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RELEASENOTES.txt
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================================================================================
2.2.0
================================================================================
Changes of Note
===============
- The Zstandard compression library is no longer required in order to
build PDAL.
- The Ubuntu conda image now installs all of PDAL under ``/usr``.
- The default type of the ClusterID dimension has changed from
``uint64_t`` to ``int64_t``.
- Most operations now store data using ``ColumnPointTable``, which
stores data in arrays of dimensions, rather than arrays of point
data. This can improve the performance of some operations
substantially. Generally, this change should not be noticeable to
users.
- Normal refinement (``refine`` option) in ``filters.normal`` is now
off by default. (#3133)
- All filters now accept a ``where`` option to allow points to skip the
filters. (#3118)
- PDAL now searches for plugins in the same directory containing the
PDAL library. (#3181)
API User Notes
==============
- ``ColumnPointTable`` is now the default PDAL point table. If you have
written code that expects row-major data rather than column-major
data, be sure to use ``RowPointTable`` instead.
New Stages
==========
- ``filters.lloydkmeans`` labels points with a ``ClusterID`` based on
Lloyd’s algorithm. (#3075)
- ``filters.litree`` provides segmentation of points into trees and
non-trees. (#3111)
- ``filters.faceraster`` creates a raster from an existing
triangulation. (#3152)
- ``filters.optimalneighborhood`` computes the optimal number of
neighbors and corresponding radii (#3180)
- ``reader.obj`` allows reading of OBJ files.
Removed Stages
==============
- ``filters.hag`` has been removed. Use ``filters.hag_dem``,
``filter.hag_delaunay`` or ``filters.hag_nn`` instead.
Deprecated Stages
=================
- ``filters.ferry``. Use the ``value`` option of ``filters.assign``
instead.
- ``writers.oci``. OCI support will be removed in a future release.
- ``readers.oci``. OCI support will be removed in a future release.
Enhancements
============
- ``filters.colorinterp`` now provides the ``clamp`` option to force
values to be in the range [min, max]. (#2729 - Thanks to Matt
Csencsits)
- Long options can now be specified on the command line without and
equal sign (‘=’) separating the option name and value. (#3016)
- Added ``seed`` option ``readers.faux`` in order to allow consistent
generation of random data. (#3014)
- Improvements have been made to cmake installation to better support
downstream projects. (#2262)
- Added ``color_vertices`` option to ``writers.gltf`` to allow writing
of RGB and normals. (#3043 - Thanks to Emma Krantz)
- Added ``classbits`` option to ``filters.smrf`` to specify points to
be ignored by the SMRF algorithm. (#3055)
- Delaunay triangulation performance has been improved on systems using
libstdc++. (#3076)
- ``filters.covariancefeatures`` now provides the options ``min_k`` and
``radius`` to support radius search of neighbors in addition to
k-nearest. (#3083)
- ``filters.cluster`` now provide the option ``is3d`` to support
2-dimensional clustering. (#3084)
- ``filters.icp`` now emits a fully composed transformation matrix as
metadata that can be provided to ``filters.transformation`` to modify
point locations using a single operation. (#2939, #2962)
- ``filters.eigenvalues`` added the options ``stride``, ``radius`` and
``min_k`` to allow radius and strided neighbor searching. (#3132)
- ``writers.las`` now accepts the ``filename`` key in the ``vlrs``
option to import VLR data from files. (#3146)
- ``filters.transformation`` now provides the ``invert`` option to
apply the inverse of the provided ``matrix``. (#3126)
- ``readers.ept`` now returns a clipped boundary in the summary to
match the behavior of the point count. (#3168)
- ``filters.head`` is now streamable.
- ``readers.i3s`` is now streamable.
- ``readers.slpk`` no longer expands the source file into a temporary
directory.
- ``filters.assign`` added the ``value`` option to allow standard
expression-based conditional assignment of values.(#1468)
- ``readers.tiledb`` and ``writers.tiledb`` now support TileDB version
2 and duplicate points when using version 2 of TileDB. (#3030, #3047)
Bug Fixes
=========
- A problem where the classifications of voting points were being
changed in ``filters.neighborclassifier`` has been fixed. (#3210)
- Fixed an issue where NITF-wrapped LAS files may fail to open (#3010)
- Reading and writing of E57 files over 2GB in size on Windows has been
fixed. (#3000)
- Fixed various compilations issues in ``filters.matlab``. (#3013)
- Added better handling for some cases of coordinate transformation
failure. (#3009)
- An error in calculating position for some data in ``filters.smrf``
has been fixed. (#3069)
- An error in calculating neighbors for isolated points in
``filters.smrf`` has been fixed. (#3071)
- ``readers.las`` now creates dimensions ``ScanChannel`` and
``ClassFlags`` only when reading point formats 6-10. It used to
create them for any version 1.4 file. (#3092)
- ``filters.poisson`` now throws exceptions instead of calling
``exit()`` when it encounters a fatal error. (#3094)
- Errors that could occur in ``gdal::Raster::statistics()`` are now
returned to the caller, rather than resulting in a crash. (#3097)
- ``pdal tindex`` now ensures that traditional GIS axis order is used.
