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Merge pull request #6 from chambbj/shr3d-plugin

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Add PDAL plugin
This commit is contained in:
pubgeo
2017-10-03 17:40:13 -04:00
committed by GitHub
parent 8c12e1713f 83aa419348
commit 7ad7b20fe4
13 changed files with 709 additions and 76 deletions
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97
.clang-format Normal file
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@@ -0,0 +1,97 @@
---
Language: Cpp
# BasedOnStyle: LLVM
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AlignEscapedNewlinesLeft: false
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AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: false
AlwaysBreakTemplateDeclarations: false
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
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BeforeCatch: false
BeforeElse: false
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BreakBeforeBinaryOperators: None
BreakBeforeBraces: Allman
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakAfterJavaFieldAnnotations: false
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CommentPragmas: '^ IWYU pragma:'
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ConstructorInitializerAllOnOneLineOrOnePerLine: false
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DerivePointerAlignment: false
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
FixNamespaceComments: true
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
Priority: 2
- Regex: '^(<|"(gtest|isl|json)/)'
Priority: 3
- Regex: '.*'
Priority: 1
IncludeIsMainRegex: '$'
IndentCaseLabels: false
IndentWidth: 4
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: true
MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCBlockIndentWidth: 2
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...

2
.gitignore vendored
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@@ -1,3 +1,5 @@
build
# Prerequisites
*.d

1
CMakeLists.txt
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@@ -2,6 +2,7 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
PROJECT(pubgeo)
SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
IF(WIN32)
MESSAGE(ERROR "Windows builds are currently not working due to erroneous linking errors.")

16
src/align3d/CMakeLists.txt
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@@ -25,4 +25,18 @@ if(TESTING)
TARGET_LINK_LIBRARIES(align3dTest
PUBLIC
ALIGN3D_LIB)
endif()
endif()
IF(WIN32)
SET(ALIGN3D_FILTER_NAME libpdal_plugin_filter_align3d)
ELSE(WIN32)
SET(ALIGN3D_FILTER_NAME pdal_plugin_filter_align3d)
ENDIF(WIN32)
ADD_LIBRARY(${ALIGN3D_FILTER_NAME} SHARED plugin.cpp)
LINK_DIRECTORIES(${PDAL_LIBRARY_DIRS})
TARGET_LINK_LIBRARIES(${ALIGN3D_FILTER_NAME} ${PDAL_LIBRARIES} ALIGN3D_LIB)
SET_TARGET_PROPERTIES(${ALIGN3D_FILTER_NAME} PROPERTIES SOVERSION "0.1.0")
INSTALL(TARGETS ${ALIGN3D_FILTER_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)

