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PointCloudModifier

A library for point cloud object removal, surface interpolation, and void filling operations. Supports reading, modifying, and exporting .las/.laz files via laspy.

API Documentation

Point Cloud Manipulation

The main API of this repo is managed through a single PointCloudModifier instance, most of the methods listed below exist on an instance of PointCloudModifier. Some methods, like z_order_cloud (which reorders the points in your point-cloud to conform to a z order for subsequent performance on disk) exist as standalone functions as well, but are mostly undocumented as the main functionality lies with removing sections of a point-cloud according to a polygon, flattening geometry of a point-cloud to ground surface inside a polygon as well as some minor methods to remove and replace geometry inside removal polygons if so desired.

an example usage, note that masks can contain multiple polygons and that any filetype supported by geopandas is also supported for mask polygons:

point_modifier = utils.PointCloudModifier()

b = point_modifier.z_flatten_poly(las_file=file , poly_mask="path_to_poly(s).shp , zero_attributes=False  , output_path="s.laz")

summary_poly_removal(las_file, poly_mask, output_path=None) -> laspy.LasData Removes all points and associated attributes within provided 2D/3D Shapely polygons.

  • Args: las_file (Path/LasData), poly_mask (Shapely Geometry/Collection), output_path (Optional export path).

z_flatten_poly(las_file, poly_mask, output_path=None, ...) -> laspy.LasData Flattens all points within a polygon to the expected ground surface using linear TIN interpolation. Optionally resets attributes or marks points as withheld.

  • Args: las_file, poly_mask, output_path, ground_class (Default: 2), mark_as_withhed (bool), mark_as_ground_surface (bool), zero_attributes (bool), mark_as_first_return (bool).

excise_and_patch_polygon_stat(las_file, poly_mask, output_path=None, ...) -> laspy.LasData Excises points within a 2D polygon and refills the void using interpolated ground surfaces (Z) and generated geometry (XY). Reinterpolates or zeroes attributes and optionally Z-order sorts the output cloud.

  • Args: las_file, poly_mask, output_path, ground_class (Default: 2), interp_method (linear|cubic|nn), fill_method (kde|exemplar), buffer_dist, mark_as_withhed (bool), mark_as_ground_surface (bool), zero_attributes (bool), reorder (bool), use_only_ground (bool).

Attribute Interpolation

interpolate_z_axis(neighborhood, query_points, method) -> np.ndarray Interpolates Z-axis values for 2D query points using surrounding neighborhood data.

  • Args: neighborhood (N,3 array), query_points (N,2 array), method (linear|cubic|nn).

estimate_ground_attribute_nn(las_data, excision, attr_name, use_only_ground=True, ground_class=2, zero_out_dim=False) -> DimInterp Reconstructs missing point attributes (e.g., intensity, classification) across an excised region using nearest-neighbor interpolation.

Utility

get_ground_points(pc, cloth_res=2, rigidness=2) -> np.ndarray[np.int32] Executes Cloth Simulation Filtering (CSF) to classify and extract ground point indices from a point cloud.