(#3099)
- ``readers.tindex`` now uses the file SRS rather than the tile index
column SRS unless overridden by the ``srs_column`` option. (#3012)
- An error in ``readers.ept`` that could create bad data when both the
``bounds`` and ``addons`` options were specified has been fixed.
(#3054)
- ``filters.hag_nn`` and ``filter.hag_delaunay`` now log an error
rather than terminate if no ground points are found. (#3112)
- An error in reporting point count was when the number of points
exceeded the maximum 32-bit value in ``readers.ept`` has been fixed.
(#3120)
- ``pdal tindex`` now stores WKT instead of EPSG codes to handle
vertical SRS instances. (#3100)
- A bug in ``filters.crop`` that didn’t properly handle 2D cropping has
been fixed. (#3115)
- ``readers.text`` now properly handles quoted dimension names in the
header. (#2201)
- Windows-style directory separators are now properly handled in cases
using relative filenames. (#2936)
- An exception reading E57 points with a transform has been fixed.
(#3163)
- Fix a failure in ``readers.pcd`` when preview() was called before
execute(). (#3169)
- The compression level for ``writers.tiledb`` is now properly set to
7. (#3198)
- An issue where ``filters.neighborclassifier`` would modify
classifications as it calculated them has been fixed. (#3210)
- An extra comma was written using ``readers.text`` when creating
GEOJson output. This has been fixed. (#3204)
================================================================================
2.1.0
================================================================================
Changes of Note
===============
- The X, Y and Z dimensions are now always stored internally as
double-precision floating point. This was normally case previously,
but it is now enforced. (#2892)
- The interface include file directory is now set for downstream
projects using cmake, eliminating the need to explicitly set the
location of PDAL header files. (#2262)
- PDAL is now always built using the arbiter library, which is included
in the source distribution.
- ``filters.python`` has been removed from the primary PDAL library and
is part of the `PDAL python <https://pdal.io/python.html>`__ library.
- When the ``bounds`` option of ``filters.crop`` represents a 3D
volume, the filter now does 3D cropping, rather than 2D cropping as
in previous releases. (#2904)
- ``writers.ply`` no longer accepts ``default`` as a valid value for
the ``storage_mode`` option. (#2385)
API User Notes
==============
- Support has been added for range-based iteration of PointView
objects. The dereferenced iterator yields a PointRef object.
- We are now providing private header files as part of the
distribution. The API exposed by these files may change or be
eliminated in a future release. Use of these files may require the
installation of the header files from other packages. The symbols for
some of these functions may not be public, especially on Windows.
- There are now enumerations for classifications (pdal::ClassLabel).
- N-dimensional KD-tree support has been added.
- There are some small API changes (const changes, for example), but
almost all code using the PDAL library should build without
modification.
- We do not guarantee ABI compatibility, though in most cases this
release should be backward compatible.
New Stages
==========
- ``filters.voxeldownsize`` provides streamed support for voxel
filtering. (#2699 - Thanks
`Helix.re <http://https://helixre.com/>`__!)
- ``filters.separatescanline`` splits input into separate output point
views based on associated scan lines. (#2724 - Thanks Guilhem
Villemin)
- ``filters.farthestpointsampling`` add points from the input to the
output one-at-a-time by selecting the point in the input that is the
furthest from any point in the output. (#2761)
- ``filters.skewnessbalancing`` classifies ground points using the
method of Bartels. (#2740)
- ``filters.dbscan`` provides density-based clustering. (#2748)
- ``filters.csf`` provides ground classification of points using the
cloth simulation method of Zhang. (#2765)
- ``readers.hdf`` provides generic support for many HDF files. (#2934)
- ``filters.hag_nn``, ``filters.hag_delaunay`` and ``filters.hag_dem``
have been created to replace ``filters.hag``. (#2886)
Deprecated Stages
=================
- ``filters.hag`` is deprecated and will be removed in a future
release. Use ``filters.hag_nn``, ``filters.hag_delaunay`` and
``filters.hag_dem`` instead.
Removed Stages
==============
- ``readers.sqlite`` and ``writers.sqlite``
Enhancements
============
- ``readers.ept`` now supports the ``headers`` and ``query`` options to
be forwarded to remote endpoints. (#2690)
- ``readers.ept`` now supports multipolygons for point filtering.
(#2758)
- ``readers.ept`` now supports asynchronous operation when streaming.
(#2772)
- ``readers.ept`` now supports filtering via OGR queries. (#2295)
- ``writers.ept`` now supports Zstandard compression. (#2561)
- ``writers.gdal`` now supports a ``power`` option that can be used to
impact the output of inverse distance weighting mode. (#2550)
- Eliminated an error as exception in ``readers.e57`` in order to
improve performance. (#2721)
- ``readers.rxp`` now supports reading the ``EdgeOfFlightLine``
dimension. (#2367)
- ``filters.randomize`` now has a ``seed`` option to initialize the
random number generator. (#2736)
- ``filters.rdb`` and ``filters.rxp`` now support fetching data from
remote sources.
- ``filters.hexbin`` now has the option ``smooth``, to smooth generated
geometry, and ``preserve_topology`` that forces creation of valid
geometry during the smoothing operation.
- ``filters.transformation`` now has a ``spatialreference`` option to
set the spatial reference of output data. (#2796)
- ``filters.overlay`` now uses the same point-in-polygon algorithm used
by ``filters.crop``. (#2812)
- ``writers.tiledb`` now supports TileDB attribute filters. (#2828)
- Output from ``pdal translate`` can now be directed to the null device
by using either ``devnull`` or ``/dev/null`` as the output filename.
(#2835)
- ``filters.transformation`` now supports providing a filename as the
``matrix`` option if the referenced file contains a matrix that
matches the format supported inline. (#2856)
- ``writers.las`` now allows specification of a ``filesource_id`` as an
option. (#2862)
- ``readers.text`` now handles quoted dimension names in a header line.
(#2201)
- ``pdal info`` now reports the reader used for a file, the current
time and the size of the file. (#2900)
- ``filters.reprojection`` now supports the options
``in_axis_ordering`` and ``out_axis_ordering`` to allow the matching
feature in GDAL 3+ be accessed. (#2916)
- ``filters.normal`` added the ``refine`` option to re-orient normal
vectors using a minimum spanning tree. (#2860)
Bug Fixes
=========
- ``readers.e57`` and ``writers.e57`` now build cleanly on Windows.
- ``writers.pgpointcloud`` no longer uses the wrong schema when
creating a new database and there is an existing database using the
same SRS. (#2692)
- Fixed a potential crash when destroying logs on shutdown. (#2702)
- Fixed a case where ``filters.voxelcentroidnearestneighbor`` could
return points for a voxel that weren’t actually in the voxel. (#2703)
- Fixed a typo in the alternate names of the ``NormalY`` dimension.
(#2723)
- ``filters.divider`` now handles empty input. (#2727)
- An error in calculating variance, standard deviation, skewness and
kurtosis has been fixed in ``filters.stats``. (#2790)
- An error where a list of dimensions would be expanded improperly in
``writers.ply`` under certain API uses. (#2791)
- Crashes in filters using the delaunay triangulation code have been
fixed. (#2805)
- ``writers.pcd`` now always writes dimension names as lowercase.
(#2789)
- The extended VLR offset was not being written to LAS files. This has
been fixed. (#2823)
- Fixed some small memory leaks.
- ``filters.elm`` now works properly when input is an empty point view.
(#2921)
- ``filters.pmf`` now classifies all points either as “Ground” or
“Unclassified”. Points are no longer marked as “Created, Never
Classified”. (#2898)
- LAS VLRs specified in a pipeline are now properly handled by
``writers.las``. (#2937)
- When not building with LASzip or LAZperf, ``writers.las`` would fail
to properly set a spatial reference in some cases. This has been
fixed.
- ``writers.las`` now always uses WKT version 1. In the previous
release it may have used WKT version 2 in some cases. (#2943)
- A bug in ``pdal tile`` where the input spatial reference wasn’t set
on the output has been fixed. (#2976)
================================================================================
2.0.0
================================================================================
Changes of Note
===============
- Python support now requires at least version 3.5+ of Python and
version 1.13 of Numpy.
- ``filters.icp`` is no longer a plugin and provides options not
previously available.
- Linear algebra that was using single-precision math is now using
double-precision math.
- Support was added for GDAL version 3+.
- PCL support has been removed. PCD read/write and ``filters.icp`` is
now natively supported. The PCL filters have been moved to the
`unsupported-plugins <https://github.com/PDAL/unsuppported-plugins>`__
repository for those that might need functionality they provided.
- PDAL now uses a JSON library that doesn’t support comments. If your
pipelines contains non-standard JSON, they will no longer be
accepted.
- PDAL now supports GCC 9.2, clang 8.0.1 and Visual Studio 17
New Stages
==========
- ``filters.covariancefeatures`` computes statistics about features of
points in a neighborhood. (#2455 - Thanks
`Helix.re <http://https://helixre.com/>`__!)
- ``readers.e57`` reads the E57 format. (#2442 - Thanks
`Helix.re <http://https://helixre.com/>`__!)
- ``writers.e57`` writes the E57 format. (#2442 - Thanks
`Helix.re <http://https://helixre.com/>`__!)
- ``writers.gltf`` provides simple glTF mesh output support. (#2643)
- ``filters.reciprocity`` computes the percentage of points that are
considered uni-directional. (#2504 - @chambbj)
- ``filters.miniball`` computes a criterion for neighbors based on the
miniball algorithm. (#2504 - @chambbj)
- ``filters.planefit`` computes a deviation of a point from a manifold
approximating its neighbors. (#2504 - @chambbj)
- ``readers.memory`` provides an API interface for direct reading of
row-oriented point data. (#2620)
- ``filters.projpipeline`` processes point through a `PROJ
pipeline <https://proj.org/operations/transformations/deformation.html>`__.
(#2626 - Thanks @vilaa!)