140
src/align3d/plugin.cpp Normal file
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@@ -0,0 +1,140 @@
// Copyright (c) 2017, Bradley J Chambers (brad.chambers@gmail.com)
// All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
// PDAL Plugin of S. Almes, S. Hagstrom, D. Chilcott, H. Goldberg, M. Brown,
// “Open Source Geospatial Tools to Enable Large Scale 3D Scene Modeling,”
// FOSS4G, 2017.
#include <algorithm>
#include "align3d.h"
#include "orthoimage.h"
#include "plugin.hpp"
#include <pdal/pdal_macros.hpp>
namespace pdal
{
static PluginInfo const s_info = PluginInfo(
"filters.align3d", "Shareable High Resolution 3D (Almes et al., 2017)",
"http://pdal.io/stages/filters.align3d.html");
CREATE_SHARED_PLUGIN(1, 0, Align3dFilter, Filter, s_info)
std::string Align3dFilter::getName() const
{
return s_info.name;
}
void Align3dFilter::addArgs(ProgramArgs& args)
{
args.add("gsd", "Ground Sample Distance (GSD) for gridding", m_gsd, 1.0);
args.add("maxt", "Maximum XYZ translation in search", m_maxt, 10.0);
args.add("maxdz", "Max local Z difference for matching", m_maxdz, 0.0);
}
PointViewSet Align3dFilter::run(PointViewPtr view)
{
PointViewSet viewSet;
if (!view->size())
return viewSet;
if (!m_fixed)
{
m_fixed = view;
return viewSet;
}
// Default MAXDZ = GSD x 2 to ensure reliable performance on steep
// slopes.
if (m_maxdz == 0.0)
m_maxdz = m_gsd * 2.0;
// Align the target point cloud to the reference.
// AlignTarget2Reference(referenceFileName, targetFileName, params);
// Read the reference LAS file as a DSM.
// Fill small voids.
// Remove points along edges which are difficult to match.
log()->get(LogLevel::Debug) << "Reading reference point cloud\n";
pubgeo::OrthoImage<unsigned short> referenceDSM;
if (!referenceDSM.readFromPointView(m_fixed, m_gsd, pubgeo::MAX_VALUE))
throw pdal_error("Error reading reference PointView\n");
referenceDSM.fillVoidsPyramid(true, 2);
log()->get(LogLevel::Debug) << "Filtering reference point cloud.\n";
referenceDSM.edgeFilter((long)(m_maxdz / referenceDSM.scale));
// Read the target LAS file as a DSM.
// Fill small voids.
// Remove points along edges which are difficult to match.
log()->get(LogLevel::Debug) << "Reading target point cloud\n";
pubgeo::OrthoImage<unsigned short> targetDSM;
if (!targetDSM.readFromPointView(view, m_gsd, pubgeo::MAX_VALUE))
throw pdal_error("Error reading target PointView\n");
targetDSM.fillVoidsPyramid(true, 2);
log()->get(LogLevel::Debug) << "Filtering target point cloud.\n";
targetDSM.edgeFilter((long)(m_maxdz / targetDSM.scale));
// Get overlapping bounds.
align3d::AlignBounds bounds;
bounds.xmin = std::max(referenceDSM.easting, targetDSM.easting);
bounds.ymin = std::max(referenceDSM.northing, targetDSM.northing);
bounds.xmax =
std::min(referenceDSM.easting + (referenceDSM.width * referenceDSM.gsd),
targetDSM.easting + (targetDSM.width * targetDSM.gsd));
bounds.ymax = std::min(
referenceDSM.northing + (referenceDSM.height * referenceDSM.gsd),
targetDSM.northing + (targetDSM.height * targetDSM.gsd));
bounds.width = bounds.xmax - bounds.xmin;
bounds.height = bounds.ymax - bounds.ymin;
double overlap_km = bounds.width / 1000.0 * bounds.height / 1000.0;
log()->get(LogLevel::Debug)
<< "Overlap = " << bounds.width << " m x " << bounds.height
<< " m = " << overlap_km << " km\n";
if (overlap_km == 0.0)
throw pdal_error("PointViews do not overlap");
// Estimate rigid body transform to align target points to reference.
align3d::AlignResult result;
log()->get(LogLevel::Debug) << "Estimating rigid body transformation.\n";
EstimateRigidBody(referenceDSM, targetDSM, m_maxt, bounds, result);
for (PointId i = 0; i < view->size(); ++i)
{
double x = view->getFieldAs<double>(Dimension::Id::X, i);
double y = view->getFieldAs<double>(Dimension::Id::Y, i);
double z = view->getFieldAs<double>(Dimension::Id::Z, i);
view->setField(Dimension::Id::X, i, x + result.tx);
view->setField(Dimension::Id::Y, i, y + result.ty);
view->setField(Dimension::Id::Z, i, z + result.tz);
}
viewSet.insert(view);
MetadataNode root = getMetadata();
root.add("x_offset", result.tx);
root.add("y_offset", result.ty);
root.add("z_offset", result.tz);
root.add("z_rms", result.rms);
return viewSet;
}
} // namespace pdal

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src/align3d/plugin.hpp Normal file
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@@ -0,0 +1,61 @@
// Copyright (c) 2017, Bradley J Chambers (brad.chambers@gmail.com)
// All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
// PDAL Plugin of S. Almes, S. Hagstrom, D. Chilcott, H. Goldberg, M. Brown,
// “Open Source Geospatial Tools to Enable Large Scale 3D Scene Modeling,”
// FOSS4G, 2017.
#pragma once
#include <cstdint>
#include <string>
#include <pdal/Filter.hpp>
#include <pdal/pdal_export.hpp>
#include <pdal/util/ProgramArgs.hpp>
namespace pdal
{
class PDAL_DLL Align3dFilter : public Filter
{
public:
Align3dFilter() : Filter(), m_fixed(nullptr)
{
}
static void* create();
static int32_t destroy(void*);
std::string getName() const;
private:
virtual void addArgs(ProgramArgs& args);
virtual PointViewSet run(PointViewPtr view);
double m_gsd;
double m_maxt;
double m_maxdz;
PointViewPtr m_fixed;
Align3dFilter& operator=(const Align3dFilter&) = delete;
Align3dFilter(const Align3dFilter&) = delete;
};
}

