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@@ -35,6 +35,7 @@ install_manifest.txt | |
| # | ||
| # visual studio cruft | ||
| # | ||
| /.vs* | ||
| Debug/ | ||
| Release/ | ||
| RelWithDebInfo/ | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,22 +1,31 @@ | ||
| set(PDAL_COMMON_CXX_FLAGS "-Wextra -Wall -Wno-unused-parameter -Wno-unused-variable -Wpointer-arith -Wcast-align -Wcast-qual -Wredundant-decls -Wno-long-long -Wno-unknown-pragmas -Wno-deprecated-declarations -isystem /usr/local/include" | ||
| ) | ||
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| if (${CMAKE_CXX_COMPILER_ID} MATCHES "GNU") | ||
| if (${CMAKE_CXX_COMPILER_VERSION} VERSION_LESS 4.7) | ||
| set(CXX_STANDARD "-std=c++0x") | ||
| set(PDAL_CXX_STANDARD "-std=c++0x") | ||
| else() | ||
| set(CXX_STANDARD "-std=c++11") | ||
| endif() | ||
| if (${CMAKE_CXX_COMPILER_VERSION} VERSION_GREATER 4.6) | ||
| set(PDAL_NO_AS_NEEDED_START "-Wl,--no-as-needed") | ||
| set(PDAL_NO_AS_NEEDED_END "-Wl,--as-needed") | ||
| set(PDAL_CXX_STANDARD "-std=c++11") | ||
| endif() | ||
| set(PDAL_COMPILER_GCC 1) | ||
| elseif (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang") | ||
| set(CXX_STANDARD "-std=c++11") | ||
| set(PDAL_CXX_STANDARD "-std=c++11") | ||
| set(PDAL_COMPILER_CLANG 1) | ||
| else() | ||
| message(FATAL_ERROR "Unsupported C++ compiler") | ||
| endif() | ||
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| set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${PDAL_COMMON_CXX_FLAGS} ${CXX_STANDARD}") | ||
| function(PDAL_TARGET_COMPILE_SETTINGS target) | ||
| target_compile_options(${target} PUBLIC | ||
| ${PDAL_CXX_STANDARD} | ||
| -Wextra | ||
| -Wall | ||
| -Wno-unused-parameter | ||
| -Wno-unused-variable | ||
| -Wpointer-arith | ||
| -Wcast-align | ||
| -Wcast-qual | ||
| -Wredundant-decls | ||
| -Wno-long-long | ||
| -Wno-unknown-pragmas | ||
| -Wno-deprecated-declarations | ||
| ) | ||
| target_include_directories(${target} SYSTEM PUBLIC /usr/local/include) | ||
| endfunction() |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,73 @@ | ||
| .. _filters.cpd: | ||
|
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| filters.cpd | ||
| ============== | ||
|
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| The CPD filter uses the Coherent Point Drift :cite:`Myronenko` algorithm to compute a rigid, nonrigid, or affine transformation between datasets. | ||
| The rigid and affine are what you'd expect; the nonrigid transformation uses Motion Coherence Theory :cite:`Yuille1998` to "bend" the points to find a best alignment. | ||
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| .. note:: | ||
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| CPD is computationally intensive and can be slow when working with many points (i.e. > 10 000). | ||
| Nonrigid is significatly slower than rigid and affine. | ||
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| The first input to the change filter are considered the "fixed" points, and all subsequent inputs are "moving" points. | ||
| The output from the change filter are the "moving" points after the calculated transformation has been applied, one point view per input. | ||
| Any additional information about the cpd registration, e.g. the rigid transformation matrix, will be placed in the stage's metadata. | ||
|
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| Examples | ||
| -------- | ||
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| .. code-block:: json | ||
| { | ||
| "pipeline": [ | ||
| "fixed.las", | ||
| "moving.las", | ||
| { | ||
| "type": "filters.rigid", | ||
| "method": "rigid" | ||
| }, | ||
| "output.las" | ||
| ] | ||
| } | ||
| If "method" is not provided, the cpd filter will default to using the rigid registration method. | ||
| To get the transform matrix, you'll need to use the ``--metadata`` option: | ||
|
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| :: | ||
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| $ pdal pipeline cpd-pipeline.json --metadata cpd-metadata.json | ||
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| The metadata output might start something like: | ||
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| .. code-block:: json | ||
| { | ||
| "stages": | ||
| { | ||
| "filters.cpd": | ||
| { | ||
| "iterations": 10, | ||
| "method": "rigid", | ||
| "runtime": 0.003839, | ||
| "sigma2": 5.684342128e-16, | ||
| "transform": " 1 -6.21722e-17 1.30104e-18 5.29303e-11-8.99346e-17 1 2.60209e-18 -3.49247e-10 -2.1684e-19 1.73472e-18 1 -1.53477e-12 0 0 0 1" | ||
| }, | ||
| }, | ||
| .. seealso:: | ||
| :ref:`filters.transformation` to apply a transform to other points. | ||
| Options | ||
| -------- | ||
| method | ||
| Change detection method to use. | ||
| Valid values are "rigid", "affine", and "nonrigid". | ||
| [Default: **rigid**] | ||
| .. _Coherent Point Drift (CPD): https://github.com/gadomski/cpd | ||
| .. bibliography:: references.bib |
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| .. _filters.head: | ||
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| filters.head | ||
| =============================================================================== | ||
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| The HeadFilter returns a specified number of points from the beginning of the | ||
| PointView. | ||
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| .. note:: | ||
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| If the requested number of points exceeds the size of the point cloud, all | ||
| points are passed with a warning. | ||
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|
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| Example #1 | ||
| ---------- | ||
|
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| Thin a point cloud by first shuffling the point order with | ||
| :ref:`filters.randomize` and then picking the first 10000 using the HeadFilter. | ||
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| .. code-block:: json | ||
| { | ||
| "pipeline":[ | ||
| { | ||
| "type":"filters.randomize" | ||
| }, | ||
| { | ||
| "type":"filters.head", | ||
| "count":10000 | ||
| } | ||
| ] | ||
| } | ||
| Example #2 | ||
| ---------- | ||
|
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| Compute height above ground and extract the ten highest points. | ||
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| .. code-block:: json | ||
| { | ||
| "pipeline":[ | ||
| { | ||
| "type":"filters.smrf" | ||
| }, | ||
| { | ||
| "type":"filters.hag" | ||
| }, | ||
| { | ||
| "type":"filters.sort", | ||
| "dimension":"HeightAboveGround", | ||
| "order":"DESC" | ||
| }, | ||
| { | ||
| "type":"filters.head", | ||
| "count":10 | ||
| } | ||
| ] | ||
| } | ||
| .. seealso:: | ||
|
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| :ref:`filters.tail` is the dual to :ref:`filters.head`. | ||
|
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|
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| Options | ||
| ------------------------------------------------------------------------------- | ||
|
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| count | ||
| Number of points to return. [Default: **10**] |
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