Step 3 segmentationtrajectory 014ab30: AI3D-382 Build ColorIntensityData kwargs by feature detection so old iolabs-common works

Miroslav Simko <ms@iolabs.ch> 2026-09-01T15:11:22+02:00

Commit #14 · 10 snippets

 .../segment_mapper.py                              | 36 ++++++++++++-----
 tests/test_number_of_returns.py                    | 47 ++++++++++++++++++++++
 2 files changed, 74 insertions(+), 9 deletions(-)

Cross-version compatibility: the producer's load_color_intensity_data builds kwargs filtered by the installed dataclass's declared fields, so it works against pinned common 0.3.2 (no such field) and against 0.7.1+ (field carried). Zero production callers today; latent.

Importance #1: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -2603,8 +2603,15 @@

kwargs filtered by dataclasses.fields(ColorIntensityData) so old common does not raise TypeError on an unknown kwarg.

         """Loads the color, intensity, and return-count data from the LAS file.
         A LAS without a `number_of_returns` field degrades to zeros (unknown)
         instead of raising, mirroring the chunked read path.
+        The returned dataclass is populated by feature detection: only members
+        the *installed* `iolabs-common` declares are passed, so this stays
+        importable and callable against a release that predates a field.
+        `number_of_returns` is therefore dropped -- not faked -- on an
+        `iolabs-common` whose `ColorIntensityData` has no such member, which is
+        correct because nothing downstream of that release could carry it.
         """
         if not (hasattr(las, "red") and hasattr(las, "green") and hasattr(las, "blue")):
             raise ValueError("No color information found in the LAS file")
         if not hasattr(las, "intensity"):

Importance #2: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -2627,12 +2634,23 @@

             point_count=int(red.shape[0]),
             source="LAS file",
         )
+        candidate_kwargs: dict[str, Any] = {
+            "red": red,
+            "green": green,
+            "blue": blue,
+            "intensity": intensity,
+            "scan_angle_rank": scan_angle,
+            NUMBER_OF_RETURNS_KEY: number_of_returns,
+        }
+        supported_names = {
+            field.name
+            for field in dataclasses.fields(color_intensity_data.ColorIntensityData)
+        }
         return color_intensity_data.ColorIntensityData(
-            red=red,
+            **{
-            green=green,
+                name: value
-            blue=blue,
+                for name, value in candidate_kwargs.items()
-            intensity=intensity,
+                if name in supported_names
-            scan_angle_rank=scan_angle,
+            }
-            number_of_returns=number_of_returns,
         )

Importance #3: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -1,7 +1,8 @@

1	"""Segment mapper: divides trajectory into segments using perpendicular planes and maps LAS files to them."""	1	"""Segment mapper: divides trajectory into segments using perpendicular planes and maps LAS files to them."""
2	import concurrent.futures	2	import concurrent.futures
3	import copy	3	import copy
		4	import dataclasses
4	import gc	5	import gc
5	import itertools	6	import itertools
6	import json	7	import json
7	import logging	8	import logging

Importance #4: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -11,9 +12,8 @@

11	import time	12	import time
12	import types	13	import types
13	import zipfile	14	import zipfile
14	from collections.abc import Mapping	15	from collections.abc import Mapping
15	from dataclasses import dataclass
16	from pathlib import Path	16	from pathlib import Path
17	from typing import Any	17	from typing import Any
18		18
19	import laspy	19	import laspy

Importance #5: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -262,9 +262,9 @@

262	rewritten[int(segment_idx)] = _deduplicate_keep_order(mapped_paths)	262	rewritten[int(segment_idx)] = _deduplicate_keep_order(mapped_paths)
263	return rewritten	263	return rewritten
264		264
265		265
266	@dataclass	266	@dataclasses.dataclass
267	class _PlaneSplitAttemptResult:	267	class _PlaneSplitAttemptResult:
268	point_count_by_segment: dict[int, int]	268	point_count_by_segment: dict[int, int]
269	field_dtypes: dict[str, np.dtype]	269	field_dtypes: dict[str, np.dtype]
270	processed_points: int	270	processed_points: int

Importance #6: src/iolabs_point_cloud_segmentation_trajectory/segment_mapper.py @@ -275,9 +275,9 @@

275	after_overflow: int	275	after_overflow: int
276	non_prefix_rejected_points: int	276	non_prefix_rejected_points: int
277		277
278		278
279	@dataclass	279	@dataclasses.dataclass
280	class BranchGeometry:	280	class BranchGeometry:
281	branch_index: int	281	branch_index: int
282	branch_id: str	282	branch_id: str
283	geometry_dir: Path	283	geometry_dir: Path

