Adapt ground kernel to pmf filter changes

* Classify option is no longer needed, PMF always classifies points
* Extract option is retained, but is now implemented by adding a range filter

kernels/GroundKernel.cpp

@@ -1,47 +1,47 @@
 /******************************************************************************
-* Copyright (c) 2011, Michael P. Gerlek (mpg@flaxen.com)
-* Copyright (c) 2014-2015, 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.
-****************************************************************************/
+ * Copyright (c) 2011, Michael P. Gerlek (mpg@flaxen.com)
+ * Copyright (c) 2014-2017, 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 "GroundKernel.hpp"
 
 #include <pdal/KernelFactory.hpp>
 #include <pdal/Options.hpp>
-#include <pdal/pdal_macros.hpp>
 #include <pdal/PointTable.hpp>
 #include <pdal/PointView.hpp>
 #include <pdal/Stage.hpp>
 #include <pdal/StageFactory.hpp>
+#include <pdal/pdal_macros.hpp>
 
 #include <memory>
 #include <string>
@@ -51,25 +51,21 @@ namespace pdal
 {
 
 static PluginInfo const s_info = PluginInfo("kernels.ground", "Ground Kernel",
-    "http://pdal.io/apps/ground.html" );
+                                            "http://pdal.io/apps/ground.html");
 
 CREATE_STATIC_PLUGIN(1, 0, GroundKernel, Kernel, s_info)
 
-std::string GroundKernel::getName() const { return s_info.name; }
+std::string GroundKernel::getName() const
+{
+    return s_info.name;
+}
 
 GroundKernel::GroundKernel()
-    : Kernel()
-    , m_inputFile("")
-    , m_outputFile("")
-    , m_maxWindowSize(33)
-    , m_slope(1)
-    , m_maxDistance(2.5)
-    , m_initialDistance(0.15)
-    , m_cellSize(1)
-    , m_classify(true)
-    , m_extract(false)
-    , m_approximate(false)
-{}
+    : Kernel(), m_inputFile(""), m_outputFile(""), m_maxWindowSize(33),
+      m_slope(1), m_maxDistance(2.5), m_initialDistance(0.15), m_cellSize(1),
+      m_extract(false)
+{
+}
 
 void GroundKernel::addSwitches(ProgramArgs& args)
 {
@@ -80,34 +76,33 @@ void GroundKernel::addSwitches(ProgramArgs& args)
     args.add("max_distance", "Max distance", m_maxDistance, 2.5);
     args.add("initial_distance", "Initial distance", m_initialDistance, .15);
     args.add("cell_size", "Cell size", m_cellSize, 1.0);
-    args.add("classify", "Apply classification labels?", m_classify);
     args.add("extract", "extract ground returns?", m_extract);
-    args.add("approximate,a", "use approximate algorithm? (much faster)",
-        m_approximate);
+    args.add("approximate", "Use approximate PMF?", m_approximate, true);
 }
 
 int GroundKernel::execute()
 {
     PointTable table;
 
-    Stage& readerStage(makeReader(m_inputFile, ""));
-
     Options groundOptions;
     groundOptions.add("max_window_size", m_maxWindowSize);
     groundOptions.add("slope", m_slope);
     groundOptions.add("max_distance", m_maxDistance);
     groundOptions.add("initial_distance", m_initialDistance);
     groundOptions.add("cell_size", m_cellSize);
-    groundOptions.add("classify", m_classify);
-    groundOptions.add("extract", m_extract);
     groundOptions.add("approximate", m_approximate);
 
-    Stage& groundStage = makeFilter("filters.pmf", readerStage,
-        groundOptions);
+    Options rangeOptions;
+    rangeOptions.add("limits", "Classification[2:2]");
+
+    Stage& readerStage(makeReader(m_inputFile, ""));
+    Stage& groundStage = makeFilter("filters.pmf", readerStage, groundOptions);
 
-    // setup the Writer and write the results
-    Stage& writer(makeWriter(m_outputFile, groundStage, ""));
+    Stage* rangeStage = &groundStage;
+    if (m_extract)
+        rangeStage = &makeFilter("filters.range", groundStage, rangeOptions);
 
+    Stage& writer(makeWriter(m_outputFile, *rangeStage, ""));
     writer.prepare(table);
     writer.execute(table);
 

kernels/GroundKernel.hpp

@@ -1,6 +1,6 @@
 /******************************************************************************
 * Copyright (c) 2013, Howard Butler (hobu.inc@gmail.com)
-* Copyright (c) 2014-2015, Brad Chambers (brad.chambers@gmail.com)
+* Copyright (c) 2014-2017, Brad Chambers (brad.chambers@gmail.com)
 *
 * All rights reserved.
 *
@@ -71,7 +71,6 @@ class PDAL_DLL GroundKernel : public Kernel
     double m_maxDistance;
     double m_initialDistance;
     double m_cellSize;
-    bool m_classify;
     bool m_extract;
     bool m_approximate;
 };