Step 5 filteringintensity ab5a38b: AI3D-382 Revert bright-filter number_of_returns until new common release

Miroslav Simko <ms@iolabs.ch> 2026-09-01T11:07:39+02:00

Commit #111 · 8 snippets

 .../bright_points_filter.py                        | 23 ++--------------------
 1 file changed, 2 insertions(+), 21 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. 'number_of_returns' is optional; when
+                does not depend on color.
-                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'.

421	points = data["points"]	419	points = data["points"]
422	intensity = data["intensity"]	420	intensity = data["intensity"]
423	scan_angle = data["scan_angle"]	421	scan_angle = data["scan_angle"]
424		422
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
436	missing_rgb = [key for key in rgb_keys if key not in data_keys]	423	missing_rgb = [key for key in rgb_keys if key not in data_keys]
437	if not missing_rgb:	424	if not missing_rgb:
438	red = data["red"]	425	red = data["red"]
439	green = data["green"]	426	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}"