Deal with ClassFlags appropriately for PDAL 2.6+ (#148)

* Write bits dimensions to a special PDAL dimension. * Add missed header. * Add support for version 1.3 and earlier LAS with PDAL 2.5 and earlier. * Disable EPT support for the moment. * Fix setting of extra dims. --------- Co-authored-by: Andrew Bell <[email protected]>
hobuinc · Dec 13, 2023 · 77a242e · 77a242e
1 parent b150b25
commit 77a242e
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Showing 12 changed files with 260 additions and 200 deletions.
diff --git a/bu/CopcSupport.cpp b/bu/CopcSupport.cpp
@@ -24,7 +24,6 @@
 
 #include "../untwine/Common.hpp"
 #include "../untwine/FileDimInfo.hpp"
-#include "../untwine/Las.hpp"
 
 namespace untwine
 {

diff --git a/bu/PointAccessor.hpp b/bu/PointAccessor.hpp
@@ -57,6 +57,8 @@ class PointAccessor
 
     size_t size()
     {
+        // start() returns the number of points in the file infos before the last one.
+        // adding numPoints() provides the total number of points.
         if (m_fileInfos.empty())
             return 0;
         else

diff --git a/bu/Processor.cpp b/bu/Processor.cpp
@@ -14,7 +14,6 @@
 #include <random>
 
 #include "../untwine/GridKey.hpp"
-#include "../untwine/Las.hpp"
 
 #include <pdal/PDALUtils.hpp>
 #include <pdal/StageFactory.hpp>
@@ -330,7 +329,6 @@ Processor::writeOctantCompressed(const OctantInfo& o, Index& index, IndexIter po
     // there's no reason why it should change. We should modify things to use a single
     // layout.
 
-    Dimension::IdList lasDims = pdrfDims(m_b.pointFormatId);
     DimInfoList dims = m_b.dimInfo;
     m_extraDims.clear();
     for (FileDimInfo& fdi : dims)
@@ -346,7 +344,7 @@ Processor::writeOctantCompressed(const OctantInfo& o, Index& index, IndexIter po
             else
                 stats.push_back({fdi.dim, Stats(fdi.name, Stats::EnumType::NoEnum, false)});
         }
-        if (!Utils::contains(lasDims, fdi.dim))
+        if (fdi.extraDim)
             m_extraDims.push_back(DimType(fdi.dim, fdi.type));
     }
     table.finalize();
@@ -530,7 +528,7 @@ void Processor::createChunk(const VoxelKey& key, pdal::PointViewPtr view)
     for (PointId idx = 0; idx < view->size(); ++idx)
     {
         PointRef point(*view, idx);
-        fillPointBuf(point, buf);
+        fillPointBuf(point, buf, layout->findDim(UntwineBitsDimName));
         compressor.compress(buf.data());
     }
     std::vector<unsigned char> chunk = compressor.done();
@@ -546,14 +544,13 @@ void Processor::createChunk(const VoxelKey& key, pdal::PointViewPtr view)
         throw FatalError("Failure writing to '" + m_b.opts.outputName + "'.");
 }
 
-void Processor::fillPointBuf(pdal::PointRef& point, std::vector<char>& buf)
+void Processor::fillPointBuf(pdal::PointRef& point, std::vector<char>& buf,
+    pdal::Dimension::Id bitsDim)
 {
     using namespace pdal;
 
     LeInserter ostream(buf.data(), buf.size());
 
-    // We only write PDRF 6, 7, or 8.
-    bool has14PointFormat = true;
     bool hasTime = true; //  m_lasHeader.hasTime();
     bool hasColor = m_b.pointFormatId == 7 || m_b.pointFormatId == 8;
     bool hasInfrared = m_b.pointFormatId == 8;
@@ -589,51 +586,16 @@ void Processor::fillPointBuf(pdal::PointRef& point, std::vector<char>& buf)
     ostream << z;
 
     ostream << point.getFieldAs<uint16_t>(Id::Intensity);
-
-    uint8_t scanChannel = point.getFieldAs<uint8_t>(Id::ScanChannel);
-    uint8_t scanDirectionFlag = point.getFieldAs<uint8_t>(Id::ScanDirectionFlag);
-    uint8_t edgeOfFlightLine = point.getFieldAs<uint8_t>(Id::EdgeOfFlightLine);
-    uint8_t classification = point.getFieldAs<uint8_t>(Id::Classification);
-
-    if (has14PointFormat)
-    {
-        uint8_t bits = returnNumber | (numberOfReturns << 4);
-        ostream << bits;
-
-        uint8_t classFlags;
-        if (point.hasDim(Id::ClassFlags))
-            classFlags = point.getFieldAs<uint8_t>(Id::ClassFlags);
-        else
-            classFlags = classification >> 5;
-        bits = (classFlags & 0x0F) |
-            ((scanChannel & 0x03) << 4) |
-            ((scanDirectionFlag & 0x01) << 6) |
-            ((edgeOfFlightLine & 0x01) << 7);
-        ostream << bits;
-    }
-    else
-    {
-        uint8_t bits = returnNumber | (numberOfReturns << 3) |
-            (scanDirectionFlag << 6) | (edgeOfFlightLine << 7);
-        ostream << bits;
-    }
-
-    ostream << classification;
+    ostream << (uint8_t)(returnNumber | (numberOfReturns << 4));
+    ostream << point.getFieldAs<uint8_t>(bitsDim);
+    ostream << point.getFieldAs<uint8_t>(Id::Classification);
 
     uint8_t userData = point.getFieldAs<uint8_t>(Id::UserData);
-    if (has14PointFormat)
-    {
-         // Guaranteed to fit if scan angle rank isn't wonky.
-        int16_t scanAngleRank =
-            static_cast<int16_t>(std::round(
-                point.getFieldAs<float>(Id::ScanAngleRank) / .006f));
-        ostream << userData << scanAngleRank;
-    }
-    else
-    {
-        int8_t scanAngleRank = point.getFieldAs<int8_t>(Id::ScanAngleRank);
-        ostream << scanAngleRank << userData;
-    }
+     // Guaranteed to fit if scan angle rank isn't wonky.
+    int16_t scanAngleRank =
+        static_cast<int16_t>(std::round(
+            point.getFieldAs<float>(Id::ScanAngleRank) / .006f));
+    ostream << userData << scanAngleRank;
 
     ostream << point.getFieldAs<uint16_t>(Id::PointSourceId);
 

diff --git a/bu/Processor.hpp b/bu/Processor.hpp
@@ -59,7 +59,7 @@ class Processor
     void writeEptFile(const std::string& filename, pdal::PointViewPtr view);
     void createChunk(const VoxelKey& key, pdal::PointViewPtr view);
     void sortChunk(pdal::PointViewPtr view);
-    void fillPointBuf(pdal::PointRef& point, std::vector<char>& buf);
+    void fillPointBuf(pdal::PointRef& point, std::vector<char>& buf, pdal::Dimension::Id bitsDim);
 
     VoxelInfo m_vi;
     const BaseInfo& m_b;

diff --git a/epf/Epf.cpp b/epf/Epf.cpp
@@ -17,7 +17,6 @@
 #include "Reprocessor.hpp"
 #include "Writer.hpp"
 #include "../untwine/Common.hpp"
-#include "../untwine/Las.hpp"
 
 #include <cmath>
 #include <filesystem>
@@ -32,7 +31,6 @@
 #include <pdal/util/FileUtils.hpp>
 #include <pdal/util/ProgramArgs.hpp>
 
-
 namespace
 {
 
@@ -100,6 +98,24 @@ std::vector<std::string> directoryList(const std::string& dir)
 }
 #endif
 
+pdal::Dimension::Type getDimensionType(const std::string& name)
+{
+    using namespace pdal;
+
+    if (name == untwine::UntwineBitsDimName)
+        return untwine::UntwineBitsType;
+
+    Dimension::Type type = Dimension::Type::Double;
+    try
+    {
+        type = Dimension::defaultType(Dimension::id(name));
+    }
+    catch (pdal_error&)
+    {}
+
+    return type;
+}
+
 } // unnamed namespace
 
 namespace untwine
@@ -117,7 +133,6 @@ Epf::Epf(BaseInfo& common) : m_b(common), m_pool(NumFileProcessors)
 Epf::~Epf()
 {}
 
-
 void Epf::run(ProgressWriter& progress)
 {
     using namespace pdal;
@@ -148,21 +163,17 @@ void Epf::run(ProgressWriter& progress)
         for (const FileDimInfo& fdi : fi.dimInfo)
             allDimNames.insert(fdi.name);
 