22
src/common/PointCloud.cpp
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@@ -56,6 +56,28 @@ namespace pubgeo {
}
}
bool PointCloud::Read(pdal::PointViewPtr view) {
numPoints = view->size();
if (numPoints < 1) {
std::cerr << "[PUBGEO::PointCloud::READ] No points found in file." << std::endl;
return false;
}
pdal::BOX3D box;
view->calculateBounds(box);
pdal::SpatialReference sr = view->spatialReference();
zone = sr.computeUTMZone(box);
// used later to return points
xOff = (int) floor(box.minx);
yOff = (int) floor(box.miny);
zOff = (int) floor(box.minz);
bounds = {box.minx, box.maxx, box.miny, box.maxy, box.minz, box.maxz};
return true;
}
bool PointCloud::TransformPointCloud(const char *inputFileName, const char *outputFileName,
float translateX = 0, float translateY = 0, float translateZ = 0) {
std::ostringstream pipeline;

1
src/common/PointCloud.h
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@@ -33,6 +33,7 @@ namespace pubgeo {
float translateX, float translateY, float translateZ);
bool Read(const char *fileName);
bool Read(pdal::PointViewPtr view);
MinMaxXYZ bounds;
int zone;

166
src/common/orthoimage.h
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@@ -258,7 +258,7 @@ namespace pubgeo {
GDALRasterBand *poBand = poDstDS->GetRasterBand(i);
poBand->SetNoDataValue(noData);
for (unsigned int j = 0; j < this->height; j++) {
for (int k = 0; k < this->width * this->bands; k++) {
for (unsigned int k = 0; k < this->width * this->bands; k++) {
if (this->data[j][k] == 0)
raster[k] = noData;
else
@@ -312,19 +312,19 @@ namespace pubgeo {
// Copy points into the ortho image.
if (mode == MIN_VALUE) {
for (int i = 0; i < pset.numPoints; i++) {
int x = int((pset.x(i) + pset.xOff - easting) / gsd + 0.5);
for (unsigned long i = 0; i < pset.numPoints; i++) {
unsigned int x = int((pset.x(i) + pset.xOff - easting) / gsd + 0.5);
if ((x < 0) || (x > this->width - 1)) continue;
int y = this->height - 1 - int((pset.y(i) + pset.yOff - northing) / gsd + 0.5);
unsigned int y = this->height - 1 - int((pset.y(i) + pset.yOff - northing) / gsd + 0.5);
if ((y < 0) || (y > this->height - 1)) continue;
TYPE z = TYPE((pset.z(i) + pset.zOff - this->offset) / this->scale);
if ((this->data[y][x] == 0) || (z < this->data[y][x])) this->data[y][x] = z;
}
} else if (mode == MAX_VALUE) {
for (int i = 0; i < pset.numPoints; i++) {
int x = int((pset.x(i) + pset.xOff - easting) / gsd + 0.5);
for (unsigned long i = 0; i < pset.numPoints; i++) {
unsigned int x = int((pset.x(i) + pset.xOff - easting) / gsd + 0.5);
if ((x < 0) || (x > this->width - 1)) continue;
int y = this->height - 1 - int((pset.y(i) + pset.yOff - northing) / gsd + 0.5);
unsigned int y = this->height - 1 - int((pset.y(i) + pset.yOff - northing) / gsd + 0.5);
if ((y < 0) || (y > this->height - 1)) continue;
TYPE z = TYPE((pset.z(i) + pset.zOff - this->offset) / this->scale);
if ((this->data[y][x] == 0) || (z > this->data[y][x])) this->data[y][x] = z;
@@ -333,6 +333,60 @@ namespace pubgeo {
return true;
}
// Read image from PDAL PointView.
bool readFromPointView(pdal::PointViewPtr view, float gsdMeters, MIN_MAX_TYPE mode = MIN_VALUE) {
// Read a PSET file (e.g., BPF or LAS).
PointCloud pset;
bool ok = pset.Read(view);
if (!ok) return false;
// Calculate scale and offset for conversion to TYPE.
float minVal = pset.bounds.zMin - 1; // Reserve zero for noData value
float maxVal = pset.bounds.zMax + 1;
float maxImageVal = (float) (pow(2.0, int(sizeof(TYPE) * 8)) - 1);
this->offset = minVal;
this->scale = (maxVal - minVal) / maxImageVal;
// Calculate image width and height.
this->width = (unsigned int) ((pset.bounds.xMax - pset.bounds.xMin) / gsdMeters + 1);
this->height = (unsigned int) ((pset.bounds.yMax - pset.bounds.yMin) / gsdMeters + 1);
// Allocate an ortho image.
this->Allocate(this->width, this->height);
this->easting = pset.bounds.xMin;
