Feature/first-in-voxel filter (#2699)

* Added First Entry Voxel Filter * Removed unused headers * Adding rst and minor code changes * Added tests * Rename filter name * doc update * Added comments in voxelize() and done variable name corrections. * test update * test update * Remove hash_combine and use array instead of BOX3D to store pivot voxel. * minor formatting * addressed comments and added improvements * Added default value to cell. * minor comment updates. * Addressed comments. * Added Pivot initialization flag as a member variable. * fixed Indents
PDAL · Sep 5, 2019 · 969b0c9 · 969b0c9
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diff --git a/doc/stages/filters.firstInVoxel.rst b/doc/stages/filters.firstInVoxel.rst
@@ -0,0 +1,37 @@
+.. _filters.firstInVoxel:
+
+filters.firstInVoxel
+===============================================================================
+
+The **firstInVoxel filter** is a voxel-based sampling filter.
+The input point
+cloud is divided into 3D voxels at the given cell size. For each populated
+voxel, the first point entering in the voxel is accepted and voxel is marked as populated. 
+All other points entering in the same voxel are ignored/skipped.
+
+Example
+-------
+
+.. code-block:: json
+
+  [
+      "input.las",
+      {
+          "type":"filters.firstInVoxel",
+          "cell":1.0
+      },
+      "output.las"
+  ]
+
+.. seealso::
+
+    :ref:`filters.voxelcenternearestneighbor` offers a similar solution,
+    using
+    the coordinates of the voxel center as the query point in a 3D nearest neighbor search. 
+    The nearest neighbor is then added to the output point cloud, along with any existing dimensions.
+
+Options
+-------------------------------------------------------------------------------
+
+cell
+  Cell size in the ``X``, ``Y``, and ``Z`` dimension. [Default: 0.001]
diff --git a/filters/FirstInVoxelFilter.cpp b/filters/FirstInVoxelFilter.cpp
@@ -0,0 +1,130 @@
+/******************************************************************************
+ * Copyright (c) 2019, Helix.re
+ * Contact Person : Pravin Shinde (pravin@helix.re, https://github.com/pravinshinde825)
+ *
+ * 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 "FirstInVoxelFilter.hpp"
+
+namespace pdal
+{
+
+static StaticPluginInfo const s_info{"filters.firstInVoxel",
+                                     "First Entry Voxel Filter", 
+                                     "http://pdal.io/stages/filters.firstInVoxel.html"};
+
+CREATE_STATIC_STAGE(FirstInVoxelFilter, s_info)
+
+std::string FirstInVoxelFilter::getName() const
+{
+    return s_info.name;
+}
+
+void FirstInVoxelFilter::addArgs(ProgramArgs& args)
+{
+    args.add("cell", "Cell size", m_cell, 0.001);
+}
+
+PointViewSet FirstInVoxelFilter::run(PointViewPtr view)
+{
+    PointViewPtr output = view->makeNew();
+    for (PointId id = 0; id < view->size(); ++id)
+    {
+        if (voxelize(view->point(id)))
+        {
+            output->appendPoint(*view, id);
+        }
+    }
+
+    PointViewSet viewSet;
+    viewSet.insert(output);
+    return viewSet;
+}
+
+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;
+
+    if (!m_pivotVoxelInitialized)
+    {
+        /*
+         * Save global coordinates of first incoming point's voxel.
+         * This will act as a Pivot for calculation of local coordinates of the
+         * voxels.
+         */
+        m_pivotVoxel[0] = gx; // X Coordinate of an Pivot voxel
+        m_pivotVoxel[1] = gy; // Y Coordinate of an Pivot voxel
+        m_pivotVoxel[2] = gz; // Z Coordinate of an Pivot voxel
+        m_pivotVoxelInitialized = true;
+    }
+
+    /*
+     * Calculate the local voxel coordinates for incoming point, Using the Pivot
+     * voxel.
+     */
+    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;
+}
+
+bool FirstInVoxelFilter::processOne(PointRef& point)
+{
+    return voxelize(point);
+}
+
+} // namespace pdal
diff --git a/filters/FirstInVoxelFilter.hpp b/filters/FirstInVoxelFilter.hpp
@@ -0,0 +1,69 @@
+/******************************************************************************
+ * Copyright (c) 2019, Helix.re
+ * Contact Person : Pravin Shinde (pravin@helix.re, https://github.com/pravinshinde825)
+ *
+ * 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.
+ ****************************************************************************/
+
+#pragma once
+
+#include <pdal/Filter.hpp>
+#include <pdal/Streamable.hpp>
+
+namespace pdal
+{
+
+class PointLayout;
+class PointView;
+
+class PDAL_DLL FirstInVoxelFilter : public Filter, Streamable
+{
+public:
+    FirstInVoxelFilter() : Filter(), Streamable(), m_pivotVoxelInitialized(false) {}
+    std::string getName() const;
+
+private:
+    double m_cell;
+
+    virtual void addArgs(ProgramArgs& args) override;
+    virtual PointViewSet run(PointViewPtr view) override;
+    bool processOne(PointRef& point) override;
+    bool voxelize(const PointRef point);
+    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/CMakeLists.txt b/test/unit/CMakeLists.txt
@@ -305,6 +305,7 @@ PDAL_ADD_TEST(pdal_filters_transformation_test FILES
     filters/TransformationFilterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_hexbin_test FILES filters/HexbinFilterTest.cpp)
 PDAL_ADD_TEST(pdal_filters_voxel_test FILES filters/VoxelTest.cpp)
+PDAL_ADD_TEST(pdal_filters_first_in_voxel_test FILES filters/FirstInVoxelFilterTest.cpp)
 
 PDAL_ADD_TEST(pdal_app_test FILES apps/AppTest.cpp)
 PDAL_ADD_TEST(pdal_app_plugin_test FILES apps/AppPluginTest.cpp)