lasground TLS data : WARNING: coordinates seem to be longlat. in this case lasground will fail.

[bauwens.sebastien]

Hello,

I have a 1 235 887 673 point cloud from Terrestrial Laser Scanning (see lasinfo below). I tried those  tools

lastile -i "G:\TLiDAR3\PROCESS\Congo_1ha\LASTOOLS\all.laz" -o "tile.laz" -tile_size 20 -buffer 10 -faf -odir "C:\LAStools\bin\tiles" -olaz

C:\lastools\bin\lasnoise -lof file_list.14640.txt -step_xy 4 -step_z 1 -odir "C:\LAStools\bin\tiles\denoised" -olaz

C:\lastools\bin\las2las.exe -i C:\LAStools\bin\tiles\denoised\*.laz -gui

las2las -lof file_list.9424.txt -olaz -utm 33north

or las2las -lof file_list.14780.txt -olaz -epsg 31370

C:\lastools\bin\lasground_new.exe -i C:\LAStools\bin\tiles\denoised\*.laz -wilderness -not_airborne -odir "c:\LAStools\bin\tiles\denoised\ground2" -olaz

but lasground only process some tiles and some tiles are processed many time! I have the following message:

"WARNING: coordinates seem to be longlat. in this case lasground will fail."

As you can see above, I gived a projected coordinate system to my tiles, but It seems like las2las doesn't process propely. The command las2las seems to take too log time (never see the end of the process while it is just to put a coordinate ystem to the header!).

Any idea please?

lasinfo -i "G:\TLiDAR3\PROCESS\Congo_1ha\LASTOOLS\all.laz"

lasinfo (180303) report for G:\TLiDAR3\PROCESS\Congo_1ha\LASTOOLS\all.laz

reporting all LAS header entries:

  file signature:             'LASF'

  file source ID:             0

  global_encoding:            0

  project ID GUID data 1-4:   00000000-0000-0000-0000-000000000000

  version major.minor:        1.2

  system identifier:          'LAStools (c) by Martin Isenburg'

  generating software:        'PTS by pointzip 1.0 (120723)'

  file creation day/year:     74/2018

  header size:                227

  offset to point data:       313

  number var. length records: 1

  point data format:          2

  point data record length:   26

  number of point records:    1235887673

  number of points by return: 1235887673 0 0 0 0

  scale factor x y z:         0.0001 0.0001 0.0001

  offset x y z:               0 0 0

  min x y z:                  -151.9520 -247.6986 -130.3235

  max x y z:                  245.1877 150.1112 155.0023

variable length header record 1 of 1:

  reserved             43707

  user ID              'LAStools'

  record ID            2000

  length after header  32

  description          'by LAStools of Martin Isenburg'

LASzip compression (version 2.1r0 c2 50000): POINT10 2 RGB12 2

reporting minimum and maximum for all LAS point record entries ...

[Martin Isenburg]

Hello,

your LAS file bounding box suggests that you are in a local coordinate frame without any projection spanning an area of around 400 by 400 meters (and with a z elevation ranging from  -130 to 155 meters which suggests that there is significant high and low noise in your data. Prior to lasground classification this noise should be removed with the appropriate methods (depending on you noise profile).

  min x y z:                  -151.9520 -247.6986 -130.3235

  max x y z:                  245.1877 150.1112 155.0023

The call to las2las that is supposed to do a conversion to UTM is senseless in this scenario as we have no information about the current georeference-ing of the points. You will need the hardware vendor supplied mechanism / software that will use known control points within your scan area whose geo-referencing has already been established to translate/rotate/skew/transform the local scan into an established reference frame with EPSG code. Starting from there you can do reprojections with las2las. But currently the points are in an unknown local coordinate system.

The WARNING of lasground "WARNING: coordinates seem to be longlat. in this case lasground will fail." can be ignored. It's the unusual coordinate range (in the +/-180 range typical for geometric coordinates) of your tiles that makes lasground suspect you may be using latlong coordinates.

For a dense terrestrial scan with so many points I further suggest you only operate lasground on a slightly less dense subset of points as done in various recent blog posts by classifying a subset of points with lasthin to a special class and then ignoring the otherwise classified points during the lasground operation. This was done in these blogs here:

https://rapidlasso.com/2017/10/29/processing-drone-lidar-from-yellowscans-surveyor-a-velodyne-puck-based-system/

https://rapidlasso.com/2017/06/13/integrating-external-ground-points-in-forests-to-improve-dtm-from-dense-matching-photogrammetry/

https://rapidlasso.com/2016/11/22/creating-a-better-dtm-from-photogrammetic-points-by-avoiding-shadows/

Regards,

Martin @rapidlasso

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[Antonella Ferraina]

Hello

bauwens.sebastien

I wanted to know if you could finally georeference your dense cloud. I am using lasground, lasheight and las2dem with a dense cloud of FARO 3D, but I have the same problem: all my results (others, etc.) have no projection.
It's strange, because the TLS saves the GPS points of each scan.