this->northing = pset.bounds.yMin;
this->zone = pset.zone;
this->gsd = gsdMeters;
// Copy points into the ortho image.
if (mode == MIN_VALUE) {
for (unsigned long i = 0; i < pset.numPoints; i++) {
double dx = view->getFieldAs<double>(pdal::Dimension::Id::X, i);
double dy = view->getFieldAs<double>(pdal::Dimension::Id::Y, i);
double dz = view->getFieldAs<double>(pdal::Dimension::Id::Z, i);
unsigned int x = int((dx - easting) / gsd + 0.5);
if ((x < 0) || (x > this->width - 1)) continue;
unsigned int y = this->height - 1 - int((dy - northing) / gsd + 0.5);
if ((y < 0) || (y > this->height - 1)) continue;
TYPE z = TYPE((dz - this->offset) / this->scale);
if ((this->data[y][x] == 0) || (z < this->data[y][x])) this->data[y][x] = z;
}
} else if (mode == MAX_VALUE) {
for (unsigned long i = 0; i < pset.numPoints; i++) {
double dx = view->getFieldAs<double>(pdal::Dimension::Id::X, i);
double dy = view->getFieldAs<double>(pdal::Dimension::Id::Y, i);
double dz = view->getFieldAs<double>(pdal::Dimension::Id::Z, i);
unsigned int x = int((dx - easting) / gsd + 0.5);
if ((x < 0) || (x > this->width - 1)) continue;
unsigned int y = this->height - 1 - int((dy - northing) / gsd + 0.5);
if ((y < 0) || (y > this->height - 1)) continue;
TYPE z = TYPE((dz - this->offset) / this->scale);
if ((this->data[y][x] == 0) || (z > this->data[y][x])) this->data[y][x] = z;
}
}
return true;
}
// Count voids in an image.
// Note that voids are always labeled zero in this data structure.
long countVoids() {
@@ -358,27 +412,27 @@ namespace pubgeo {
// Create image pyramid.
std::vector<OrthoImage<TYPE> *> pyramid;
pyramid.push_back(this);
int level = 0;
unsigned int level = 0;
while ((count > 0) && (level < maxLevel)) {
// Create next level.
OrthoImage<TYPE> *newImagePtr = new OrthoImage<TYPE>;
int nextWidth = pyramid[level]->width / 2;
int nextHeight = pyramid[level]->height / 2;
unsigned int nextWidth = pyramid[level]->width / 2;
unsigned int nextHeight = pyramid[level]->height / 2;
newImagePtr->Allocate(nextWidth, nextHeight, 1);
// Fill in non-void values from level below building up the pyramid with a simple running average.
for (int j = 0; j < nextHeight; j++) {
for (int i = 0; i < nextWidth; i++) {
int j2 = MIN(MAX(0, j * 2 + 1), pyramid[level]->height - 1);
int i2 = MIN(MAX(0, i * 2 + 1), pyramid[level]->width - 1);
for (unsigned int j = 0; j < nextHeight; j++) {
for (unsigned int i = 0; i < nextWidth; i++) {
unsigned int j2 = MIN(MAX(0, j * 2 + 1), pyramid[level]->height - 1);
unsigned int i2 = MIN(MAX(0, i * 2 + 1), pyramid[level]->width - 1);
// Average neighboring pixels from below.
float z = 0;
int ct = 0;
std::vector<TYPE> neighbors;
for (int jj = MAX(0, j2 - 1); jj <= MIN(j2 + 1, pyramid[level]->height - 1); jj++) {
for (int ii = MAX(0, i2 - 1); ii <= MIN(i2 + 1, pyramid[level]->width - 1); ii++) {
for (unsigned int jj = MAX(0, j2 - 1); jj <= MIN(j2 + 1, pyramid[level]->height - 1); jj++) {
for (unsigned int ii = MAX(0, i2 - 1); ii <= MIN(i2 + 1, pyramid[level]->width - 1); ii++) {
if (pyramid[level]->data[jj][ii] != 0) {
z += pyramid[level]->data[jj][ii];
ct++;
@@ -399,12 +453,12 @@ namespace pubgeo {
// Void fill down the pyramid.
for (int k = level - 1; k >= 0; k--) {
for (int j = 0; j < pyramid[k]->height; j++) {
for (int i = 0; i < pyramid[k]->width; i++) {
for (unsigned int j = 0; j < pyramid[k]->height; j++) {
for (unsigned int i = 0; i < pyramid[k]->width; i++) {
// Fill this pixel if it is currently void.
if (pyramid[k]->data[j][i] == 0) {
int j2 = MIN(MAX(0, j / 2), pyramid[k + 1]->height - 1);
int i2 = MIN(MAX(0, i / 2), pyramid[k + 1]->width - 1);
unsigned int j2 = MIN(MAX(0, j / 2), pyramid[k + 1]->height - 1);
unsigned int i2 = MIN(MAX(0, i / 2), pyramid[k + 1]->width - 1);
if (noSmoothing) {
// Just use the closest pixel from above.
@@ -413,9 +467,9 @@ namespace pubgeo {
