Small voxel filter fixes (#2720)

* Small fixes for firstInVoxel filter. * Set origin in test to 0. * Improve description as recommended (thanks Brad).
PDAL · Sep 5, 2019 · 4f8efe6 · 4f8efe6
1 parent db0123a
commit 4f8efe6
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Showing 5 changed files with 100 additions and 38 deletions.
diff --git a/doc/stages/filters.firstInVoxel.rst → doc/stages/filters.firstinvoxel.rst b/doc/stages/filters.firstInVoxel.rst → doc/stages/filters.firstinvoxel.rst
diff --git a/doc/stages/filters.rst b/doc/stages/filters.rst
@@ -206,6 +206,7 @@ the input. These filters will invalidate an existing KD-tree.
 
    filters.crop
    filters.decimation
+   filters.firstinvoxel
    filters.head
    filters.iqr
    filters.locate
@@ -227,6 +228,9 @@ the input. These filters will invalidate an existing KD-tree.
     Remove points that are in a raster cell but have a value far from the
     value of the raster.
 
+:ref:`filters.firstinvoxel`
+    Retain the first point detected in each voxel.
+
 :ref:`filters.head`
     Return N points from beginning of the point cloud.
 

diff --git a/filters/FirstInVoxelFilter.cpp b/filters/FirstInVoxelFilter.cpp
@@ -38,12 +38,19 @@
 namespace pdal
 {
 
-static StaticPluginInfo const s_info{"filters.firstInVoxel",
-                                     "First Entry Voxel Filter", 
-                                     "http://pdal.io/stages/filters.firstInVoxel.html"};
+static StaticPluginInfo const s_info
+{
+    "filters.firstinvoxel",
+    "First Entry Voxel Filter", 
+    "http://pdal.io/stages/filters.firstinvoxel.html"
+};
 
 CREATE_STATIC_STAGE(FirstInVoxelFilter, s_info)
 
+FirstInVoxelFilter::FirstInVoxelFilter()
+{}
+
+
 std::string FirstInVoxelFilter::getName() const
 {
     return s_info.name;
@@ -54,6 +61,13 @@ void FirstInVoxelFilter::addArgs(ProgramArgs& args)
     args.add("cell", "Cell size", m_cell, 0.001);
 }
 
+
+void FirstInVoxelFilter::ready(PointTableRef)
+{
+    m_pivotVoxelInitialized = false;
+}
+
+
 PointViewSet FirstInVoxelFilter::run(PointViewPtr view)
 {
     PointViewPtr output = view->makeNew();
@@ -76,9 +90,9 @@ bool FirstInVoxelFilter::voxelize(const PointRef point)
      * Calculate the voxel coordinates for the incoming point.
      * gx, gy, gz will be the global coordinates from (0, 0, 0).
      */
-    int gx = point.getFieldAs<double>(Dimension::Id::X) / m_cell;
-    int gy = point.getFieldAs<double>(Dimension::Id::Y) / m_cell;
-    int gz = point.getFieldAs<double>(Dimension::Id::Z) / m_cell;
+    int gx = std::floor(point.getFieldAs<double>(Dimension::Id::X) / m_cell);
+    int gy = std::floor(point.getFieldAs<double>(Dimension::Id::Y) / m_cell);
+    int gz = std::floor(point.getFieldAs<double>(Dimension::Id::Z) / m_cell);
 
     if (!m_pivotVoxelInitialized)
     {
@@ -100,26 +114,7 @@ bool FirstInVoxelFilter::voxelize(const PointRef point)
     auto t = std::make_tuple(gx - m_pivotVoxel[0], gy - m_pivotVoxel[1],
                              gz - m_pivotVoxel[2]);
 
-    /*
-     * Is already in populates voxels?
-     */
-    auto pi = m_populatedVoxels.find(t);
-    if (pi == m_populatedVoxels.end())
-    {
-        /*
-         * No, Voxel is not there in populated voxels.
-         * Mark the voxel as populated by making entry in m_populatedVoxels.
-         * Accept this point.
-         */
-        m_populatedVoxels.insert(t);
-        return true;
-    }
-    /*
-     * Yes, Voxel is already in populated voxels.
-     * That means the voxel is already contains a point.
-     * Ignore this point.
-     */
-    return false;
+    return (m_populatedVoxels.insert(t).second);
 }
 
 bool FirstInVoxelFilter::processOne(PointRef& point)

diff --git a/filters/FirstInVoxelFilter.hpp b/filters/FirstInVoxelFilter.hpp
@@ -44,26 +44,28 @@ namespace pdal
 class PointLayout;
 class PointView;
 
