
+            if (j == jStart)
                 break;
-            j = jOrigin - 1;
+            j = jStart;
             i--;
         }
     }
 
     // Third quadrant;
-    i = iOrigin - 1;
-    j = jOrigin;
+    i = iStart = std::min(iOrigin - 1, int(m_width - 1));
+    j = std::max(jOrigin, 0);
     while (i >= 0 && j < (int)m_height)
     {
         double d = distance(i, j, x, y);
@@ -252,15 +263,15 @@ void GDALGrid::addPoint(double x, double y, double z)
         }
         else
         {
-            if (i == iOrigin - 1)
+            if (i == iStart)
                 break;
-            i = iOrigin - 1;
+            i = iStart;
             j++;
         }
     }
     // Fourth quadrant;
-    i = iOrigin;
-    j = jOrigin + 1;
+    i = std::max(iOrigin, 0);
+    j = jStart = std::max(jOrigin + 1, 0);
     while (i < (int)m_width && j < (int)m_height)
     {
         double d = distance(i, j, x, y);
@@ -271,9 +282,9 @@ void GDALGrid::addPoint(double x, double y, double z)
         }
         else
         {
-            if (j == jOrigin + 1)
+            if (j == jStart)
                 break;
-            j = jOrigin + 1;
+            j = jStart;
             i++;
         }
     }
@@ -283,11 +294,11 @@ void GDALGrid::addPoint(double x, double y, double z)
     double d = distance(iOrigin, jOrigin, x, y);
     if (d < m_radius &&
         iOrigin >= 0 && jOrigin >= 0 &&
-        iOrigin < (int)m_width && jOrigin <= (int)m_height)
+        iOrigin < (int)m_width && jOrigin < (int)m_height)
         update(iOrigin, jOrigin, z, d);
 }
 
-void GDALGrid::update(int i, int j, double val, double dist)
+void GDALGrid::update(size_t i, size_t j, double val, double dist)
 {
     // Once we determine that a point is close enough to a cell to count it,
     // this function does the actual math.  We use the value of the

io/GDALGrid.hpp

@@ -139,7 +139,7 @@ class GDALGrid
     }
 
     // Update cell at i, j with value at a distance.
-    void update(int i, int j, double val, double dist);
+    void update(size_t i, size_t j, double val, double dist);
 
     // Fill cell at index \c i with the nondata value.
     void fillNodata(size_t i);

io/GDALWriter.cpp

@@ -143,8 +143,15 @@ void GDALWriter::createGrid(BOX2D bounds)
     m_curBounds = bounds;
     size_t width = ((m_curBounds.maxx - m_curBounds.minx) / m_edgeLength) + 1;
     size_t height = ((m_curBounds.maxy - m_curBounds.miny) / m_edgeLength) + 1;
-    m_grid.reset(new GDALGrid(width, height, m_edgeLength, m_radius,
-        m_outputTypes, m_windowSize));
+    try
+    {
+        m_grid.reset(new GDALGrid(width, height, m_edgeLength, m_radius,
+                    m_outputTypes, m_windowSize));
+    }
+    catch (GDALGrid::error& err)
+    {
+        throwError(err.what());
+    }
 }
 
 

io/LasReader.cpp

@@ -159,7 +159,7 @@ void LasReader::initializeLocal(PointTableRef table, MetadataNode& m)
 {
     try
     {
-        m_extraDims = LasUtils::parse(m_extraDimSpec);
+        m_extraDims = LasUtils::parse(m_extraDimSpec, false);
     }
     catch (const LasUtils::error& err)
     {

io/LasUtils.cpp

@@ -212,7 +212,7 @@ std::vector<IgnoreVLR> parseIgnoreVLRs(const StringList& ignored)
     return ignoredVLRs;
 