// Average neighboring pixels from above.
float z = 0;
int ct = 0;
for (int jj = MAX(0, j2 - 1);
for (unsigned int jj = MAX(0, j2 - 1);
jj <= MIN(j2 + 1, pyramid[k + 1]->height - 1); jj++) {
for (int ii = MAX(0, i2 - 1);
for (unsigned int ii = MAX(0, i2 - 1);
ii <= MIN(i2 + 1, pyramid[k + 1]->width - 1); ii++) {
z += pyramid[k + 1]->data[jj][ii];
ct++;
@@ -430,28 +484,28 @@ namespace pubgeo {
}
// Deallocate memory for all but the input DSM.
for (int i = 1; i <= level; i++) {
for (unsigned int i = 1; i <= level; i++) {
pyramid[i]->Deallocate();
}
}
// Apply a median filter to an image.
void medianFilter(int rad, unsigned int dzShort) {
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
// Skip if void.
if (this->data[j][i] == 0) continue;
// Define bounds;
int i1 = MAX(0, i - rad);
int i2 = MIN(i + rad, this->width - 1);
int j1 = MAX(0, j - rad);
int j2 = MIN(j + rad, this->height - 1);
unsigned int i1 = MAX(0, i - rad);
unsigned int i2 = MIN(i + rad, this->width - 1);
unsigned int j1 = MAX(0, j - rad);
unsigned int j2 = MIN(j + rad, this->height - 1);
// Add valid values to the list.
std::vector<unsigned short> values;
for (int jj = j1; jj <= j2; jj++) {
for (int ii = i1; ii <= i2; ii++) {
for (unsigned int jj = j1; jj <= j2; jj++) {
for (unsigned int ii = i1; ii <= i2; ii++) {
if (this->data[jj][ii] != 0) {
values.push_back(this->data[jj][ii]);
}
@@ -474,25 +528,25 @@ namespace pubgeo {
void minFilter(int rad) {
OrthoImage<TYPE> tempImage;
tempImage.Allocate(this->width, this->height);
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
tempImage.data[j][i] = this->data[j][i];
}
}
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
// Skip if void.
if (this->data[j][i] == 0) continue;
// Define bounds;
int i1 = MAX(0, i - rad);
int i2 = MIN(i + rad, this->width - 1);
int j1 = MAX(0, j - rad);
int j2 = MIN(j + rad, this->height - 1);
unsigned int i1 = MAX(0, i - rad);
unsigned int i2 = MIN(i + rad, this->width - 1);
unsigned int j1 = MAX(0, j - rad);
unsigned int j2 = MIN(j + rad, this->height - 1);
// Check all neighbors.
for (int jj = j1; jj <= j2; jj++) {
for (int ii = i1; ii <= i2; ii++) {
for (unsigned int jj = j1; jj <= j2; jj++) {
for (unsigned int ii = i1; ii <= i2; ii++) {
if (this->data[jj][ii] != 0) {
if (this->data[jj][ii] < tempImage.data[j][i])
tempImage.data[j][i] = this->data[jj][ii];
@@ -501,8 +555,8 @@ namespace pubgeo {
}
}
}
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
this->data[j][i] = tempImage.data[j][i];
}
}
@@ -511,25 +565,25 @@ namespace pubgeo {
void edgeFilter(int dzShort) {
OrthoImage<TYPE> tempImage;
tempImage.Allocate(this->width, this->height);
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
tempImage.data[j][i] = this->data[j][i];
}
}
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
// Skip if void.
if (this->data[j][i] == 0) continue;
// Define bounds;
int i1 = MAX(0, i - 1);
int i2 = MIN(i + 1, this->width - 1);
int j1 = MAX(0, j - 1);
int j2 = MIN(j + 1, this->height - 1);
unsigned int i1 = MAX(0, i - 1);
unsigned int i2 = MIN(i + 1, this->width - 1);
unsigned int j1 = MAX(0, j - 1);
unsigned int j2 = MIN(j + 1, this->height - 1);
// If there's an edge with any neighbor, then remove.
for (int jj = j1; jj <= j2; jj++) {
for (int ii = i1; ii <= i2; ii++) {
for (unsigned int jj = j1; jj <= j2; jj++) {
for (unsigned int ii = i1; ii <= i2; ii++) {
if (fabs(float(this->data[jj][ii] - this->data[j][i])) > dzShort) {
tempImage.data[j][i] = 0;
}
@@ -537,8 +591,8 @@ namespace pubgeo {
}
}
}
for (int j = 0; j < this->height; j++) {
for (int i = 0; i < this->width; i++) {
for (unsigned int j = 0; j < this->height; j++) {
for (unsigned int i = 0; i < this->width; i++) {
this->data[j][i] = tempImage.data[j][i];
}
}
@@ -546,4 +600,4 @@ namespace pubgeo {
};
}
#endif //PUBGEO_ORTHO_IMAGE_H
#endif //PUBGEO_ORTHO_IMAGE_H

