filters.georeference

The georeference filter georeferences point cloud expressed in scanner coordinates, using GpsTime Dimension as a synchronisation reference with a given trajectory.

Streamable Stage

This stage supports streaming operations

Note

This filter expects trajectory to :

contains X, Y, Z, Roll, Pitch, Yaw, WanderAngle and GpsTime ;
have coordinates expressed in WGS84 system (EPSG:4979) ;
have all its angle values expressed in radians.

Examples

[
    "input.rxp",
    {
        "type": "filters.georeference",
        "trajectory_file" : "sbet.out",
        "trajectory_options": {
          "type": "readers.sbet",
          "angles_as_degrees": false
      },
        "scan2imu" : "-0.555809 0.545880 0.626970 0.053833
        0.280774 0.833144 -0.476484 -0.830238
        -0.782459 -0.088797 -0.616338 -0.099672
        0.000000 0.000000 0.000000 1.000000"
    },
    {
      "type" : "filters.reprojection",
      "in_srs" : "EPSG:4979",
      "out_srs" : "EPSG:2154+5720"
    },
    "georeference.las"
]

Options

trajectory_file: path to a sbet trajectory file. [Mandatory]
trajectory_options: JSON object with keys of reader options and the values to pass through. [Default: {}]
scan2imu: 4x4 transformation matrix from scanner frame to body imu. By default expressed in NED coordinates. [Mandatory]
reverse: revert georeferencing (go back to scanner frame). [Default: false]
time_offset: timestamp offset between trajectory and scanner GpsTime. [Default: 0]
coordinate_system: Two right-handed variants exist for Local tangent plane coordinates: east, north, up (ENU) coordinates and north, east, down (NED). [Default : NED]

where: An expression that limits points passed to a filter. Points that don’t pass the expression skip the stage but are available to subsequent stages in a pipeline. [Default: no filtering]
where_merge: A strategy for merging points skipped by a ‘where’ option when running in standard mode. If true, the skipped points are added to the first point view returned by the skipped filter. If false, skipped points are placed in their own point view. If auto, skipped points are merged into the returned point view provided that only one point view is returned and it has the same point count as it did when the filter was run. [Default: auto]