Revert "upgrade laspy to 2.2.0 with laszip support, allows to directly read and write laszip file"

This reverts commit 054a4414a1.

opendm/dem/commands.py

@@ -50,13 +50,36 @@ def rectify(lasFile, debug=False, reclassify_threshold=5, min_area=750, min_poin
     start = datetime.now()
 
     try:
+        # Currently, no Python 2 lib that supports reading and writing LAZ, so we will do it manually until ODM is migrated to Python 3
+        # When migration is done, we can move to pylas and avoid using PDAL for conversion
+        tempLasFile = os.path.join(os.path.dirname(lasFile), 'tmp.las')
+
+        # Convert LAZ to LAS
+        cmd = [
+            'pdal',
+            'translate',
+            '-i %s' % lasFile,
+            '-o %s' % tempLasFile
+        ]
+        system.run(' '.join(cmd))
+
         log.ODM_INFO("Rectifying {} using with [reclassify threshold: {}, min area: {}, min points: {}]".format(lasFile, reclassify_threshold, min_area, min_points))
         run_rectification(
-            input=lasFile, output=lasFile, debug=debug, \
+            input=tempLasFile, output=tempLasFile, debug=debug, \
             reclassify_plan='median', reclassify_threshold=reclassify_threshold, \
             extend_plan='surrounding', extend_grid_distance=5, \
             min_area=min_area, min_points=min_points)
 
+        # Convert LAS to LAZ
+        cmd = [
+            'pdal',
+            'translate',
+            '-i %s' % tempLasFile,
+            '-o %s' % lasFile
+        ]
+        system.run(' '.join(cmd))
+        os.remove(tempLasFile)
+
     except Exception as e:
         raise Exception("Error rectifying ground in file %s: %s" % (lasFile, str(e)))
 

opendm/dem/ground_rectification/extra_dimensions/distance_dimension.py

@@ -35,7 +35,7 @@ class DistanceDimension(Dimension):
         return 'distance_to_ground'
 
     def get_las_type(self):
-        return 'float64'
+        return 10
 
     def __calculate_angle(self, model):
         "Calculate the angle between the estimated plane and the XY plane"

opendm/dem/ground_rectification/extra_dimensions/extended_dimension.py

@@ -20,4 +20,4 @@ class ExtendedDimension(Dimension):
         return 'extended'
 
     def get_las_type(self):
-        return 'uint16'
+        return 3

opendm/dem/ground_rectification/extra_dimensions/partition_dimension.py

@@ -22,4 +22,4 @@ class PartitionDimension(Dimension):
         return self.name
 
     def get_las_type(self):
-        return 'uint32'
+        return 5

opendm/dem/ground_rectification/io/las_io.py

@@ -1,39 +1,52 @@
 # TODO: Move to pylas when project migrates to python3
 
-import laspy
+from laspy.file import File
+from laspy.header import Header
 import numpy as np
 from ..point_cloud import PointCloud
 
 def read_cloud(point_cloud_path):
     # Open point cloud and read its properties
-    las_file = laspy.read(point_cloud_path)
-    header = las_file.header
+    las_file = File(point_cloud_path, mode='r')
+    header = (las_file.header.copy(), las_file.header.scale, las_file.header.offset,las_file.header.evlrs, las_file.header.vlrs)
+    [x_scale, y_scale, z_scale] = las_file.header.scale
+    [x_offset, y_offset, z_offset] = las_file.header.offset
 
-    x = las_file.x.scaled_array()
-    y = las_file.y.scaled_array()
-    z = las_file.z.scaled_array()
+    # Calculate the real coordinates
+    x = las_file.X * x_scale + x_offset
+    y = las_file.Y * y_scale + y_offset
+    z = las_file.Z * z_scale + z_offset
 
-    cloud = PointCloud.with_dimensions(x, y, z, las_file.classification.array, las_file.red, las_file.green, las_file.blue)
+    cloud = PointCloud.with_dimensions(x, y, z, las_file.Classification, las_file.red, las_file.green, las_file.blue)
+
+    # Close the file
+    las_file.close()
 
     # Return the result
     return header, cloud
 
 def write_cloud(header, point_cloud, output_point_cloud_path, write_extra_dimensions=False):
+    (h, scale, offset, evlrs, vlrs) = header
+
     # Open output file
-    output_las_file = laspy.LasData(header)
+    output_las_file = File(output_point_cloud_path, mode='w', header=h, evlrs=evlrs, vlrs=vlrs)
 
     if write_extra_dimensions:
-        extra_dims = [laspy.ExtraBytesParams(name=name, type=dimension.get_las_type(), description="Dimension added by Ground Extend") for name, dimension in point_cloud.extra_dimensions_metadata.items()]
-        output_las_file.add_extra_dims(extra_dims)
+        # Create new dimensions
+        for name, dimension in point_cloud.extra_dimensions_metadata.items():
+            output_las_file.define_new_dimension(name=name, data_type=dimension.get_las_type(), description="Dimension added by Ground Extend")
+
         # Assign dimension values
         for dimension_name, values in point_cloud.extra_dimensions.items():
             setattr(output_las_file, dimension_name, values)
 
     # Adapt points to scale and offset
+    [x_scale, y_scale, z_scale] = scale
+    [x_offset, y_offset, z_offset] = offset
     [x, y] = np.hsplit(point_cloud.xy, 2)
-    output_las_file.x = x.ravel()
-    output_las_file.y = y.ravel()
-    output_las_file.z = point_cloud.z
+    output_las_file.X = (x.ravel() - x_offset) / x_scale
+    output_las_file.Y = (y.ravel() - y_offset) / y_scale
+    output_las_file.Z = (point_cloud.z - z_offset) / z_scale
 
     # Set color
     [red, green, blue] = np.hsplit(point_cloud.rgb, 3)
@@ -42,6 +55,11 @@ def write_cloud(header, point_cloud, output_point_cloud_path, write_extra_dimens
     output_las_file.blue = blue.ravel()
 
     # Set classification
-    output_las_file.classification = point_cloud.classification.astype(np.uint8)
+    output_las_file.Classification = point_cloud.classification.astype(np.uint8)
 
-    output_las_file.write(output_point_cloud_path)
+    # Set header
+    output_las_file.header.scale = scale
+    output_las_file.header.offset = offset
+
+    # Close files
+    output_las_file.close()

requirements.txt

@@ -7,7 +7,7 @@ ODMExifRead==3.0.4
 Fiona==1.8.17 ; sys_platform == 'linux' or sys_platform == 'darwin'
 https://github.com/OpenDroneMap/windows-deps/raw/main/Fiona-1.8.19-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
 joblib==1.1.0
-laspy[laszip]==2.3.0
+laspy==1.7.0
 lxml==4.6.1
 matplotlib==3.3.3
 networkx==2.5