Deprecated Stages
=================
- readers.sqlite (will be moved to
`unsupported-plugins <https://github.com/PDAL/unsuppported-plugins>`__
in a future release)
- writers.sqlite (will be moved to
`unsupported-plugins <https://github.com/PDAL/unsuppported-plugins>`__
in a future release)
- readers.geowave (will be moved to
`unsupported-plugins <https://github.com/PDAL/unsuppported-plugins>`__
in a future release)
- writers.geowave (will be moved to
`unsupported-plugins <https://github.com/PDAL/unsuppported-plugins>`__
in a future release)
Removed Stages
==============
- ``filters.mongus``
- ``filters.kdistance``
- ``readers.greyhound``
Enhancements
============
- ``readers.mrsid`` now supports more recent versions of the Mr. Sid
SDK. (#2460)
- ``readers.tiledb`` and ``writers.tiledb`` now support stream mode
processing. It also supports an ``append`` option.
- ``readers.ept`` now accepts an optional ``\<spatial reference>``
after the bounds specification in the ``bounds`` option to indicate
the SRS of the provided boundary. (#2295)
- ``filters.hag`` now supports interpolation from a TIN (triangulated
network) of points. (#2520 - Thanks `James
McClain <https://github.com/jamesmcclain>`__!)
- ``filters.poisson`` now properly applies an inverse transform to
points it creates. (#1840)
- ``pdal --drivers`` now shows the file extensions associated with each
driver. It also shows when stages are streamable. (#2571, #2528)
- Some threaded execution has been added to ``readers.ept``.
- Alternate dimension names have been added for “Red”, “Green” and
“Blue” to better support PLY input. (#2570)
Bug Fixes
=========
- Fixed a problem where data in a forwarded LAS VLR would be lost.
(#2542)
- Clear dimension list in ``filters.colorization`` to eliminate the
possibility of writing invalid data. (#2487)
- Delete code that removed control characters when converting to JSON.
(#2355)
- Fixed an issue where nested geometries were being written as invalid
WKT in ``filter.hexbin``. (#2507)
- Fixed a segmentation fault in ``readers.bpf`` if the specified file
didn’t exist. (#2515)
- Fixed an issue in ``writers.gdal`` where interpolation would
terminate if the process hit the raster edge. (#2545)
- Fixed an issue writing JSON when characters needed to be escaped.
(#2558)
- Delaunay triangulation no longer segfaults with fewer than three
points. (#2513)
- Issues with reading binary data with ``filters.ept`` have been fixed.
(#2585)
- ``pdal`` now errors if an option is provided that wasn’t expected.
(#2574)
- Forwarding for scale with multiple LAS inputs was fixed. (#2663)
================================================================================
1.9.1
================================================================================
Version 1.9.1 is a bug fix release.
Bug Fixes
---------
- When writing numerous LAS files with the PDAL API, an internal list
of fields to forward could grow excessively. This has been fixed.
(#2452)
- A computation in ``writers.gdal`` that could overflow with very large
rasters has been fixed. (#2454)
- A bug that could result in the same pipeline tag name being used for
multiple stages of the same type has been fixed. (#2458)
- A potential segmentation fault in ``pdal density`` has been fixed.
(#2461)
- A segmentation fault in ``filters.chipper`` when processing multiple
inputs has been fixed. (#2479)
- An issue with ``readers.ept`` overwriting temporary files before they
weren’t needed has been fixed. (#2474)
- Fixed an issue where ``filters.icp`` would create data that appeared
invalid due to the precision of data when positions weren’t located
near the origin. (#2492)
================================================================================
1.9.0
================================================================================
Changes of Note
===============
- PDAL now requires at least version 2.2 of GDAL.
- Pipelines can optionally be specified as an array of stages (without
an encapsulating “pipeline” object).
- The location of installed cmake files has been changed to match the
cmake convention.
- ``filters.delaunay`` now uses the delaunator library instead of
geogram.
- PDAL no longer depends on the GEOS library. However, some polygon
functions will not work if PDAL isn’t built with a version of the
GDAL library that has GEOS support.
- PDAL now uses the standard cmake script to locate the necessary GDAL
files when building.
- ``readers.sbet`` now reads angles as degrees rather than radians.
(#2354)
- The ``tindex`` command now requires one of the subcommands ``create``
or ``merge``. It no longer accepts the ``merge`` option, which has
been replaced by the ``merge`` subcommand.
- The argument for the function ``PipelineManager::executeStream`` is
now of type ``StreamPointTable&`` instead of ``FixedPointTable&``.
Enhancements
============
- All readers now accept the ``default_srs`` and ``override_srs``
options. ``override_srs`` is an alias for the existing
``spatialreference`` option. ``default_srs`` applies only if no
spatial reference exists in the source file. (#2194, #2195)
- Added some dimension detection capability to ``readers.pts``. (#2317)
- Hardened API use of LASzip in ``writers.las`` for points with data
format 6 and above and set the extended_point_type variable. (#2320,
#2329)
- Support the ``libgeotiff`` path suffix when searching for the geotiff
library with cmake.
- Added a ``resolution`` option to ``readers.ept`` to limit the number
of points read. (#2331)
- ``readers.rxp`` now supports stream mode.
- Added the ``invert`` option to ``filters.head`` and ``filters.tail``.
- Added support for subcommands in kernels. (#2293)
New stages
==========
- ``filters.mongo`` - Filtering of points using the mongo expression
language.
- ``readers.tiledb`` - Reads points from the tileDB database.
- ``writers.tiledb`` - Writes points to the tileDB database.