+    // Create an OUTPUT layout.
     // Register the dimensions, either as the default type or double if we don't know
     // what it is.
     PointLayoutPtr layout(new PointLayout());
-    for (const std::string& dimName : allDimNames)
+    for (std::string dimName : allDimNames)
     {
-        Dimension::Type type;
-        try
-        {
-            type = Dimension::defaultType(Dimension::id(dimName));
-        }
-        catch (pdal::pdal_error&)
-        {
-            type = Dimension::Type::Double;
-        }
-        layout->registerOrAssignDim(dimName, type);
+        // If this is a "bit" dimension, don't add it, but instead register the proxy
+        // untwine bits dimension.
+        if (isUntwineBitsDim(dimName))
+            dimName = UntwineBitsDimName;
+        layout->registerOrAssignDim(dimName, getDimensionType(dimName));
     }
     layout->finalize();
 
@@ -171,9 +182,20 @@ void Epf::run(ProgressWriter& progress)
     {
         for (FileDimInfo& di : fi.dimInfo)
         {
-            di.dim = layout->findDim(di.name);
-            di.type = layout->dimType(di.dim);
-            di.offset = layout->dimOffset(di.dim);
+            // If this dimension is one of the bit dimensions, set the shift and offset accordingly.
+            int bitPos = getUntwineBitPos(di.name);
+            if (bitPos != -1)
+            {
+                di.type = UntwineBitsType;
+                di.offset = layout->dimOffset(layout->findDim(UntwineBitsDimName));
+                di.shift = bitPos;
+            }
+            else
+            {
+                Dimension::Id dim = layout->findDim(di.name);
+                di.type = layout->dimType(dim);
+                di.offset = layout->dimOffset(dim);
+            }
         }
     }
 
@@ -274,15 +296,13 @@ void Epf::fillMetadata(const pdal::PointLayoutPtr layout)
     else
         m_b.pointFormatId = 6;
 
-    const Dimension::IdList& lasDims = pdrfDims(m_b.pointFormatId);
     for (Dimension::Id id : layout->dims())
     {
         FileDimInfo di;
         di.name = layout->dimName(id);
         di.type = layout->dimType(id);
         di.offset = layout->dimOffset(id);
-        di.dim = id;
-        di.extraDim = !Utils::contains(lasDims, id);
+        di.extraDim = isExtraDim(di.name);
         m_b.pointSize += pdal::Dimension::size(di.type);
         m_b.dimInfo.push_back(di);
     }
@@ -374,6 +394,8 @@ PointCount Epf::createFileInfo(const StringList& input, StringList dimNames,
 
         QuickInfo qi = s->preview();
 
+        // Detect LAS input with LAS version < 4 so that we can handle the legacy
+        // classification bits.
         if (!qi.valid())
             throw FatalError("Couldn't get quick info for '" + filename + "'.");
 
@@ -404,6 +426,16 @@ PointCount Epf::createFileInfo(const StringList& input, StringList dimNames,
         fi.filename = filename;
         fi.driver = driver;
 
+        // Detect LAS input with LAS version < 4 so that we can handle the legacy
+        // classification bits.
+        if (driver == "readers.las")
+        {
+            pdal::MetadataNode minor = root.findChild("minor_version");
+            pdal::MetadataNode major = root.findChild("major_version");
+            if (minor.valid() && major.valid())
+                fi.fileVersion = 10 * major.value<int>() + minor.value<int>();
+        }
+
         // Accept dimension names if there are no limits or this name is in the list
         // of desired dimensions.
         for (const std::string& name : qi.m_dimNames)

diff --git a/epf/EpfTypes.hpp b/epf/EpfTypes.hpp
@@ -41,7 +41,8 @@ constexpr int NumFileProcessors = 8;
 
 struct FileInfo
 {
-    FileInfo() : numPoints(0), start(0)
+    FileInfo() :
+        numPoints(0), start(0), untwineBitsDim(pdal::Dimension::Id::Unknown), fileVersion(0)
     {}
 
     std::string filename;
@@ -51,6 +52,10 @@ struct FileInfo
     uint64_t start;
     pdal::BOX3D bounds;
     pdal::SpatialReference srs;
+    pdal::Dimension::Id untwineBitsDim;
+    int untwineBitsOffset;
+    // Currently only set for LAS files.
+    int fileVersion;
 
     bool valid() const
     { return filename.size(); }