def write_LAS(pc_xyz,
v,
output_las_fn,
input_las_fn,
cmap=cm.terrain,
rescale='none'):
import datetime
from laspy.file import File
from skimage import exposure
import copy
inFile = File(input_las_fn, mode='r')
#normalize input and generate colors for height using colormap
#stretch to 10-90th percentile
#v_1090p = np.percentile(v, [10, 90])
#stretch to 2-98th percentile
v_0298p = np.percentile(v, [2, 98])
if rescale == 'none':
v_rescale = exposure.rescale_intensity(v,
in_range=(v_0298p[0],
v_0298p[1]))
elif rescale == 'median':
bounds = np.round(np.median(np.abs(v_0298p)), decimals=2)
v_rescale = exposure.rescale_intensity(v, in_range=(-bounds, bounds))
colormap_terrain = cmap
rgb = colormap_terrain(v_rescale)
#remove last column - alpha value
rgb = (rgb[:, :3] * (np.power(2, 16) - 1)).astype('uint16')
outFile = File(output_las_fn, mode='w', header=inFile.header)
new_header = copy.copy(outFile.header)
#setting some variables
new_header.created_year = datetime.datetime.now().year
new_header.created_day = datetime.datetime.now().timetuple().tm_yday
new_header.x_max = pc_xyz[:, 0].max()
new_header.x_min = pc_xyz[:, 0].min()
new_header.y_max = pc_xyz[:, 1].max()
new_header.y_min = pc_xyz[:, 1].min()
new_header.z_max = pc_xyz[:, 2].max()
new_header.z_min = pc_xyz[:, 2].min()
new_header.point_records_count = pc_xyz.shape[0]
new_header.point_return_count = 0
outFile.header.count = v.shape[0]
new_header.scale = inFile.header.scale
new_header.offset = inFile.header.offset
outFile.X = (pc_xyz[:, 0] -
inFile.header.offset[0]) / inFile.header.scale[0]
outFile.Y = (pc_xyz[:, 1] -
inFile.header.offset[1]) / inFile.header.scale[1]
outFile.Z = (pc_xyz[:, 2] -
inFile.header.offset[2]) / inFile.header.scale[2]
outFile.Red = rgb[:, 0]
outFile.Green = rgb[:, 1]
outFile.Blue = rgb[:, 2]
outFile.close()
def write_las(self, file_name: str, alt_header: File = None):
""" Writes the current points in a las format
Header used will be the same as the one provided during loading otherwise given.
"""
f = File(file_name,
mode='w',
header=alt_header if alt_header else self.header)
data = self.data(transformed=False)
f.X = data[:, 0]
f.Y = data[:, 1]
f.Z = data[:, 2]
f.Red = data[:, 3]
f.Green = data[:, 4]
f.Blue = data[:, 5]
f.close()