- ``writers.ept_addon`` - Adds sidecar data to an existing EPT dataset.
Deprecated stages
=================
- ``filters.kdistance`` - Replaced by ``filters.nndistance``.
``filters.kdistance`` will be removed in the next PDAL release.
- ``filters.mongus`` - Replaces by ``filters.pmf`` and ``filters.smrf``
Bug fixes
=========
- The tindex command now uses sufficient precision when using the
``fast_boundary`` option (#2271)
- ``filters.smrf`` and ``filters.pmf`` now process all points if the
``NumberOfReturns`` or ``ReturnNumber`` dimension is missing. This
fixes a regression introduced with PDAL 1.8. (#2275)
- The density command is now found by pdal. This fixes a regression
introduced with PDAL 1.8. (#2378)
- The ``scale=auto`` and ``offset=auto`` options now work with
``writers.bpf`` in stream mode. (#1983)
- Pipelines with diamond shapes now properly re-execute ancestor
stages. This fixes a regression introduced with PDAL 1.8. (#2290)
- ``filters.crop`` now uses the correct logic when the ``outside``
option is used in standard mode. (#2305)
- A bug in ``writers.gdal`` with streaming mode that caused an improper
location shift in some instances has been fixed. (#2292)
- Added an explicit dependency on the arbiter library for curl. This
fixes build issues on some Unix platforms. (#1822)
- Fixed a bug in ``filters.icp`` introduced by a change in PCL (see:
https://github.com/PointCloudLibrary/pcl/issues/2724) that improperly
removed a function call. (#2319)
- ``readers.tindex`` now provides a default of “EPSG:4326” for the
``filter_srs`` option. (#2316)
- Points in buffer corners are now properly placed in tiles in
``filters.splitter``. (#2372)
- Fixed reference counting in ``filters.python`` that might have caused
a crash in some circumstances.
- Generalized the python library re-loaded by PDAL when being used as a
python extension. This is only relevant on some Unix distributions.
================================================================================
1.8.0
================================================================================
Changes of Note
===============
- PointTableRef is now publicly accessible from PointView (#1926)
- Minimum CMake version is now 3.5
- ``filters.hexbin`` is now a built-in stage, rather than a plugin.
(#2001)
- Removed support for ``ght`` compression in ``writers.pgpointcloud``.
(#2148)
- On OSX, plugins are now installed with ID of ``@rpath`` rather than
``@loader_path/../lib``
Enhancements
============
- Added ``denoise`` and ``reset`` options to ``pdal ground``. (#1579)
- ``readers.gdal`` now supports stream mode and provides the ``header``
option to map dimensions. It also supports fetching bounds without
reading the entire file. (#1819)
- ``readers.mbio`` added ``datatype`` option to support reading
sidescan data. (#1852)
- ``filters.stats`` was computing expensive kurtosis and skewness
statistics by default. These statistics are now available with the
``advanced`` option. (#1878)
- Added backtrace support for alpine linux-based Docker containers.
(#1904)
- Added a ``condition`` option for ``filters.assign`` to limit
assignment. (#1956)
- Add access to artifact manager keys. (#2026)
- Added support for LAZ compression in ``writers.pgpointcloud`` (#2050)
- Replaced ``last`` option with ``returns`` to support more flexible
segmentation in ``filters.smrf`` and ``filters.pmf``. (#2053)
- ``writers.text`` now supports stream mode. (#2064)
- Added ``pdal tile`` kernel with streaming support to conveniently
tile data. (#2065)
- A KD-tree used in one filter will now be reused in subsequent filters
when possible. (#2123)
- ``writers.ply`` now has a ``precision`` option to specify output
precision. (#2144)
- ``filters.smrf`` and ``filters.pmf`` supports complete range syntax
for the ``ignore`` option. (#2157)
- ``filters.hexbin`` now supports stream mode. (#2170)
- ``readers.numpy`` now has the ``order`` option, which replaces the
previous ``x``, ``y`` and ``z`` options. It also supports structured
numpy arrays and maps values to the X, Y and Z dimensions
accordingly.
- All readers now support setting a spatial reference to override any
in the data with the ``spatialreference`` option.
- Add support for unicode filenames in pipelines on Windows platforms.
- Added NumpyReader::setArray() to support direct setting of a numpy
array into ``readers.numpy``.
- Added StreamPointTable::setNumPoints() and support in
Streamable::execute() allowing custom point tables to know the number
of points in each pass through the point table.
- Added SpatialReference::isProjected() to allow callers to determine
if a spatial reference specifies a projection. Also added
SpatialReference::identifyHorizontalEPSG() and
SpatialReference::identifyVerticalEPSG() to return an EPSG code from
a spatial reference if possible.
- Added support for reading BPF files stored remotely.
New stages
==========
- ``readers.rdb`` - Support reading RIEGL RDB data.
- ``readers.i3s`` - Support reading of web service-style Esri I3S point
clouds.
- ``readers.slpk`` - Support reading of file-based I3S-style point
clouds.
- ``writers.fbx`` - Experimental Unity engine (SDK required) support.
