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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,25 @@ | ||
| #pragma once | ||
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| #include <memory> | ||
| #include <pdal/Log.hpp> | ||
| #include <pdal/PointBuffer.hpp> | ||
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| namespace pdal | ||
| { | ||
| namespace pclsupport | ||
| { | ||
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| class Pipeline | ||
| { | ||
| public: | ||
| Pipeline(pdal::PointBuffer& input, std::string const json, bool isFilename, pdal::LogPtr log); | ||
| ~Pipeline(); | ||
| void filter(pdal::PointBuffer& output); | ||
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| private: | ||
| class PipelineImpl; | ||
| std::unique_ptr<PipelineImpl> m_pipeline_pimpl; | ||
| }; | ||
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| } //namespace pclsupport | ||
| } //namespace pdal |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,151 @@ | ||
| #include <pdal/pclsupport/pipeline_impl.h> | ||
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| #include <pdal/Bounds.hpp> | ||
| #include <pdal/Log.hpp> | ||
| #include <pdal/PointBuffer.hpp> | ||
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| #ifdef PDAL_HAVE_PCL | ||
| #ifdef PDAL_COMPILER_CLANG | ||
| # pragma clang diagnostic push | ||
| # pragma clang diagnostic ignored "-Wfloat-equal" | ||
| #endif | ||
| #include <pdal/pclsupport/PCLConversions.hpp> | ||
| #include <pdal/pclsupport/impl/PCLPipeline.hpp> | ||
| #include <pcl/console/print.h> | ||
| #include <pcl/point_types.h> | ||
| #include <pcl/io/pcd_io.h> | ||
| #ifdef PDAL_COMPILER_CLANG | ||
| # pragma clang diagnostic pop | ||
| #endif | ||
| #endif | ||
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| namespace pdal | ||
| { | ||
| namespace pclsupport | ||
| { | ||
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| class Pipeline::PipelineImpl | ||
| { | ||
| public: | ||
| PipelineImpl(pdal::PointBuffer& input, std::string const json, bool isFilename, pdal::LogPtr log) : m_input(input), m_json(json), m_isFilename(isFilename), m_log(log) {} | ||
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| void filter(pdal::PointBuffer& output) | ||
| { | ||
| #ifdef PDAL_HAVE_PCL | ||
| bool logOutput = m_log->getLevel() > LogLevel::Debug1; | ||
| if (logOutput) | ||
| m_log->floatPrecision(8); | ||
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| //m_log->get(LogLevel::Debug2) << m_input.getFieldAs<double>(Dimension::Id::X, 0) << ", " << | ||
| // m_input.getFieldAs<double>(Dimension::Id::Y, 0) << ", " << | ||
| // m_input.getFieldAs<double>(Dimension::Id::Z, 0) << std::endl; | ||
| m_log->get(LogLevel::Debug2) << "Process PCLBlock..." << std::endl; | ||
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| BOX3D const& buffer_bounds = m_input.calculateBounds(); | ||
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| // convert PointBuffer to PointNormal | ||
| typedef pcl::PointCloud<pcl::PointNormal> Cloud; | ||
| Cloud::Ptr cloud(new Cloud); | ||
| pclsupport::PDALtoPCD(m_input, *cloud, buffer_bounds); | ||
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| //m_log->get(LogLevel::Debug2) << cloud->points[0].x << ", " << | ||
| // cloud->points[0].y << ", " << cloud->points[0].z << std::endl; | ||
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| int level = m_log->getLevel(); | ||
| switch (level) | ||
| { | ||
| case 0: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS); | ||
| break; | ||
| case 1: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_ERROR); | ||
| break; | ||
| case 2: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_WARN); | ||
| break; | ||
| case 3: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_INFO); | ||
| break; | ||
| case 4: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_DEBUG); | ||
| break; | ||
| default: | ||
| pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE); | ||
| break; | ||
| } | ||
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| pcl::Pipeline<pcl::PointNormal> pipeline; | ||
| pipeline.setInputCloud(cloud); | ||
| if (m_isFilename) | ||
| pipeline.setFilename(m_json); | ||
| else | ||
| pipeline.setJSON(m_json); | ||
| // PDALtoPCD subtracts min values in each XYZ dimension to prevent rounding | ||
| // errors in conversion to float. These offsets need to be conveyed to the | ||
| // pipeline to offset any bounds entered as part of a PassThrough filter. | ||
| pipeline.setOffsets(buffer_bounds.minx, buffer_bounds.miny, buffer_bounds.minz); | ||
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| // create PointCloud for results | ||
| Cloud::Ptr cloud_f(new Cloud); | ||
| pipeline.filter(*cloud_f); | ||
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| if (cloud_f->points.empty()) | ||
| { | ||
| m_log->get(LogLevel::Debug2) << "Filtered cloud has no points!" << std::endl; | ||
| return; | ||
| } | ||
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| pclsupport::PCDtoPDAL(*cloud_f, output, buffer_bounds); | ||
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| m_log->get(LogLevel::Debug2) << cloud->points.size() << " before, " << | ||
| cloud_f->points.size() << " after" << std::endl; | ||
| //m_log->get(LogLevel::Debug2) << output.size() << std::endl; | ||
| //m_log->get(LogLevel::Debug2) << output.getFieldAs<double>(Dimension::Id::X, 0) << ", " << | ||
| // output.getFieldAs<double>(Dimension::Id::Y, 0) << ", " << | ||
| // output.getFieldAs<double>(Dimension::Id::Z, 0) << std::endl; | ||
| #endif | ||
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| /* | ||
| #ifdef PDAL_HAVE_PCL | ||
| pdal::BOX3D const& buffer_bounds = m_input.calculateBounds(); | ||
| // create PCL cloud objects | ||
| typedef pcl::PointCloud<pcl::PointNormal> Cloud; | ||
| Cloud::Ptr cloud(new Cloud); | ||
| Cloud::Ptr cloud_f(new Cloud); | ||
| // convert PointBuffer to PointCloud | ||
| pdal::pclsupport::PDALtoPCD(m_input, *cloud, buffer_bounds); | ||
| // apply the voxel grid | ||
| pcl::Pipeline<pcl::PointNormal> vg; | ||
| vg.setInputCloud(cloud); | ||
| vg.setLeafSize(m_leaf_size,m_leaf_size,m_leaf_size); | ||
| vg.filter(*cloud_f); | ||
| // and convert PointCloud back to PointBuffer | ||
| pdal::pclsupport::PCDtoPDAL(*cloud_f, output, buffer_bounds); | ||
| #else | ||
| throw pdal_error("Pipeline requested without PCL support"); | ||
| #endif | ||
| */ | ||
| } | ||
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| private: | ||
| pdal::PointBuffer& m_input; | ||
| std::string m_json; | ||
| bool m_isFilename; | ||
| pdal::LogPtr m_log; | ||
| }; | ||
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| Pipeline::Pipeline(pdal::PointBuffer& input, std::string const json, bool isFilename, pdal::LogPtr log) : m_pipeline_pimpl(new PipelineImpl(input, json, isFilename, log)) {} | ||
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| Pipeline::~Pipeline() {} | ||
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| void Pipeline::filter(pdal::PointBuffer& output) | ||
| { | ||
| m_pipeline_pimpl->filter(output); | ||
| } | ||
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| } //namespace pclsupport | ||
| } //namespace pdal |
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