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/******************************************************************************
* Copyright (c) 2011, Michael P. Gerlek (mpg@flaxen.com)
* Copyright (c) 2014-2017, 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.
****************************************************************************/
#include "GroundKernel.hpp"
#include <pdal/Options.hpp>
#include <pdal/PointTable.hpp>
#include <pdal/PointView.hpp>
#include <pdal/Stage.hpp>
#include <pdal/StageFactory.hpp>
#include "../filters/private/DimRange.hpp"
#include <memory>
#include <string>
#include <vector>
namespace pdal
{
struct GroundKernel::Args
{
std::string inputFile;
std::string outputFile;
double maxWindowSize;
double slope;
double maxDistance;
double initialDistance;
double cellSize;
bool extract;
bool reset;
bool denoise;
StringList returns;
double scalar;
double threshold;
double cut;
std::string dir;
std::vector<DimRange> ignored;
};
static StaticPluginInfo const s_info
{
"kernels.ground",
"Ground Kernel",
"http://pdal.io/apps/ground.html"
};
CREATE_STATIC_KERNEL(GroundKernel, s_info)
std::string GroundKernel::getName() const
{
return s_info.name;
}
GroundKernel::GroundKernel() : m_args(new GroundKernel::Args)
{}
void GroundKernel::addSwitches(ProgramArgs& args)
{
args.add("input,i", "Input filename", m_args->inputFile).setPositional();
args.add("output,o", "Output filename", m_args->outputFile).setPositional();
args.add("max_window_size", "Max window size", m_args->maxWindowSize, 18.0);
args.add("slope", "Slope", m_args->slope, 0.15);
args.add("max_distance", "Max distance", m_args->maxDistance, 2.5);
args.add("initial_distance", "Initial distance", m_args->initialDistance, .15);
args.add("cell_size", "Cell size", m_args->cellSize, 1.0);
args.add("extract", "Extract ground returns?", m_args->extract);
args.add("reset", "Reset classifications prior to segmenting?", m_args->reset);
args.add("denoise", "Apply statistical outlier removal prior to segmenting?", m_args->denoise);
args.add("returns", "Include last returns?", m_args->returns, {"last", "only"});
args.add("scalar", "Elevation scalar?", m_args->scalar, 1.25);
args.add("threshold", "Elevation threshold?", m_args->threshold, 0.5);
args.add("cut", "Cut net size?", m_args->cut, 0.0);
args.add("ignore", "A range query to ignore when processing", m_args->ignored);
}
int GroundKernel::execute()
{
ColumnPointTable table;
Options assignOptions;
assignOptions.add("assignment", "Classification[:]=0");
Options outlierOptions;
Options groundOptions;
groundOptions.add("window", m_args->maxWindowSize);
groundOptions.add("threshold", m_args->threshold);
groundOptions.add("slope", m_args->slope);
groundOptions.add("cell", m_args->cellSize);
groundOptions.add("cut", m_args->cut);
groundOptions.add("scalar", m_args->scalar);
for (auto& s: m_args->returns)
groundOptions.add("returns", s);
for(DimRange& r: m_args->ignored)
groundOptions.add("ignore", r);
Options rangeOptions;
rangeOptions.add("limits", "Classification[2:2]");
Stage& readerStage(makeReader(m_args->inputFile, ""));
Stage* assignStage = &readerStage;
if (m_args->reset)
assignStage = &makeFilter("filters.assign", readerStage, assignOptions);
Stage* outlierStage = assignStage;
if (m_args->denoise)
outlierStage = &makeFilter("filters.outlier", *assignStage, outlierOptions);
Stage& groundStage = makeFilter("filters.smrf", *outlierStage, groundOptions);
Stage* rangeStage = &groundStage;
if (m_args->extract)
rangeStage = &makeFilter("filters.range", groundStage, rangeOptions);
Stage& writer(makeWriter(m_args->outputFile, *rangeStage, ""));
writer.prepare(table);
writer.execute(table);
return 0;
}
} // namespace pdal
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