(#2127)
- ``filters.nndistance`` - Replaces ``filters.kdistance`` and adds
average distance support. (#2071)
- ``filters.dem`` - Filter data based on bounds relative to a raster
value. (#2090)
- ``filters.delaunay`` - Create a delauany triangulation of a point
cloud. (#1855)
- ``filters.info`` - Generate metadata about an input point set. Used
by ``pdal info``.
Deprecated stages
=================
- ``filters.kdistance`` - Replaced by ``filters.nndistance``.
Bug fixes
=========
- Fixed an incorrect error message suggesting there were multiple SRSs
in some cases when reading multiple inputs. (#2009)
- Fixed a problem in ``filters.reprojection`` in stream mode that would
improperly reproject when there were multiple input sources with
differing SRSs. (#2058)
- Fixed a problem in stream mode where a stage with no SRS would
override the active SRS during processing. (#2069)
- Fixed a problem in ``writers.gdal`` where output would be aggregated
if multiple inputs were provided. (#2074)
- The ``count`` option was not respected in stream mode. It now
properly limits the number of points read. (#2086)
- Fixed an off-by-one error that could create improper values in
``writers.gdal``. Most data differences were small and not usually
problematic. (#2095)
- Multiple option values can be specified on the command line by
repeating the option assignment. (#2114)
- Added a missing initialization in ``filters.returns`` that could
cause more point views to be returned than requested. (#2115)
- Emit an error if the ``count`` option isn’t set for ``readers.faux``.
(#2128)
- PipelineManager::getStage() now returns a proper leaf node. (#2149)
- Fixed logic for ``filters.crop`` in streaming mode with multiple crop
areas that could return too few points. (#2198)
- Added the ``minimal`` option for ``readers.rxp`` that was documented
but not fully implemented. (#2225)
- Fixed an error in failing to read all points in ``readers.rxp``
exposed with a newer SDK. (#2226)
- Fixed an error in fetching floating point data from a PointContainer
when the value was NaN. (#2239)
================================================================================
1.7.0
================================================================================
Changes of Note
===============
- ``filter.ferry`` now creates output dimensions with the same type as
the input dimension. It also takes an arrow ‘=>’ in addition to ‘=’
in the ``--dimension`` specification.
- ``filters.hexbin`` now falls back to slow boundary creation if no
bounds information exists to do fast boundary creation.
- Dimension names can now contain the forward slash (‘/’) character.
- ``readers.gdal`` and ``filters.colorization`` now attempt to create
dimensions with the type of the associated raster.
- The Python PDAL extension code was removed from the PDAL source tree
to its own `repository <https://github.com/PDAL/python>`__.
- The JAVA PDAL interface was remove from the PDAL source tree to its
own `repository <https://github.com/PDAL/java>`__.
- ``pdal pipeline``\ and ``pdal translate`` now use stream mode if the
operation being performed is streamable. An option ``--nostream`` has
been added to both commands to prevent the use of stream mode. The
``--stream`` option of ``pdal pipeline`` is now obsolete and ignored.
- A new interface has been provided for the creation of plugins
requiring less boilerplate code. There has been no API change.
- Stages and pipelines can now be tested to check whether they are
streamable.
Enhancements
============
- Added options ``--timegap`` and ``--speedmin`` to ``readers.mbio`` to
allow configuration of which points should be read.
- Added support for compression schemes (xz, lzma, zstd) and created a
standardized interface (#1722).
- ``writers.bpf`` now supports the option ``auto`` for the ``coord_id``
option to allow the UTM zone to be set from the spatial reference if
possible (#1723).
- Added the ability read stage-specific options from a file with the
``--option_file`` option (#1641).
- Replace the GDAL point-in-polygon with a much faster implementation
in ``filters.crop``.
- Add a ``--reverse`` option to ``filters.mortonorder`` to provide a
point ordering for good dispersal.
- ``readers.bpf`` now supports the TCR (ECEF - earth centered, earth
fixed) coordinate system.
- Added option ``--use_eb_vlr`` to allow ``readers.las`` to interpret
an extra bytes VLR as if the file were version 1.4 even if it’s using
an earlier LAS version.
- ``readers.text`` added options ``--header`` and ``--skip`` to provide
an alternative header line and to allow skipping lines before reading
the header, respectively.
- ``writers.text`` now supports the ability to specify individual
dimension precision using a colon (‘:’) and integer following the
dimension name in the ``--order`` option.
- ``readers.numpy`` adds support for reading from Numpy (.npy) save
files.
- ``pdal info`` now provides the ``--enumerate`` option. See the
documentation for
`filters.stats <https://pdal.io/stages/filters.stats.html>`__ for
details.
- Added a general option ``--logtiming`` to cause log output to contain
the elapsed time from the start of the program. (#1882)
Documentation
=============
- Added a description of the Alpine Linux environment used for Travis
and Docker.
- Updated the documentation for building PDAL on Windows.
- Added an example of how to loop files with PowerShell.
- Corrected output shown in the documentation for ``filters.hexbin``.
- Reorganized the stages landing page to make it easier to find.
(#1880)
New stages
==========
- ``readers.greyhound`` - Allows reading points from a source using the
`greyhound <https://github.com/hobu/greyhound>`__ protocol.
- ``filters.neighborclassifier`` - Re-classifies points based on the
classification of neighboring points.