-class PDAL_DLL FirstInVoxelFilter : public Filter, Streamable
+class PDAL_DLL FirstInVoxelFilter : public Filter, public Streamable
 {
 public:
-    FirstInVoxelFilter() : Filter(), Streamable(), m_pivotVoxelInitialized(false) {}
-    std::string getName() const;
+    FirstInVoxelFilter();
+    FirstInVoxelFilter& operator=(const FirstInVoxelFilter&) = delete;
+    FirstInVoxelFilter(const FirstInVoxelFilter&) = delete;
 
-private:
-    double m_cell;
+    std::string getName() const override;
 
+private:
     virtual void addArgs(ProgramArgs& args) override;
     virtual PointViewSet run(PointViewPtr view) override;
-    bool processOne(PointRef& point) override;
+    virtual void ready(PointTableRef) override;
+    virtual bool processOne(PointRef& point) override;
+
     bool voxelize(const PointRef point);
+
+    double m_cell;
     std::set<std::tuple<int,int,int>> m_populatedVoxels;
     int m_pivotVoxel[3]; // [0]: X dimension, [1]: Y dimension, [2]: Z
                             // dimension.
     bool m_pivotVoxelInitialized;
-
-    FirstInVoxelFilter& operator=(const FirstInVoxelFilter&); // not implemented
-    FirstInVoxelFilter(const FirstInVoxelFilter&);            // not implemented
 };
 
 } // namespace pdal
diff --git a/test/unit/filters/FirstInVoxelFilterTest.cpp b/test/unit/filters/FirstInVoxelFilterTest.cpp
@@ -1,6 +1,7 @@
 /******************************************************************************
  * Copyright (c) 2019, Helix.re
- * Contact Person : Pravin Shinde (pravin@helix.re, https://github.com/pravinshinde825)
+ * Contact Person : Pravin Shinde (pravin@helix.re,
+ *   https://github.com/pravinshinde825)
  *
  * All rights reserved.
  *
@@ -36,8 +37,8 @@
 #include <pdal/pdal_test_main.hpp>
 
 #include <pdal/StageFactory.hpp>
-#include <pdal/Reader.hpp>
 #include <pdal/Streamable.hpp>
+#include "io/BufferReader.hpp"
 #include "filters/FirstInVoxelFilter.hpp"
 
 #include "Support.hpp"
@@ -54,7 +55,7 @@ TEST(FirstInVoxelFilterTest, standard)
     ro.add("filename", Support::datapath("las/autzen_trim.las"));
     reader->setOptions(ro);
 
-    Stage *filter = fac.createStage("filters.firstInVoxel");
+    Stage *filter = fac.createStage("filters.firstinvoxel");
     Options fo;
     fo.add("cell", 10);
     filter->setOptions(fo);
@@ -68,6 +69,66 @@ TEST(FirstInVoxelFilterTest, standard)
     EXPECT_EQ(v->size(), 7788U);
 }
 
+TEST(FirstInVoxelFilterTest, origin)
+{
+    using namespace Dimension;
+
+    PointTable t;
+    t.layout()->registerDims({Id::X, Id::Y, Id::Z});
+    PointViewPtr v(new PointView(t));
+
+    v->setField(Id::X, 0, 1);
+    v->setField(Id::Y, 0, 1);
+    v->setField(Id::Z, 0, 1);
+
+    v->setField(Id::X, 1, 1);
+    v->setField(Id::Y, 1, 1);
+    v->setField(Id::Z, 1, 1);
+
+    v->setField(Id::X, 2, 1);
+    v->setField(Id::Y, 2, 1);
+    v->setField(Id::Z, 2, -1);
+
+    v->setField(Id::X, 3, 1);
+    v->setField(Id::Y, 3, -1);
+    v->setField(Id::Z, 3, 1);
+
+    v->setField(Id::X, 4, 1);
+    v->setField(Id::Y, 4, -1);
+    v->setField(Id::Z, 4, -1);
+
+    v->setField(Id::X, 5, -1);
+    v->setField(Id::Y, 5, 1);
+    v->setField(Id::Z, 5, 1);
+
+    v->setField(Id::X, 6, -1);
+    v->setField(Id::Y, 6, 1);
+    v->setField(Id::Z, 6, -1);
+
+    v->setField(Id::X, 7, -1);
+    v->setField(Id::Y, 7, -1);
+    v->setField(Id::Z, 7, 1);
+
+    v->setField(Id::X, 8, -1);
+    v->setField(Id::Y, 8, -1);
+    v->setField(Id::Z, 8, -1);
+
+    BufferReader r;
+    r.addView(v);
+
+    FirstInVoxelFilter f;
+    Options o;
+    o.add("cell", 10);
+    f.setOptions(o);
+    f.setInput(r);
+
+    f.prepare(t);
+    PointViewSet s = f.execute(t);
+    EXPECT_EQ(s.size(), 1u);
+    v = *s.begin();
+    EXPECT_EQ(v->size(), 8u);
+}
+
 TEST(FirstInVoxelFilterTest, stream)
 {
     using namespace Dimension;