14
src/shr3d/CMakeLists.txt
View File

@@ -23,3 +23,17 @@ IF(TESTING)
PUBLIC
SHR3D_LIB)
ENDIF()
IF(WIN32)
SET(SHR3D_WRITER_NAME libpdal_plugin_writer_shr3d)
ELSE(WIN32)
SET(SHR3D_WRITER_NAME pdal_plugin_writer_shr3d)
ENDIF(WIN32)
ADD_LIBRARY(${SHR3D_WRITER_NAME} SHARED plugin.cpp)
LINK_DIRECTORIES(${PDAL_LIBRARY_DIRS})
TARGET_LINK_LIBRARIES(${SHR3D_WRITER_NAME} ${PDAL_LIBRARIES} SHR3D_LIB)
SET_TARGET_PROPERTIES(${SHR3D_WRITER_NAME} PROPERTIES SOVERSION "0.1.0")
INSTALL(TARGETS ${SHR3D_WRITER_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)

35
src/shr3d/main.cpp
View File

@@ -119,8 +119,8 @@ int main(int argc, char **argv) {
minImage.write(minOutFileName, true);
#endif
// Find many of the trees by comparing MIN and MAX. Set their values to void.
for (int j = 0; j < dsmImage.height; j++) {
for (int i = 0; i < dsmImage.width; i++) {
for (unsigned int j = 0; j < dsmImage.height; j++) {
for (unsigned int i = 0; i < dsmImage.width; i++) {
float minValue = (float) minImage.data[j][i];
// This check is to avoid penalizing spurious returns under very tall buildings.
@@ -129,12 +129,12 @@ int main(int argc, char **argv) {
// If this is in the trees, then set to void.
bool found = false;
double threshold = dz_meters / dsmImage.scale;
int i1 = MAX(0, i - 1);
int i2 = MIN(i + 1, dsmImage.width - 1);
int j1 = MAX(0, j - 1);
int j2 = MIN(j + 1, dsmImage.height - 1);
for (int jj = j1; jj <= j2; jj++) {
for (int ii = i1; ii <= i2; ii++) {
unsigned int i1 = MAX(0, i - 1);
unsigned int i2 = MIN(i + 1, dsmImage.width - 1);
unsigned int j1 = MAX(0, j - 1);
unsigned int j2 = MIN(j + 1, dsmImage.height - 1);
for (unsigned int jj = j1; jj <= j2; jj++) {
for (unsigned int ii = i1; ii <= i2; ii++) {
float diff = (float) dsmImage.data[jj][ii] - minValue;
if (diff < threshold) found = true;
}
@@ -185,8 +185,8 @@ int main(int argc, char **argv) {
dtmImage.scale = dsmImage.scale;
dtmImage.offset = dsmImage.offset;
dtmImage.bands = dsmImage.bands;
for (int j = 0; j < dsmImage.height; j++) {
for (int i = 0; i < dsmImage.width; i++) {
for (unsigned int j = 0; j < dsmImage.height; j++) {
for (unsigned int i = 0; i < dsmImage.width; i++) {
dtmImage.data[j][i] = minImage.data[j][i];
}
}
@@ -196,8 +196,8 @@ int main(int argc, char **argv) {
// For DSM voids, also set DTM value to void.
printf("Setting DTM values to VOID where DSM is VOID...\n");
for (int j = 0; j < dsmImage.height; j++) {
for (int i = 0; i < dsmImage.width; i++) {
for (unsigned int j = 0; j < dsmImage.height; j++) {
for (unsigned int i = 0; i < dsmImage.width; i++) {
if (dsmImage.data[j][i] == 0) dtmImage.data[j][i] = 0;
}
}
@@ -223,8 +223,8 @@ int main(int argc, char **argv) {
classImage.northing = dsmImage.northing;
classImage.zone = dsmImage.zone;
classImage.gsd = dsmImage.gsd;
for (int j = 0; j < classImage.height; j++) {
for (int i = 0; i < classImage.width; i++) {
for (unsigned int j = 0; j < classImage.height; j++) {
for (unsigned int i = 0; i < classImage.width; i++) {
// Set default as unlabeled.
classImage.data[j][i] = LAS_UNCLASSIFIED;
@@ -249,8 +249,8 @@ int main(int argc, char **argv) {
char classOutFileName[1024];
sprintf(classOutFileName, "%s_class.tif\0", inputFileName);
classImage.write(classOutFileName, false, egm96);
for (int j = 0; j < classImage.height; j++) {
for (int i = 0; i < classImage.width; i++) {
for (unsigned int j = 0; j < classImage.height; j++) {
for (unsigned int i = 0; i < classImage.width; i++) {
if (classImage.data[j][i] != LAS_BUILDING) classImage.data[j][i] = 0;
}
}
@@ -262,6 +262,3 @@ int main(int argc, char **argv) {
time(&t1);
printf("Total time elapsed = %f seconds\n", double(t1 - t0));
}