 }
-std::vector<ExtraDim> parse(const StringList& dimString)
+std::vector<ExtraDim> parse(const StringList& dimString, bool allOk)
 {
     std::vector<ExtraDim> extraDims;
     bool all = false;
@@ -221,6 +221,11 @@ std::vector<ExtraDim> parse(const StringList& dimString)
     {
         if (dim == "all")
         {
+            // We only accept all for LasWriter.
+            if (!allOk)
+                throw error("Invalid extra dimension specified: '" + dim +
+                    "'.  Need <dimension>=<type>.  See documentation "
+                    " for details.");
             all = true;
             continue;
         }

io/LasUtils.hpp

@@ -171,7 +171,7 @@ struct error : public std::runtime_error
     {}
 };
 
-std::vector<ExtraDim> parse(const StringList& dimString);
+std::vector<ExtraDim> parse(const StringList& dimString, bool allOk);
 
 
 struct IgnoreVLR

io/LasWriter.cpp

@@ -152,7 +152,7 @@ void LasWriter::initialize()
 #endif
     try
     {
-        m_extraDims = LasUtils::parse(m_extraDimSpec);
+        m_extraDims = LasUtils::parse(m_extraDimSpec, true);
     }
     catch (const LasUtils::error& err)
     {

plugins/pcl/CMakeLists.txt

@@ -34,16 +34,14 @@ set_package_properties(PCL PROPERTIES DESCRIPTION "Point Cloud Library"
     URL "http://pointclouds.org" TYPE RECOMMENDED
     PURPOSE "Enables PCD reader/writer, PCLVisualizer, PCLBlock filter, ICP filter, and ground, pcl, smooth, and view kernels")
 
-set(INCLUDE_DIRS
-    ${ROOT_DIR}
-    ${PCL_INCLUDE_DIRS}
-    ${CMAKE_CURRENT_LIST_DIR}
-    )
-
 add_definitions(${PCL_DEFINITIONS})
-if (NOT WIN32)
-    add_definitions("-fvisibility-inlines-hidden")
-endif()
+#
+# This can cause problems if you inline some code that instantiates a static.
+# I'm not sure why it was here, but I'm keeping it for now in case someone
+# goes looking for it. - ABELL 3/18
+#if (NOT WIN32)
+#    add_definitions("-fvisibility-inlines-hidden")
+#endif()
 
 # PCL's configuration clobbers Boost find_package - do it again
 find_package(Boost QUIET 1.52 COMPONENTS program_options iostreams filesystem system thread)
@@ -57,7 +55,7 @@ PDAL_ADD_PLUGIN(pcd_reader_libname reader pcd
         io/PcdReader.cpp
     LINK_WITH ${PCL_LIBRARIES})
 target_include_directories(${pcd_reader_libname} PRIVATE
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
     if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU" )
         set_source_files_properties(io/PcdReader.cpp PROPERTIES COMPILE_FLAGS -Wno-pedantic)
     endif()
@@ -71,7 +69,7 @@ PDAL_ADD_PLUGIN(pcd_writer_libname writer pcd
         io/PcdWriter.cpp
     LINK_WITH ${PCL_LIBRARIES})
 target_include_directories(${pcd_writer_libname} PRIVATE
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
     if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU" )
         set_source_files_properties(io/PcdWriter.cpp PROPERTIES COMPILE_FLAGS -Wno-pedantic)
     endif()
@@ -89,23 +87,25 @@ PDAL_ADD_PLUGIN(pclblock_libname filter pclblock
 )
 target_include_directories(${pclblock_libname}
     PRIVATE
-      ${INCLUDE_DIRS}
+      ${PCL_INCLUDE_DIRS}
       ${PDAL_JSONCPP_INCLUDE_DIR}
 )
 
 PDAL_ADD_PLUGIN(voxelgrid_filter_libname filter voxelgrid
     FILES
         filters/VoxelGridFilter.cpp
     LINK_WITH ${PCL_LIBRARIES})
-target_include_directories(${voxelgrid_filter_libname} PRIVATE
-    ${INCLUDE_DIRS})
+target_include_directories(${voxelgrid_filter_libname}
+    PRIVATE
+      ${PCL_INCLUDE_DIRS}
+)
 
