Adding raw filter, does not do much

filters/LocalFeaturesFilter.cpp

@@ -0,0 +1,107 @@
+/******************************************************************************
+* Copyright (c) 2019, Helix Re Inc. nicolas@helix.re
+*
+* 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 Helix Re Inc. 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.
+****************************************************************************/
+
+// This is an implementation of the local feature descriptors introduced in
+// WEAKLY SUPERVISED SEGMENTATION-AIDED CLASSIFICATION OF URBANSCENES FROM 3D LIDAR POINT CLOUDS
+// Stéphane Guinard, Loïc Landrieu, 2017
+
+#include "LocalFeaturesFilter.hpp"
+
+#include <pdal/EigenUtils.hpp>
+#include <pdal/KDIndex.hpp>
+#include <pdal/util/ProgramArgs.hpp>
+
+#include <Eigen/Dense>
+
+#include <string>
+#include <vector>
+
+namespace pdal
+{
+
+static StaticPluginInfo const s_info
+{
+    "filters.locfeat",
+    "Filter that calculates local features based on the covariance matrix",
+    "http://pdal.io/stages/filters.localfeatures.html"
+};
+
+CREATE_STATIC_STAGE(LocalFeaturesFilter, s_info)
+
+std::string LocalFeaturesFilter::getName() const
+{
+    return s_info.name;
+}
+
+void LocalFeaturesFilter::addArgs(ProgramArgs& args)
+{
+    args.add("knn", "k-Nearest neighbors", m_knn, 8);
+}
+
+void LocalFeaturesFilter::addDimensions(PointLayoutPtr layout)
+{
+    m_linearity = layout->registerOrAssignDim("Linearity", Dimension::Type::Float);
+    m_planarity = layout->registerOrAssignDim("Planarity", Dimension::Type::Float);
+    m_scattering = layout->registerOrAssignDim("Scattering", Dimension::Type::Float);
+    m_verticality = layout->registerOrAssignDim("Verticality", Dimension::Type::Float);
+}
+
+void LocalFeaturesFilter::filter(PointView& view)
+{
+    using namespace Eigen;
+
+    KD3Index& kdi = view.build3dIndex();
+
+    for (PointId i = 0; i < view.size(); ++i)
+    {
+        // find the k-nearest neighbors
+        auto ids = kdi.neighbors(i, m_knn);
+
+        // compute covariance of the neighborhood
+        auto B = eigen::computeCovariance(view, ids);
+
+        // perform the eigen decomposition
+        SelfAdjointEigenSolver<Matrix3f> solver(B);
+        if (solver.info() != Success)
+            throwError("Cannot perform eigen decomposition.");
+        auto ev = solver.eigenvalues();
+
+        view.setField(m_linearity, i, ev[0]);
+        view.setField(m_planarity, i, ev[1]);
+        view.setField(m_scattering, i, ev[2]);
+        view.setField(m_verticality, i, ev[2]);
+    }
+}
+
+}

filters/LocalFeaturesFilter.hpp

@@ -0,0 +1,63 @@
+/******************************************************************************
+* Copyright (c) 2019, Helix Re Inc. nicolas@helix.re
+*
+* 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 Helix Re Inc. 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>
+
+namespace pdal {
+
+class PDAL_DLL LocalFeaturesFilter: public Filter
+{
+public:
+    LocalFeaturesFilter() : Filter() {}
+    LocalFeaturesFilter &operator=(const LocalFeaturesFilter &) = delete;
+    LocalFeaturesFilter(const LocalFeaturesFilter &) = delete;
+
+    std::string getName() const;
+
+private:
+    int m_knn;
+
+    virtual void addDimensions(PointLayoutPtr layout);
+    virtual void addArgs(ProgramArgs &args);
+    virtual void filter(PointView &view);
+
+    Dimension::Id m_linearity;
+    Dimension::Id m_planarity;
+    Dimension::Id m_scattering;
+    Dimension::Id m_verticality;
+};
+}
+