"""Prepare a bounded RGB/XYZ PLY preview for manual point-cloud annotation.
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This deliberately does not create raster, vector, mesh, or semantic outputs.
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Those products require a spatial cell size and are unrelated to a manual
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annotation source.
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"""
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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import time
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from datetime import UTC, datetime
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from pathlib import Path
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import laspy
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import numpy as np
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import open3d as o3d
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SUPPORTED_SUFFIXES = {".ply", ".pcd", ".xyz", ".xyzn", ".xyzrgb", ".las", ".laz"}
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def file_sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as stream:
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for chunk in iter(lambda: stream.read(1024 * 1024), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def read_cloud(path: Path) -> tuple[np.ndarray, np.ndarray, bool]:
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if path.suffix.lower() in {".las", ".laz"}:
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source = laspy.read(path)
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dimensions = set(source.point_format.dimension_names)
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xyz = np.column_stack((source.x, source.y, source.z)).astype(np.float64)
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has_rgb = {"red", "green", "blue"}.issubset(dimensions)
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if has_rgb:
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raw_rgb = np.column_stack((source.red, source.green, source.blue)).astype(np.float64)
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divisor = 65_535.0 if float(np.nanpercentile(raw_rgb, 99.5)) > 255.0 else 255.0
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rgb = np.clip(raw_rgb / divisor, 0.0, 1.0)
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else:
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rgb = np.full((len(xyz), 3), 0.72, dtype=np.float64)
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else:
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cloud = o3d.io.read_point_cloud(str(path))
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if cloud.is_empty():
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raise ValueError("Point cloud has no readable XYZ vertices.")
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xyz = np.asarray(cloud.points, dtype=np.float64)
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has_rgb = cloud.has_colors()
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rgb = np.asarray(cloud.colors, dtype=np.float64) if has_rgb else np.full((len(xyz), 3), 0.72, dtype=np.float64)
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valid = np.isfinite(xyz).all(axis=1) & np.isfinite(rgb).all(axis=1)
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xyz, rgb = xyz[valid], np.clip(rgb[valid], 0.0, 1.0)
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if len(xyz) < 50:
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raise ValueError("Point cloud needs at least 50 finite RGB/XYZ points.")
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return xyz, rgb, has_rgb
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--input", type=Path, required=True)
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parser.add_argument("--output", type=Path, required=True)
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args = parser.parse_args()
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if args.input.suffix.lower() not in SUPPORTED_SUFFIXES:
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raise SystemExit(f"Unsupported point-cloud type: {args.input.suffix or '(none)'}.")
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if not args.input.is_file():
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raise SystemExit("Input point-cloud file is unavailable.")
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if args.output.exists() and any(args.output.iterdir()):
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raise SystemExit("Output directory is not empty; use a new annotation-source run directory.")
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args.output.mkdir(parents=True, exist_ok=True)
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started = time.perf_counter()
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xyz, rgb, has_rgb = read_cloud(args.input)
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preview = o3d.geometry.PointCloud()
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preview.points = o3d.utility.Vector3dVector(xyz)
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preview.colors = o3d.utility.Vector3dVector(rgb)
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preview_name = f"{args.input.stem}.annotation-source.ply"
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preview_path = args.output / preview_name
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if not o3d.io.write_point_cloud(str(preview_path), preview, write_ascii=False):
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raise SystemExit("Could not write annotation preview PLY.")
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metadata = {
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"capability": "05-3d-pointcloud",
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"classification": "B",
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"created_at": datetime.now(UTC).isoformat(),
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"annotation_source_job": True,
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"annotation_source": {
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"schema_version": 1,
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"file": preview_name,
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"point_count": int(len(xyz)),
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"sha256": file_sha256(preview_path),
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"kind": "complete readable RGB/XYZ point cloud; no raster, vector, mesh, or semantic labels",
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},
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"input": {"file": args.input.name, "points": int(len(xyz)), "has_rgb": has_rgb},
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"method": "Open3D/Laspy complete RGB-XYZ point-cloud read without display sampling",
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"device": "CPU",
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"elapsed_seconds": round(time.perf_counter() - started, 3),
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"limitations": [
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"This output is a manual annotation preview only; it is not a DSM, DEM, mesh, vector layer, or semantic classification.",
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"The output retains every readable finite source point. Large point clouds require correspondingly more browser memory and GPU resources during direct rendering.",
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] + ([] if has_rgb else ["The source has no readable vertex RGB values. The neutral preview is viewable and labelable for geometry review, but it cannot be used for the RGB semantic-model trainer."]),
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}
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(args.output / "run_metadata.json").write_text(json.dumps(metadata, ensure_ascii=False, indent=2), encoding="utf-8")
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print(json.dumps(metadata, ensure_ascii=False))
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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