 PDAL_ADD_PLUGIN(movingleastsquares_filter_libname filter movingleastsquares
     FILES
         filters/MovingLeastSquaresFilter.cpp
     LINK_WITH ${PCL_LIBRARIES})
 target_include_directories(${movingleastsquares_filter_libname} PRIVATE
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
     if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU" )
         set_source_files_properties(filters/MovingLeastSquaresFilter.cpp PROPERTIES COMPILE_FLAGS -Wno-pedantic)
     endif()
@@ -116,14 +116,14 @@ PDAL_ADD_PLUGIN(gridprojection_filter_libname filter gridprojection
         filters/GridProjectionFilter.cpp
     LINK_WITH ${PCL_LIBRARIES})
 target_include_directories(${gridprojection_filter_libname} PRIVATE
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
 
 PDAL_ADD_PLUGIN(icp_filter_libname filter icp
     FILES
         filters/IcpFilter.cpp
     LINK_WITH ${PCL_LIBRARIES})
 target_include_directories(${icp_filter_libname} PRIVATE
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
 
 #
 # PCL Kernel
@@ -134,7 +134,7 @@ PDAL_ADD_PLUGIN(pcl_libname kernel pcl
     LINK_WITH ${PCL_LIBRARIES} ${pclblock_libname})
 target_include_directories(${pcl_libname} PRIVATE
     ${PDAL_IO_DIR}
-    ${INCLUDE_DIRS})
+    ${PCL_INCLUDE_DIRS})
 
 #
 # Smooth Kernel
@@ -145,7 +145,7 @@ PDAL_ADD_PLUGIN(smooth_libname kernel smooth
         kernel/SmoothKernel.cpp
     LINK_WITH ${PCL_LIBRARIES} ${pclblock_libname})
 target_include_directories(${smooth_libname} PRIVATE
-    ${INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
     ${PDAL_IO_DIR})
 
 if (WITH_TESTS)
@@ -162,5 +162,6 @@ if (WITH_TESTS)
     LINK_WITH
         ${icp_filter_libname}
     )
-    target_include_directories(pdal_filters_icp_test PRIVATE ${INCLUDE_DIRS})
+    target_include_directories(pdal_filters_icp_test PRIVATE
+        ${PCL_INCLUDE_DIRS})
 endif()

plugins/pcl/filters/IcpFilter.cpp

@@ -32,8 +32,8 @@
  * OF SUCH DAMAGE.
  ****************************************************************************/
 
-#include "PCLConversions.hpp"
-#include <filters/IcpFilter.hpp>
+#include "../PCLConversions.hpp"
+#include "IcpFilter.hpp"
 #include <pcl/point_types.h>
 #include <pcl/registration/icp.h>
 #include <pdal/EigenUtils.hpp>

plugins/pcl/test/IcpFilterTest.cpp

@@ -34,12 +34,12 @@
 
 #include "Support.hpp"
 #include <Eigen/Dense>
-#include <filters/IcpFilter.hpp>
 #include <filters/TransformationFilter.hpp>
 #include <io/LasReader.hpp>
 #include <memory>
 #include <pdal/pdal_test_main.hpp>
 #include <pdal/EigenUtils.hpp>
+#include <pdal/StageFactory.hpp>
 
 namespace pdal
 {
@@ -55,9 +55,11 @@ std::unique_ptr<LasReader> newReader()
     return reader;
 }
 
-std::unique_ptr<IcpFilter> newFilter()
+Stage* newFilter()
 {
-    return std::unique_ptr<IcpFilter>(new IcpFilter());
+    static StageFactory f;
+
+    return f.createStage("filters.icp");
 }
 
 void checkPointsEqualReader(const PointViewSet& pointViewSet, double tolerance)