This code houses the LSDCloud object, and associated functions, designed to analyse 3D pointcloud data, such as airborne LiDAR, and interface with the raster based LSDTopotools. Currently reads .las files, but this could be expanded in the future to include other input types. More...

#include <LSDCloudBase.hpp>

Public Member Functions
LSDCloud &	operator= (const LSDCloud &cloud_object)

	LSDCloud (string las_file, int filter, const double octree_resolution)
	create an LSDCloud from a las file. More...

	LSDCloud (string las_file, LSDRaster &Raster, int filter)

	LSDCloud (LSDRaster &raster)
	create an LSDCloud from a raster.

	LSDCloud (PointData &point_data, LSDRaster &raster)
	create an LSDCloud from a PointData object (see LSDShapeTools module)

	LSDCloud (int n_pts, float x_min, float x_max, float y_min, float y_max, float x_offset, float y_offset, pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, const double resolution)

int	get_NPts () const

float	get_XMin () const

float	get_YMin () const

float	get_XMax () const

float	get_YMax () const

float	get_XOffset () const

float	get_YOffset () const

pcl::PointCloud < pcl::PointXYZI >::Ptr	get_theCloud () const

float	get_OctreeResolution () const

float	get_point_x (int index)

float	get_point_y (int index)

void	read_las_header (string in_file, bool SetOffsetsFromTile)
	Read in header information, updating georeferencing as specified. More...

void	read_las_data (string in_file)
	Reads the data from a .las file into the LSDCloud object. More...

void	read_las_data_ground (string in_file)
	Reads the ground points from a .las file into the LSDCloud. More...

void	read_las_data_vegetation (string in_file)
	Reads the vegetation points from a .las file into the LSDCloud. More...

void	raster_to_cloud (LSDRaster &raster)
	Read in data from an LSDRaster into a LSDCloud object. More...

void	PointData_to_cloud (PointData &point_data, LSDRaster &raster)
	Read in data from a PointData (LSDShapeTools) into a LSDCloud. More...

void	RadiusSearch2D (float searchPoint_x, float searchPoint_y, float searchRadius, vector< float > &pointValues, vector< int > &pointIndex, vector< float > &pointSquaredDistance)
	Conducts a focal search (in xy plane), to find all points within defined search radius. More...

void	NearestNeighbourSearch2D (float searchPoint_x, float searchPoint_y, int K, vector< float > &pointValues, vector< int > &pointIndex, vector< float > &pointSquaredDistance)
	Conducts a focal search (in the xy plane), to find the nearest K points. More...

Protected Attributes
pcl::PointCloud < pcl::PointXYZI >::Ptr	theCloud

double	OctreeResolution

pcl::octree::OctreePointCloudSearch < pcl::PointXYZI > *	cloudOctree

float	XMin

float	YMin

float	XMax

float	YMax

float	XOffset

float	YOffset

int	NPts

Detailed Description

This code houses the LSDCloud object, and associated functions, designed to analyse 3D pointcloud data, such as airborne LiDAR, and interface with the raster based LSDTopotools. Currently reads .las files, but this could be expanded in the future to include other input types.

Author: DTM

Date: 17/02/14

Constructor & Destructor Documentation

LSDCloud::LSDCloud	(	string	las_file,
		int	filter,
		const double	octree_resolution
	)

inline

create an LSDCloud from a las file.

Three options for filtering: 0 -> no filter 1 -> vegetation only 2 -> ground

Member Function Documentation

void LSDCloud::NearestNeighbourSearch2D	(	float	searchPoint_x,
		float	searchPoint_y,
		int	K,
		vector< float > &	pointValues,
		vector< int > &	pointIndex,
		vector< float > &	pointSquaredDistance
	)

Conducts a focal search (in the xy plane), to find the nearest K points.

Points are arranged according to proximity to the query point

Parameters

float	-> the x coordinate of the query point
float	-> the y coordinate of the query point
int	-> the number of points to find
vector<float>	-> the values associated with the returned points
vector<int>	-> the indexes associated with the returned points
vector<float>	-> the squared distance of the returned points from the query point

Author: DTM

Date: 18/02/2014

void LSDCloud::PointData_to_cloud	(	PointData &	point_data,
		LSDRaster &	raster
	)

Read in data from a PointData (LSDShapeTools) into a LSDCloud.

The point cloud is also structured in an octree for rapid spatial querying. Uses the PCL library (www.poinclouds.org).

Parameters

PointData	-> x,y coordinate strucure to load into cloud
LSDRaster	-> raster used as spatial reference frame

Author: DTM

Date: 11/04/2014

void LSDCloud::RadiusSearch2D	(	float	searchPoint_x,
		float	searchPoint_y,
		float	searchRadius,
		vector< float > &	pointValues,
		vector< int > &	pointIndex,
		vector< float > &	pointSquaredDistance
	)

Conducts a focal search (in xy plane), to find all points within defined search radius.

SEARCH TOOLS

Points are arranged according to proximity to the query point

Parameters

float	-> the x coordinate of the query point
float	-> the y coordinate of the query point
float	-> the search radius
vector<float>	-> the values associated with the returned points
vector<int>	-> the indexes associated with the returned points
vector<float>	-> the squared distance of the returned points from the query point

Author: DTM

Date: 18/02/2014

void LSDCloud::raster_to_cloud ( LSDRaster & raster )

Read in data from an LSDRaster into a LSDCloud object.

The point cloud is also structured in an octree for rapid spatial querying. Uses the PCL library (www.poinclouds.org).

Parameters

LSDRaster -> raster to convert to a LSDCloud

Author: DTM

Date: 18/02/2014

void LSDCloud::read_las_data ( string in_file )

Reads the data from a .las file into the LSDCloud object.

The point cloud is also structured in an octree for rapid spatial querying. Uses the PCL library (www.poinclouds.org).

Parameters

string -> the name of the input file

Author: DTM

Date: 18/02/2014

void LSDCloud::read_las_data_ground ( string in_file )

Reads the ground points from a .las file into the LSDCloud.

The point cloud is also structured in an octree for rapid spatial querying. Uses the PCL library (www.poinclouds.org).

Parameters

string -> the name of the input file

Author: DTM

Date: 18/02/2014

void LSDCloud::read_las_data_vegetation ( string in_file )

Reads the vegetation points from a .las file into the LSDCloud.

The point cloud is also structured in an octree for rapid spatial querying. Uses the PCL library (www.poinclouds.org).

Parameters

string -> the name of the input file

Author: DTM

Date: 18/02/2014

void LSDCloud::read_las_header	(	string	in_file,
		bool	SetOffsetsFromTile
	)

Read in header information, updating georeferencing as specified.

If origin shift specified (e.g. using lower left corner of a LSDRaster), set SetOffsetsFromTile to FALSE. If origin shift is unspecified, use lower left corner of las tile and set SetOffsetsFromTile to TRUE. This uses the i/o routines from liblas (www.liblas.org)

Parameters

string	-> the name of the input file
float	-> Xminimum
float	-> YMinimum

Author: DTM

Date: 18/02/2014

The documentation for this class was generated from the following files:

LSDCloudBase.hpp
LSDCloudBase.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation