def __init__(self, points_file, class_file=''):
# Load points file
if points_file.endswith('.las') or points_file.endswith('.laz'):
lfile = LasFile(points_file, mode='r')
self.x = np.copy(lfile.X).astype('f8') * lfile.header.scale[0]
self.y = np.copy(lfile.Y).astype('f8') * lfile.header.scale[1]
self.z = np.copy(lfile.Z).astype('f8') * lfile.header.scale[2]
self.i = np.copy(lfile.Intensity).astype('f8')
self.r = np.copy(lfile.return_num).astype('f8')
self.c = np.copy(lfile.Classification)
lfile.close()
elif points_file.endswith('.txt'):
data = np.loadtxt(points_file, delimiter=',', dtype='f8')
self.x = data[:, 0]
self.y = data[:, 1]
self.z = data[:, 2]
self.i = data[:, 3]
self.r = data[:, 4]
if not class_file:
if data.shape[1] > 5:
self.c = data[:, 5].astype('uint8')
else:
self.c = np.zeros(self.x.shape, dtype='uint8')
else:
self.c = np.loadtxt(class_file, dtype='uint8')
else:
raise ValueError('Unknown file type extension: ' + points_file)
self.filepath = points_file
self.filename = os.path.splitext(os.path.basename(points_file))[0]
if self.filename.endswith('_PC3'):
self.filename = self.filename[:-4]
def save(self, output_file, class_file=''):
if output_file.endswith('.txt'):
if (not class_file and self.c.any()):
np.savetxt(
output_file,
np.stack([self.x, self.y, self.z, self.i, self.r, self.c],
axis=1),
fmt='%.2f,%.2f,%.2f,%d,%d,%d')
else:
np.savetxt(output_file,
np.stack([self.x, self.y, self.z, self.i, self.r],
axis=1),
fmt='%.2f,%.2f,%.2f,%d,%d')
if class_file:
self.save_classifications_txt(class_file)
elif output_file.endswith('.las') or output_file.endswith('.laz'):
lfile = LasFile(output_file,
mode='w',
header=LasHeader(x_scale=0.01,
y_scale=0.01,
z_scale=0.01))
lfile.X = self.x / 0.01
lfile.Y = self.y / 0.01
lfile.Z = self.z / 0.01
lfile.Intensity = self.i
lfile.flag_byte = self.r
lfile.Classification = self.c
lfile.close()
else:
raise ValueError('Unknown file type extension: ' + output_file)
print("Usage: voxelizer.py input.las vox_size out_dir")
print("Loading file...", end='')
source_files = glob.glob(sys.argv[1])
out_dir = sys.argv[3]
if not os.path.exists(out_dir):
os.makedirs(out_dir)
for source in source_files:
t = time.time()
source_basename = os.path.basename(source)
source_fname, source_ext = os.path.splitext(source_basename)
if source_ext == ".las" or source_ext == ".laz":
inFile = LasFile(source, mode='r')
data = np.vstack((inFile.x, inFile.y, inFile.z)).transpose()
elif source_ext == ".txt" or source_ext == ".asc" or source_ext == ".xyz" or source_ext == "csv":
data = pandas.read_csv(source,
delimiter=' ',
skipinitialspace=True,
usecols=(0, 1, 2)).to_numpy(dtype=float)
else:
print(
"Please give a valid LAS or ASCII point cloud.\n"
"Supported extensions: ['.las'., '.laz', '.txt', '.asc', '.xyt', '.csv']"
)
sys.exit()
print(" [done (%.3f s)].\nVoxelizing..." % (time.time() - t), end='')
t = time.time()