Step 5 filteringintensity 31a4ceb: AI3D-382 carry number_of_returns through step5 bright-points NPZ I/O

Miroslav Simko <ms@iolabs.ch> 2026-09-01T10:49:18+02:00

Commit #110 · 8 snippets

 .../bright_points_filter.py                        | 23 ++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

AI3D-382 (number_of_returns through the run3 NPZ contract). Unrelated to the config migration; already released and pushed. Included because it falls in the time window.

             points_on_road_file: Path to a '*_road_surface.npz' file containing
                 arrays: 'points', 'intensity', 'scan_angle', and normally
                 'red', 'green', 'blue'. RGB may be omitted only when
                 config['allow_missing_rgb'] is True and the selected filter mode
-                does not depend on color.
+                does not depend on color. 'number_of_returns' is optional; when
+                absent it is filled with zeros ("unknown"), never defaulted to 1.
             output_dir: Optional directory where generated Step 5 artifacts should be
                 written. When omitted, outputs are written beside the input file.
         Saves:
             - '<base>_<filter_mode>.pdf': diagnostic plots (histogram for simple cutoff,
               slice fits and cutoff curve for angle-based modes).
             - '<base>_bright_filtered.npz': filtered arrays:
-              'points', 'scan_angle', 'intensity', 'red', 'green', 'blue'.
+              'points', 'scan_angle', 'intensity', 'red', 'green', 'blue',
+              'number_of_returns'.
             - '<base>_bright_filtered.ply' (optional): written when
               config['save_bright_points_pcd'] is True. Points colored by intensity (greyscale).
             - '<stem>_laser_intensity_delta.ply' / '<stem>_laser_intensity_delta_sigma.ply' (optional):
               written when config['save_all_delta_ply'] is True AND filter_mode is 'laser_intensity'.

419	points = data["points"]	421	points = data["points"]
420	intensity = data["intensity"]	422	intensity = data["intensity"]
421	scan_angle = data["scan_angle"]	423	scan_angle = data["scan_angle"]
422		424
		425	if "number_of_returns" in data_keys:
		426	number_of_returns = np.asarray(
		427	data["number_of_returns"], dtype=color_intensity_data.NUMBER_OF_RETURNS_DTYPE
		428	)
		429	else:
		430	# Pre-AI3D-382 inputs lack the key; 0 reads as "unknown" per
		431	# ColorIntensityData's contract. Never default to 1.
		432	number_of_returns = np.zeros(
		433	int(points.shape[0]), dtype=color_intensity_data.NUMBER_OF_RETURNS_DTYPE
		434	)
		435
423	missing_rgb = [key for key in rgb_keys if key not in data_keys]	436	missing_rgb = [key for key in rgb_keys if key not in data_keys]
424	if not missing_rgb:	437	if not missing_rgb:
425	red = data["red"]	438	red = data["red"]
426	green = data["green"]	439	green = data["green"]

             green=green,
             blue=blue,
             intensity=intensity,
             scan_angle_rank=scan_angle,
+            number_of_returns=number_of_returns,
         )
     def _process_with_angle_slice_fitting(
         self,

                 intensity=color_data.intensity,
                 red=color_data.red,
                 green=color_data.green,
                 blue=color_data.blue,
+                number_of_returns=color_data.number_of_returns,
             )
             return
         if self.config.get("save_bright_points_pcd", False):

             intensity=color_data.intensity,
             red=color_data.red,
             green=color_data.green,
             blue=color_data.blue,
+            number_of_returns=color_data.number_of_returns,
         )
         logger.info(
             f"Saved filtered data from {points.shape[0]} points to {output_npz}"

             intensity=color_data.intensity,
             red=color_data.red,
             green=color_data.green,
             blue=color_data.blue,
+            number_of_returns=color_data.number_of_returns,
         )
         logger.info(
             f"Saved filtered data from {points.shape[0]} points to {output_npz}"
         )

                 intensity=filtered_color_data.intensity,
                 red=filtered_color_data.red,
                 green=filtered_color_data.green,
                 blue=filtered_color_data.blue,
+                number_of_returns=filtered_color_data.number_of_returns,
             )
             return
         # Optionally save PLY file with greyscale intensity coloring

             intensity=filtered_color_data.intensity,
             red=filtered_color_data.red,
             green=filtered_color_data.green,
             blue=filtered_color_data.blue,
+            number_of_returns=filtered_color_data.number_of_returns,
         )
         logger.info(
             f"Saved filtered data from {len(filtered_points):,} points to {output_npz}"