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Merge pull request #716 from PDAL/issue/689-ground-filter
Add `filters.ground` and `kernels.ground`
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| Original file line number | Diff line number | Diff line change |
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| /****************************************************************************** | ||
| * Copyright (c) 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. | ||
| ****************************************************************************/ | ||
|
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| #include "GroundFilter.hpp" | ||
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| #include "PCLConversions.hpp" | ||
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| #include <pdal/Options.hpp> | ||
| #include <pdal/pdal_macros.hpp> | ||
| #include <pdal/PointBuffer.hpp> | ||
| #include <pdal/PointContext.hpp> | ||
| #include <pdal/StageFactory.hpp> | ||
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| #include <pcl/point_types.h> | ||
| #include <pcl/console/print.h> | ||
| #include <pcl/filters/extract_indices.h> | ||
| #include <pcl/io/pcd_io.h> | ||
| #include <pcl/segmentation/progressive_morphological_filter.h> | ||
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| CREATE_FILTER_PLUGIN(ground, pdal::GroundFilter) | ||
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| namespace pdal | ||
| { | ||
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| void GroundFilter::processOptions(const Options& options) | ||
| { | ||
| m_maxWindowSize = options.getValueOrDefault<double>("maxWindowSize", 33); | ||
| m_slope = options.getValueOrDefault<double>("slope", 1); | ||
| m_maxDistance = options.getValueOrDefault<double>("maxDistance", 2.5); | ||
| m_initialDistance = options.getValueOrDefault<double>("initialDistance", 0.15); | ||
| m_cellSize = options.getValueOrDefault<double>("cellSize", 1); | ||
| m_classify = options.getValueOrDefault<bool>("classify", true); | ||
| m_extract = options.getValueOrDefault<bool>("extract", false); | ||
| } | ||
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| void GroundFilter::addDimensions(PointContextRef ctx) | ||
| { ctx.registerDim(Dimension::Id::Classification); } | ||
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| PointBufferSet GroundFilter::run(PointBufferPtr input) | ||
| { | ||
| bool logOutput = log()->getLevel() > LogLevel::Debug1; | ||
| if (logOutput) | ||
| log()->floatPrecision(8); | ||
| log()->get(LogLevel::Debug2) << "Process GroundFilter...\n"; | ||
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| // convert PointBuffer to PointXYZ | ||
| typedef pcl::PointCloud<pcl::PointXYZ> Cloud; | ||
| Cloud::Ptr cloud(new Cloud); | ||
| BOX3D const& bounds = input->calculateBounds(); | ||
| pclsupport::PDALtoPCD(*input, *cloud, bounds); | ||
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| // PCL should provide console output at similar verbosity level as PDAL | ||
| int level = 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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| // setup the PMF filter | ||
| pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf; | ||
| pmf.setInputCloud(cloud); | ||
| pmf.setMaxWindowSize(m_maxWindowSize); | ||
| pmf.setSlope(m_slope); | ||
| pmf.setMaxDistance(m_maxDistance); | ||
| pmf.setInitialDistance(m_initialDistance); | ||
| pmf.setCellSize(m_cellSize); | ||
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| // run the PMF filter, grabbing indices of ground returns | ||
| pcl::PointIndicesPtr idx(new pcl::PointIndices); | ||
| pmf.extract(idx->indices); | ||
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| if (!idx->indices.empty() && (m_classify || m_extract)) | ||
| { | ||
| PointBufferSet pbSet; | ||
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| if (m_classify) | ||
| { | ||
| log()->get(LogLevel::Debug2) << "Labeled " << idx->indices.size() << " ground returns!\n"; | ||
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| // set the classification label of ground returns as 2 | ||
| // (corresponding to ASPRS LAS specification) | ||
| for (const auto& i : idx->indices) | ||
| { input->setField(Dimension::Id::Classification, i, 2); } | ||
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| pbSet.insert(input); | ||
| } | ||
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| if (m_extract) | ||
| { | ||
| log()->get(LogLevel::Debug2) << "Extracted " << idx->indices.size() << " ground returns!\n"; | ||
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| // create new PointBuffer containing only ground returns | ||
| PointBufferPtr output = input->makeNew(); | ||
| for (const auto& i : idx->indices) | ||
| { output->appendPoint(*input, i); } | ||
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| pbSet.erase(input); | ||
| pbSet.insert(output); | ||
| } | ||
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| return pbSet; | ||
| } | ||
| else | ||
| { | ||
| if (idx->indices.empty()) | ||
| log()->get(LogLevel::Debug2) << "Filtered cloud has no ground returns!\n"; | ||
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| if (!(m_classify || m_extract)) | ||
| log()->get(LogLevel::Debug2) << "Must choose --classify or --extract\n"; | ||
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| // return the input buffer unchanged | ||
| PointBufferSet pbSet; | ||
| pbSet.insert(input); | ||
| return pbSet; | ||
| } | ||
| } | ||
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| } // namespace pdal | ||
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| /****************************************************************************** | ||
| * Copyright (c) 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. | ||
| ****************************************************************************/ | ||
|
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| #pragma once | ||
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| #include <pdal/Filter.hpp> | ||
| #include <pdal/Stage.hpp> | ||
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| #include <memory> | ||
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| namespace pdal | ||
| { | ||
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| class Options; | ||
| class PointBuffer; | ||
| class PointContext; | ||
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| typedef std::shared_ptr<PointBuffer> PointBufferPtr; | ||
| typedef PointContext PointContextRef; | ||
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| class PDAL_DLL GroundFilter : public Filter | ||
| { | ||
| public: | ||
| SET_STAGE_NAME("filters.ground", "Progressive Morphological Filter") | ||
| SET_STAGE_LINK("http://www.pdal.io/stages/filters.ground.html") | ||
| SET_PLUGIN_VERSION("1.0.0b1") | ||
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| GroundFilter() : Filter() | ||
| {} | ||
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| private: | ||
| double m_maxWindowSize; | ||
| double m_slope; | ||
| double m_maxDistance; | ||
| double m_initialDistance; | ||
| double m_cellSize; | ||
| bool m_classify; | ||
| bool m_extract; | ||
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| virtual void addDimensions(PointContextRef ctx); | ||
| virtual void processOptions(const Options& options); | ||
| virtual void ready(PointContext ctx) {}; | ||
| virtual PointBufferSet run(PointBufferPtr buf); | ||
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| GroundFilter& operator=(const GroundFilter&); // not implemented | ||
| GroundFilter(const GroundFilter&); // not implemented | ||
| }; | ||
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| } // namespace pdal | ||
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