def do_hm(target_tile_path):
# load tile for matching
target_tile_name = target_tile_path.stem + target_tile_path.suffix
try:
target_tile = File(target_tile_path, mode='r') # this can take some time
# use global to get the info, apologize to programming teachers
global ref_tile
global ky_lidar_fix_path
# match histograms
new_dist = hist_match(target_tile.intensity, ref_tile.intensity)
# apply transformation
new_tile_path = ky_lidar_fix_path / target_tile_name
new_tile = File(new_tile_path, mode='w', header=target_tile.header)
new_tile.points = target_tile.points
new_tile.intensity = new_dist
new_tile.close()
return (True, new_tile_path)
except:
# if we can't load the file, that's a big problem, but it seems to happen
# sometimes.
return (False, target_tile_path)
def write_las_grid(self,filename, lb = -10, ub = 10, granularity = 0.1):
out_file = File(filename, mode = "w", header = Header())
out_file.header.scale = (0.001,0.001,0.001)
grid = self.get_3d_grid(lb, ub, granularity)
out_file.x = grid[:,0]* 300
out_file.y = grid[:,1] * 300
out_file.z = grid[:,2] * 300
out_file.intensity = grid[:,2] * 300
return(out_file)
def write_las_grid(self, filename, lb=-10, ub=10, granularity=0.1):
out_file = File(filename, mode="w", header=Header())
out_file.header.scale = (0.001, 0.001, 0.001)
grid = self.get_3d_grid(lb, ub, granularity)
out_file.x = grid[:, 0] * 300
out_file.y = grid[:, 1] * 300
out_file.z = grid[:, 2] * 300
out_file.intensity = grid[:, 2] * 300
return (out_file)
def write_LAS_intensity(pc_xyz,
v,
output_las_fn,
input_las_fn,
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))
v_rescale = v_rescale * (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.intensity = v_rescale
outFile.close()
min_x = np.min(in_pc_nparray[:, 0]) + shift
max_x = np.max(in_pc_nparray[:, 0]) + shift
step_x = resolution
min_y = np.min(in_pc_nparray[:, 1]) + shift
max_y = np.max(in_pc_nparray[:, 1]) + shift
step_y = resolution
bound_x = np.arange(min_x, max_x, step_x)
bound_y = np.arange(min_y, max_y, step_y)
target_x, target_y = np.meshgrid(bound_x, bound_y, indexing='ij')
# export as XYZ pcloud
x = np.ravel(target_x)
y = np.ravel(target_y)
z = np.ones(len(x))
false_intensity = np.zeros(len(x))
out_LAS = File(filename + "_target.las", mode="w", header=in_pc.header)
out_LAS.x = x
out_LAS.y = y
out_LAS.z = z
out_LAS.intensity = false_intensity
out_LAS.close()
end1 = time.time()
difftime1 = end1 - start1
print(("create target point: %f sec") % (difftime1))
ky_lidar_raw_files_paths = list(ky_lidar_raw_files_path.glob("*.las"))
# How best to choose the reference tile? Maybe just choose the first one for now?
ref_tile_path = ky_lidar_raw_files_paths.pop(0)
# I don't know of a good way to mark it so that it's visible later though...
print(f"Reference tile: {ref_tile_path}")
# Open ref tile, save it as-is in the new path
ref_tile = File(ref_tile_path, mode='r')
new_tile = File(
ky_lidar_fix_path / (ref_tile_path.stem + ref_tile_path.suffix),
mode='w',
header=ref_tile.header)
new_tile.intensity = ref_tile.intensity
new_tile.close()
# need a function to process a sample and save it back
def do_hm(target_tile_path):
# load tile for matching
target_tile_name = target_tile_path.stem + target_tile_path.suffix
try:
target_tile = File(target_tile_path, mode='r') # this can take some time
# use global to get the info, apologize to programming teachers
global ref_tile
global ky_lidar_fix_path
# match histograms
new_dist = hist_match(target_tile.intensity, ref_tile.intensity)
out_LAS.define_new_dimension(name="sum_eigenvalues" + "_" + str(k),
data_type=9,
description="Spatial feature")
out_LAS.define_new_dimension(name="curvature" + "_" + str(k),
data_type=9,
description="Spatial feature")
#out_LAS.define_new_dimension(name="classification"+"_"+str(k),data_type=9, description="reference")
print(point_cloud.columns)
out_LAS.x = point_cloud['x']
#point_cloud.drop('x')
out_LAS.y = point_cloud['y']
out_LAS.z = point_cloud['z']
out_LAS.intensity = point_cloud['intensity']
out_LAS.return_num = point_cloud['return_number']
#print(point_cloud["number_of_returns"])
point_cloud["number_of_returns"] = point_cloud["number_of_returns"]
#print(point_cloud["number_of_returns"])
out_LAS.num_returns = point_cloud['number_of_returns']
#Setting attributes Maybe do this with "try" ?
setattr(out_LAS, 'delta_z' + "_" + str(k), point_cloud['delta_z'])
#point_cloud.drop('delta_z')
setattr(out_LAS, 'std_z' + "_" + str(k), point_cloud['std_z'])
#point_cloud.drop('std_z')
setattr(out_LAS, 'radius' + "_" + str(k), point_cloud['radius'])
#point_cloud.drop('radius')
setattr(out_LAS, 'density' + "_" + str(k), point_cloud['density'])
#point_cloud.drop('density')