I have been stuck with this problem for a long time, I appreciate your help.

Kind regards,

Antonella

[Martin Isenburg]

Hello Antonella,

it would help if you could provide a lasinfo report (*) for your data set as well as the exact command lines you are using and the console output they are generating (maybe add '-v' like 'verbose' to each command line).

(*) http://rapidlasso.com/lasinfo

Regards,

Martin @rapidlasso

[Sam Hackett]

Hi,

Are you confident the data is geo-located?

Which type of scanner is it?

It looks like it might be coords in the scanner reference frame. Is the data a single scan?

Regards

Sam

[Antonella Ferraina]

Hi Martin, thank you for the answers.

Here i copy the lasinfo results. I´ve tried setting to this file and the DEM a -utm 20south projection, and the kml appeared in Brazil when should be in Argentina.

C:\LAStools\LAStools\bin>lasinfo -i 0_raw_lidar\r1af_xyz_Maru1_scan_000_las_clean.las -v

reading '0_raw_lidar\r1af_xyz_Maru1_scan_000_las_clean.las' with 2754908 points
lasinfo (181119) report for '0_raw_lidar\r1af_xyz_Maru1_scan_000_las_clean.las'

reporting all LAS header entries:
  file signature:             'LASF'
  file source ID:             0
  global_encoding:            0
  project ID GUID data 1-4:   00000000-0000-0000-0000-000000000000
  version major.minor:        1.2

  system identifier:          'libLAS'
  generating software:        'libLAS 1.8.0'
  file creation day/year:     340/2018
  header size:                227
  offset to point data:       227
  number var. length records: 0
  point data format:          3
  point data record length:   34
  number of point records:    2754908
  number of points by return: 0 0 0 0 0
  scale factor x y z:         0.000000167027498 0.000000210438188 0.000000018315398
  offset x y z:               -97.151100158668129 -97.58329772941768 52.86640167225152
  min x y z:                  -97.151100158668129 -97.58329772941768 52.86640167225152
  max x y z:                  69.876397705078119 112.85489074707031 71.181800003051762

reporting minimum and maximum for all LAS point record entries ...

  X                   0 1000000000
  Y                   0 1000000000
  Z                   0 1000000000
  intensity           0          0
  return_number       0          0
  number_of_returns   0          0
  edge_of_flight_line 0          0
  scan_direction_flag 0          0
  classification      0          0
  scan_angle_rank     0          0
  user_data           0          0
  point_source_ID     0          0
  gps_time 0.000000 0.000000
  Color R 1536 65280
        G 1536 65280
        B 1792 65280
number of first returns:        2754908
number of intermediate returns: 0
number of last returns:         2754908
number of single returns:       2754908
WARNING: there are 2754908 points with return number 0
WARNING: there are 2754908 points with a number of returns of given pulse of 0
histogram of classification of points:
         2754908  never classified (0)

And here are the commands and outputs.

C:\LAStools\LAStools\bin>set PATH=%PATH%;C:\LAStools\LAStools\bin;

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify input file (uso archivo donde le hice las2las y con reproyeccion UTM 20S y se guardo como _1).
C:\LAStools\LAStools\bin>set INPUT_POINTS=C:\LAStools\LAStools\bin\0_raw_lidar\r1af_xyz_Maru1_scan_000_las_clean_1.las

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify desired output raster resolution
C:\LAStools\LAStools\bin>set STEP=0.5

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify desired contour line spacing
C:\LAStools\LAStools\bin>set EVERY=1.0

C:\LAStools\LAStools\bin>set COARSE_STEP=1.0

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for DTM
C:\LAStools\LAStools\bin>set OUTPUT_DTM=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_dtm.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for DSM
C:\LAStools\LAStools\bin>set OUTPUT_DSM=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_dsm.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for elevation contour
C:\LAStools\LAStools\bin>set OUTPUT_ISO=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_dsm.shp

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for CHM
C:\LAStools\LAStools\bin>set OUTPUT_CHM=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_chm.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for CHM_0a1 metro
C:\LAStools\LAStools\bin>set OUTPUT_CHM_0a1=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_chm_0a1.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for CHM_1a3 metros
C:\LAStools\LAStools\bin>set OUTPUT_CHM_1a3=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_chm_1a3.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify file name and format for CHM_3a20 metros
C:\LAStools\LAStools\bin>set OUTPUT_CHM_3a20=C:\LAStools\LAStools\bin\0_raw_lidar\results\r1af_xyz_Maru1_scan_000_las_clean_chm3a20.tif