Removed stages
==============
- ``filters.computerange`` - Use ``filters.python`` to simulate the
functionality.
Bug fixes
=========
- ``filters.range`` now always rejects NaN values as out of range.
- Changed the default ``--timegap`` value in ``readers.mbio`` from 0 to
1 second.
- Fixed a bug when reading pointers from metadata on some OSX systems.
- Fixed a problem in ``pdal translate`` where overriding a reader or
writer from a pipeline wouldn’t create the proper pipeline.
- Fixed a problem where multiple LASzip VLRs would get written to LAS
files (#1726).
- Fixed an installation problem with the Python extension.
- Fixed a bug in ``writers.tindex`` that could cause a crash if the
output file wasn’t LAS.
- Fixed JSON output from ``filters.hexbin`` when density/area can’t be
calculated.
- Fixed a problem where output might be tagged with the wrong SRS when
using ``filters.reprojection`` in stream mode. (#1877)
- PDAL_DRIVER_PATH would be improperly parsed on Windows systems when
the path contained colons. Windows builds now use the semicolon as
the path separator. (#1889)
- Convert NaN and infinite double values to proper strings for output
as JSON.
- Synthetic, keypoint and withheld flags are now added to the
classification dimension for version 1.0 - 1.3 files in
``readers.las``.
- Support missed case supporting points with color but no density in
``filters.poisson``.
- Throw an error if the input file can’t be opened in ``readers.ply``.
- The ``--stdin`` option for ``kernels.tindex`` didn’t work. Now it
does. Various other fixes were made.
- ``writers.gdal`` now throws an error if an attempt is made to write
an output file with no points available.
- A build error that would be generated if lazsip was not found, even
if it was not requested, has been resolved.
- A build error that would be generated if Python was found but not
requested has been resolved.
- PDAL defaults to using `normal CMake
interface <https://cmake.org/cmake/help/v3.11/policy/CMP0022.html>`__
linking (#1890)
- Fixed an issue where dimensions from ``readers.pcd`` and
``writers.pcd`` could get confused with dimensions from
``readers.sbet`` and ``writers.sbet``.
- Fixed index computation in ``filters.voxelcentroidnearestneighbor``
and ``filters.voxelcenternearestneighbor`` #1901
- Fixed libdl linking #1900
================================================================================
1.6.0
================================================================================
Changes of Note
===============
- PDAL's Travis CI configuration is now based on Alpine Linux.
- PDAL is now built into containers with Alpine linux in addition to
Ubuntu linux. `Tags <https://hub.docker.com/r/pdal/pdal/tags/>`__
exist for each release, starting with 1.4, as well as the master
branch.
- Pipeline tag names can now contain capital letters. They can also
contain underscores after the first character.
- Replace ``filters.programmable`` and ``filters.predicate`` with the
more general ``filters.python``.
- Add support for Matlab with ``filters.matlab``\ (#1661).
- Remove the ``approximate`` option from ``filters.pmf`` and add an
``exponential`` option.p
- Placed base64 encoded VLR data in a subnode of the VLR itself with
the key "data" rather than duplicate the VLR node itself (#1648).
- XML pipelines are no longer supported (#1666).
- The number of proprietary dimensions in ``readers.text`` was expanded
from 255 to 4095 (#1657).
- API hooks have been added to support the use of PDAL with JVM
languages such as Java or Scala.
- Added support for LASzip 1.4 and switch to use the new LASzip API.
(#1205). LASzip support in PDAL will require LASzip.org release 3.1.0
or greater.
- The cpd kernel has been replaced with ``filters.cpd``.
- No more warnings about ReturnNumber or NumberOfReturns for LAS
permuations (#1682).
- The KernelFactory class has been removed. Its functionality has been
moved to StageFactory.
- Built-in eigen support has changed from version 3.2.8 to 3.3.4
(#1681).
Enhancements
============
- API users can now create synonyms for existing arguments to a stage.
- ``filters.splitter`` can now create buffered tiles with the
``buffer`` option.
- ``writers.ply``\ can now be made to write faces of an existing mesh
(created with ``filters.greedyprojection`` or ``filters.poisson``) if
the ``faces`` option is used. An option ``dims`` has also been added
that allows specification of the dimensions to be written as PLY
elements. The writer also now supports streaming mode.
- ``readers.text`` is now automatically invoked for .csv files.
- PDAL\_PLUGIN\_INSTALL\_PATH can now be set via override when building
PDAL from source.
- Changed the use of null devices to eliminate potentially running out
of file descriptors on Windows.
- ``filters.randomize`` can now be created by the stage factory
(#1598).
- Provide the ability to specify a viewpoint and normal orientation in
``filters.normal`` (#1638).
- ``readers.las`` now provides the ``ignore_vlr`` option to allow named
VLRs to be dropped when read (#1651).
- Allow ``writers.gdal`` to write output rasters of type other than
double (#1497).
- ``filters.sqlite`` is now invoked automatically for .gpkg files.
- ``filters.colorinterp`` can now be used in streaming mode in some
cases (#1675).
- Pointers can now be stored as metadata.
- ``filters.ferry`` can now create new dimensions without copying data
(#1694).