Importance #7: tests/test_number_of_returns.py @@ -113,4 +116,48 @@

113	np.testing.assert_array_equal(	116	np.testing.assert_array_equal(
114	record["number_of_returns"],	117	record["number_of_returns"],
115	np.zeros(3, dtype=np.uint8),	118	np.zeros(3, dtype=np.uint8),
116	)	119	)
		120
		121
		122	def _in_memory_las() -> laspy.LasData:
		123	"""A 3-point LAS with RGB, intensity, scan angle and return counts."""
		124	header = laspy.LasHeader(point_format=3, version="1.2")
		125	las = laspy.LasData(header)
		126	las.x = np.array([1.0, 2.0, 3.0])
		127	las.y = np.zeros(3)
		128	las.z = np.zeros(3)
		129	las.intensity = np.array([10, 20, 30], dtype=np.uint16)
		130	las.red = np.array([1, 2, 3], dtype=np.uint16)
		131	las.green = np.array([4, 5, 6], dtype=np.uint16)
		132	las.blue = np.array([7, 8, 9], dtype=np.uint16)
		133	las.scan_angle_rank = np.array([0, 1, 2], dtype=np.int8)
		134	las.number_of_returns = np.array([1, 2, 3], dtype=np.uint8)
		135	return las
		136
		137
		138	def test_load_color_intensity_data_works_against_installed_common() -> None:
		139	"""`load_color_intensity_data` must not pass a kwarg the dataclass lacks.
		140
		141	Written version-agnostically: it asserts the return counts are carried when
		142	the installed `ColorIntensityData` declares the member, and that the call
		143	still succeeds (dropping them) when it does not.
		144	"""
		145	data = sm.SegmentMapper.load_color_intensity_data(_in_memory_las())
		146
		147	np.testing.assert_array_equal(data.red, np.array([1, 2, 3], dtype=np.uint16))
		148	np.testing.assert_array_equal(data.intensity, np.array([10, 20, 30], dtype=np.uint16))
		149	np.testing.assert_array_equal(data.scan_angle_rank, np.array([0, 1, 2], dtype=np.int8))
		150
		151	declared = {
		152	field.name
		153	for field in dataclasses.fields(color_intensity_data.ColorIntensityData)
		154	}
		155	if sm.NUMBER_OF_RETURNS_KEY in declared:
		156	carried = getattr(data, sm.NUMBER_OF_RETURNS_KEY)
		157	assert carried.dtype == sm.NUMBER_OF_RETURNS_DTYPE
		158	np.testing.assert_array_equal(
		159	carried,
		160	np.array([1, 2, 3], dtype=sm.NUMBER_OF_RETURNS_DTYPE),
		161	)
		162	else:
		163	assert not hasattr(data, sm.NUMBER_OF_RETURNS_KEY)

Importance #8: tests/test_number_of_returns.py @@ -1,9 +1,12 @@

+import dataclasses
 import logging
 from pathlib import Path
+import laspy
 import numpy as np
 import pytest
+from iolabs.common import color_intensity_data
 from iolabs_point_cloud_segmentation_trajectory import segment_mapper as sm
 DIVISION_PLANES = [

Importance #9: tests/test_number_of_returns.py @@ -1,9 +1,12 @@

+import dataclasses
 import logging
 from pathlib import Path
+import laspy
 import numpy as np
 import pytest
+from iolabs.common import color_intensity_data
 from iolabs_point_cloud_segmentation_trajectory import segment_mapper as sm
 DIVISION_PLANES = [

Importance #10: tests/test_number_of_returns.py @@ -113,4 +116,48 @@

113	np.testing.assert_array_equal(	116	np.testing.assert_array_equal(
114	record["number_of_returns"],	117	record["number_of_returns"],
115	np.zeros(3, dtype=np.uint8),	118	np.zeros(3, dtype=np.uint8),
116	)	119	)
		120
		121
		122	def _in_memory_las() -> laspy.LasData:
		123	"""A 3-point LAS with RGB, intensity, scan angle and return counts."""
		124	header = laspy.LasHeader(point_format=3, version="1.2")
		125	las = laspy.LasData(header)
		126	las.x = np.array([1.0, 2.0, 3.0])
		127	las.y = np.zeros(3)
		128	las.z = np.zeros(3)
		129	las.intensity = np.array([10, 20, 30], dtype=np.uint16)
		130	las.red = np.array([1, 2, 3], dtype=np.uint16)
		131	las.green = np.array([4, 5, 6], dtype=np.uint16)
		132	las.blue = np.array([7, 8, 9], dtype=np.uint16)
		133	las.scan_angle_rank = np.array([0, 1, 2], dtype=np.int8)
		134	las.number_of_returns = np.array([1, 2, 3], dtype=np.uint8)
		135	return las
		136
		137
		138	def test_load_color_intensity_data_works_against_installed_common() -> None:
		139	"""`load_color_intensity_data` must not pass a kwarg the dataclass lacks.
		140
		141	Written version-agnostically: it asserts the return counts are carried when
		142	the installed `ColorIntensityData` declares the member, and that the call
		143	still succeeds (dropping them) when it does not.
		144	"""
		145	data = sm.SegmentMapper.load_color_intensity_data(_in_memory_las())
		146
		147	np.testing.assert_array_equal(data.red, np.array([1, 2, 3], dtype=np.uint16))
		148	np.testing.assert_array_equal(data.intensity, np.array([10, 20, 30], dtype=np.uint16))
		149	np.testing.assert_array_equal(data.scan_angle_rank, np.array([0, 1, 2], dtype=np.int8))
		150
		151	declared = {
		152	field.name
		153	for field in dataclasses.fields(color_intensity_data.ColorIntensityData)
		154	}
		155	if sm.NUMBER_OF_RETURNS_KEY in declared:
		156	carried = getattr(data, sm.NUMBER_OF_RETURNS_KEY)
		157	assert carried.dtype == sm.NUMBER_OF_RETURNS_DTYPE
		158	np.testing.assert_array_equal(
		159	carried,
		160	np.array([1, 2, 3], dtype=sm.NUMBER_OF_RETURNS_DTYPE),
		161	)
		162	else:
		163	assert not hasattr(data, sm.NUMBER_OF_RETURNS_KEY)