167
src/shr3d/plugin.cpp Normal file
View File

@@ -0,0 +1,167 @@
// Copyright (c) 2017, Bradley J Chambers (brad.chambers@gmail.com)
// All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
// PDAL Plugin of S. Almes, S. Hagstrom, D. Chilcott, H. Goldberg, M. Brown,
// “Open Source Geospatial Tools to Enable Large Scale 3D Scene Modeling,”
// FOSS4G, 2017.
#include <algorithm>
#include "orthoimage.h"
#include "plugin.hpp"
#include "shr3d.h"
#include <pdal/pdal_macros.hpp>
namespace pdal
{
static PluginInfo const s_info = PluginInfo(
"writers.shr3d", "Shareable High Resolution 3D (Almes et al., 2017)",
"http://pdal.io/stages/writers.shr3d.html");
CREATE_SHARED_PLUGIN(1, 0, Shr3dWriter, Writer, s_info)
std::string Shr3dWriter::getName() const
{
return s_info.name;
}
void Shr3dWriter::addArgs(ProgramArgs& args)
{
args.add("filename", "Output filename", m_filename).setPositional();
args.add("dh", "Horizontal uncertainty", m_dh, 0.5);
args.add("dz", "Vertical uncertainty", m_dz, 0.5);
args.add("agl", "Minimum building height above ground level", m_agl, 2.0);
args.add("area", "Minimum building area", m_area, 50.0);
args.add("egm96", "Set vertical datum to EGM96", m_egm96, false);
}
void Shr3dWriter::write(const PointViewPtr view)
{
shr3d::OrthoImage<unsigned short> dsmImage;
if (!dsmImage.readFromPointView(view, m_dh, shr3d::MAX_VALUE))
throw pdal_error("Error createing DSM\n");
dsmImage.medianFilter(1, static_cast<unsigned int>(m_agl / dsmImage.scale));
dsmImage.fillVoidsPyramid(true, 2);
shr3d::OrthoImage<unsigned short> minImage;
if (!minImage.readFromPointView(view, m_dh, shr3d::MIN_VALUE))
throw pdal_error("Error creating minimum Z image\n");
minImage.medianFilter(1, static_cast<unsigned int>(m_agl / minImage.scale));
minImage.fillVoidsPyramid(true, 2);
for (unsigned int j = 0; j < dsmImage.height; ++j)
{
for (unsigned int i = 0; i < dsmImage.width; ++i)
{
float minValue = static_cast<float>(minImage.data[j][i]);
// This check is to avoid penalizing spurious returns under very
// tall buildings. CAUTION: This is a hack to address an observed
// lidar sensor issue and may not generalize well.
if ((static_cast<float>(dsmImage.data[j][i]) - minValue) <
(40.0 / minImage.scale))
{
// If this is in the trees, then set to void.
bool found = false;
double threshold = m_dz / dsmImage.scale;
unsigned int i1 = std::max(0u, i - 1u);
unsigned int i2 = std::min(i + 1u, dsmImage.width - 1u);
unsigned int j1 = std::max(0u, j - 1u);
unsigned int j2 = std::min(j + 1u, dsmImage.height - 1u);
for (unsigned int jj = j1; jj <= j2; ++jj)
{
for (unsigned int ii = i1; ii <= i2; ++ii)
{
float diff = static_cast<float>(dsmImage.data[jj][ii]) -
minValue;
if (diff < threshold)
found = true;
}
}
if (!found)
dsmImage.data[j][i] = 0;
}
}
}
// Convert horizontal and vertical uncertainty values to bin units.