Documentation
-------------
- Remove some leftover references to the ``classify`` and ``extract``
options that were removed from ``filters.ground`` in the last
release.
- Add a note about running pgpointcloud tests.
- Added a tutorial on filtering data with python.
- Remove lingering XML pipeline examples and replace with JSON.
- Many updates and corrections to the workshop.
- Added to the FAQs and entry about why a stage might not be found.
- Added information to stage docs to indicate whether or not they were
buit-in rather than plugins (#1612).
- Added information to stage docs to indicate when they are streamable
(#1606).
New filters
===========
- ``filters.greedyprojection`` - Performs triangulation of points
(surface reconstruction) based on the greedy projection algorithm.
- ``filters.poisson`` - Performs triangulation of points (surface
reconstruction) based on the algorithm of Kazhdan.
- ``filters.head`` - Passes through only the first N points.
- ``filters.tail`` - Passes through only the last N points.
- ``filters.cpd`` - Calculates and applies a transformation to align
two datasets using the `Coherent Point
Drift <https://sites.google.com/site/myronenko/research/cpd>`__
registration algorithm.
- ``filters.icp`` - Calculates and applies a transformation to align
two datasets using the `Iterative Closest
Point <http://docs.pointclouds.org/trunk/classpcl_1_1_iterative_closest_point.html>`__
registration algorithm.
- ``filters.voxelcenternearestneighbor`` - Finds points closest to the
center of a voxel (#1597).
- ``filters.voxelcentroidnearestneighbor`` - Finds points closest to
the controid of points in a voxel (#1597).
- ``filters.python`` - Replaces ``filters.predicate`` and
``filters.programmable``.
- ``filters.matlab`` - Provides support for matlab manipulation of PDAL
points and metadata (#1661).
New readers
===========
- Add ``readers.osg`` to support Open Scene Graph format.
- Add ``readers.matlab`` to support reading data from a user-defined
Matlab array struct. The same structure is written by
``writers.matlab``.
Bug fixes
=========
- Fixed a case where\ ``kernels.tindex`` would unconditionally set the
spatial reference on a feature from the ``a_srs`` option. The spatial
reference stored in ``a_srs`` is now only used if explicitly set or
no spatial reference was present.
- Fixed a case where 'writers.gdal\` could fail to check for an
out-of-bounds point, potentially leading to a crash.
- Fix an error in 'filters.cluster' where the points wouldn't properly
be placed in the first cluster because the starting cluster number
was incorrect.
- Fixed an error in freeing OGR features that could cause a crash when
running "pdal density".
- Fix potential memory leaks when creating OGRSpatialReference objects.
- Make sure the ``global_encoding`` option is initialized to 0 in
``writers.las`` (#1595).
- Fix eigen::computeCovariance to compute the correct sample
covariance.
- In some cases, the ``filters.crop`` would attempt to treat a 2D
bounding box as 3D, yeilding a NULL bounding box and an error in
behavior (#1626).
- Fixed potential crash when using PDAL with multiple threads by
providing locking for gdal::ErrorHandler (#1637)
- Made sure that an uncompressed LAS file would be properly read even
if the ``compression`` option was provided.
- Throw an exception instead of crash when attempting to access a
non-existent color ramp. (#1688)
================================================================================
1.5.0
================================================================================
Changes of Note
===============
- PCL ``--visualize`` capability of the ``pdal`` command line
application has been removed.
- ``writer.derivative`` has been removed. Use
`gdaldem <http://www.gdal.org/gdaldem.html>`__ for faster and more
featureful equivalent functionality.
- GeoTIFF and Proj.4 are now required dependencies.
- ``writers.p2g`` has been removed. It was replaced by ``writers.gdal``
in 1.4, but the P2G writer was essentially unmaintained and we will
be using the GDAL one going forward.
- ``filters.attribute`` was split into ``filters.assign`` and
``filters.overlay`` to separate their functionalities
- ``filters.pmf`` and ``filters.outlier`` have dropped the ``classify``
and ``extract`` options. They now only classify points and leave it
downstream filters to ignore/extract classifications as needed.
- ``filters.outlier`` has changed the default classification for noise
points from ``18`` to ``7`` to match the LAS classification code for
"Low point (noise)".
Enhancements
============
- ``pdal pipeline`` now supports a ``--stream`` option which will
default to one-at-a-time or chunk-at-a-time point processing when all
stages in the pipeline support it. You can use this option to control
memory consumption -- for example when interpolating a very large
file with ``writers.gdal``
- ``filters.crop`` was enhanced to support transformed filter polygons,
streaming, and radius cropping.
- ``readers.greyhound`` updated to support greyhound.io 1.0 release,
with the most significant enhancement being support for passing
downstream JSON filters.
- ``user_data`` JSON object can be applied to any PDAL pipeline object
and it will be carried through processing. You can use this mechanism
for carrying your own information in PDAL pipelines without having to
sidecar data. #1427
- ``writers.las`` now can write ``pdal_metadata`` and ``pdal_pipeline``
VLRs for processing history tracking. #1509 #1525
- ``metadata``, ``schema``, and ``spatialreference`` objects added to
global module for ``filters.programmable`` and ``filters.predicate``