int dh_bins = std::max(1, static_cast<int>(floor(m_dh / dsmImage.gsd)));
unsigned int dz_short = static_cast<unsigned int>(m_dz / dsmImage.scale);
unsigned int agl_short = static_cast<unsigned int>(m_agl / dsmImage.scale);
// Generate label image.
shr3d::OrthoImage<unsigned long> labelImage;
labelImage.Allocate(dsmImage.width, dsmImage.height);
labelImage.easting = dsmImage.easting;
labelImage.northing = dsmImage.northing;
labelImage.zone = dsmImage.zone;
labelImage.gsd = dsmImage.gsd;
// Allocate a DTM image as SHORT and copy in the DSM values.
shr3d::OrthoImage<unsigned short> dtmImage;
dtmImage.Allocate(dsmImage.width, dsmImage.height);
dtmImage.easting = dsmImage.easting;
dtmImage.northing = dsmImage.northing;
dtmImage.zone = dsmImage.zone;
dtmImage.gsd = dsmImage.gsd;
dtmImage.scale = dsmImage.scale;
dtmImage.offset = dsmImage.offset;
dtmImage.bands = dsmImage.bands;
for (unsigned int j = 0; j < dsmImage.height; ++j)
{
for (unsigned int i = 0; i < dsmImage.width; ++i)
{
dtmImage.data[j][i] = minImage.data[j][i];
}
}
// Classify ground points.
shr3d::Shr3dder::classifyGround(labelImage, dsmImage, dtmImage, dh_bins,
dz_short);
// For DSM voids, also set DTM value to void.
for (unsigned int j = 0; j < dsmImage.height; ++j)
{
for (unsigned int i = 0; i < dsmImage.width; ++i)
{
if (dsmImage.data[j][i] == 0)
dtmImage.data[j][i] = 0;
}
}
// Median filter, replacing only points differing by more than the DZ
// threshold.
dtmImage.medianFilter(1, static_cast<unsigned int>(m_dz / dsmImage.scale));
// Refine the object label image and export building outlines.
shr3d::Shr3dder::classifyNonGround(dsmImage, dtmImage, labelImage, dz_short,
agl_short, static_cast<float>(m_area));
// Fill small voids in the DTM after all processing is complete.
dtmImage.fillVoidsPyramid(true, 2);
// Write the DTM image as FLOAT.
dtmImage.write(const_cast<char*>(m_filename.c_str()), true, m_egm96);
}
} // namespace pdal

63
src/shr3d/plugin.hpp Normal file
View File

@@ -0,0 +1,63 @@
// Copyright (c) 2017, Bradley J Chambers (brad.chambers@gmail.com)
// All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
// PDAL Plugin of S. Almes, S. Hagstrom, D. Chilcott, H. Goldberg, M. Brown,
// “Open Source Geospatial Tools to Enable Large Scale 3D Scene Modeling,”
// FOSS4G, 2017.
#pragma once
#include <cstdint>
#include <string>
#include <pdal/Writer.hpp>
#include <pdal/pdal_export.hpp>
#include <pdal/util/ProgramArgs.hpp>
namespace pdal
{
class PDAL_DLL Shr3dWriter : public Writer
{
public:
Shr3dWriter()
{
}
static void* create();
static int32_t destroy(void*);
std::string getName() const;
private:
virtual void addArgs(ProgramArgs& args);
virtual void write(const PointViewPtr view);
std::string m_filename;
double m_dh;
double m_dz;
double m_agl;
double m_area;
bool m_egm96;
Shr3dWriter& operator=(const Shr3dWriter&) = delete;
Shr3dWriter(const Shr3dWriter&) = delete;
};
}