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify temporary directory for tiles
C:\LAStools\LAStools\bin>set TEMP_DIR=C:\LAStools\LAStools\bin\poop

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify size of tile and edge-artifact-avoiding buffer
C:\LAStools\LAStools\bin>set TILE_SIZE=500

C:\LAStools\LAStools\bin>set BUFFER=25

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: specify number of cores
C:\LAStools\LAStools\bin>set CORES=4

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>::
C:\LAStools\LAStools\bin>:: do the actual processing
C:\LAStools\LAStools\bin>::
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create or empty temporary directory
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>rmdir %TEMP_DIR% /s /q

C:\LAStools\LAStools\bin>mkdir %TEMP_DIR%

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create buffered tiling
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lastile -i %INPUT_POINTS% ^
¿Más?         -rescale 0.01 0.01 0.01 ^
¿Más?         -tile_size %TILE_SIZE% -buffer %BUFFER% ^
¿Más?         -o %TEMP_DIR%\tile.laz -olaz
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: run lassort on all tiles
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lassort -i %TEMP_DIR%\tile*.laz ^
¿Más?         -odix _s -olaz ^
¿Más?         -cores %CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_s.laz'. took 4.045 sec.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_s.laz'. took 4.011 sec.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_s.laz'. took 4.545 sec.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_s.laz'. took 4.545 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: run lasground on all tiles
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasground -i %TEMP_DIR%\tile*_s.laz ^
¿Más?           -all_returns ^
¿Más?           -city -ultra_fine ^
¿Más?           -odix g -olaz ^
¿Más?           -cores %CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: coordinates seem to be longlat. in this case lasground will (likely) fail.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time, user_data & point_source_ID zeroed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time, user_data & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_sg.laz'. total time 27.849 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time, user_data & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_sg.laz'. total time 29.643 sec.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_sg.laz'. total time 31.269 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time, user_data & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_sg.laz'. total time 32.679 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create the DTMs for all tiles
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>blast2dem -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?         -keep_class 2 ^
¿Más?         -step %STEP% ^
¿Más?         -use_tile_bb ^
¿Más?         -ocut 3 -odix _dtm -obil ^
¿Más?         -cores %CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
FATAL ERROR: vertex not in hash. need pre-order mesh
FATAL ERROR: vertex not in hash. need pre-order mesh
duplicate_points 223623
duplicate_points 249669
duplicate_points 204952
there were 2101 clipped rasters (and 0 unclipped ones)
duplicate_points 214535
there were 2961 clipped rasters (and 0 unclipped ones)

C:\LAStools\LAStools\bin>        -hillshade
"-hillshade" no se reconoce como un comando interno o externo,
programa o archivo por lotes ejecutable.

C:\LAStools\LAStools\bin>-utm 20south ^
¿Más?
¿Más? :: join into single DTM
"-utm" no se reconoce como un comando interno o externo,
programa o archivo por lotes ejecutable.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_dtm.bil -merged ^
¿Más?         -step %STEP% ^
¿Más?         -o %OUTPUT_DTM%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create the DSMs for all tiles
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>blast2dem -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?         -step %STEP% ^
¿Más?         -use_tile_bb ^
¿Más?         -ocut 3 -odix _dsm -obil ^
¿Más? - utm 20south ^
¿Más?         -cores %CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
ERROR: cannot understand argument '-'

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: join into single DSM
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_dsm.bil -merged ^
¿Más?         -step %STEP% ^
¿Más?         -o %OUTPUT_DSM%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
ERROR: no input specified

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create an averaged (smoother) coarse DTM
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_dtm.bil -merged ^
¿Más?         -step %COARSE_STEP% -average ^
¿Más?         -o %TEMP_DIR%\dtm_coarse.bil
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values
WARNING: BIL raster contains only no data values

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create elevation contours from DTM using BLAST
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>blast2iso -i %TEMP_DIR%\dtm_coarse.bil ^
¿Más?           -iso_every %EVERY% ^
¿Más?           -smooth 2 -simplify_length 1 -simplify_area 1 -clean 5 ^
¿Más?   -utm 20south ^
¿Más?           -o %OUTPUT_ISO%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
smoothing z coordinate with 0.5 as neighbor weight (except boundary vertices).
smoothing z coordinate with 0.5 as neighbor weight (except boundary vertices).
extracting contours at 6 elevations starting from 55 with spacing of 1.
removing segments shorter than 1 units ...
removing bumps with less area than 1 square units ...
removing lines shorter than 5 units ...
using datum 'WGS 84' with ellipsoid 'WGS-84'
using projection UTM 'WGS 84 / UTM zone 20S'
needed 0 seconds

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create height normalized tiles (stores "height above ground" as z coordinate)
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasheight -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?           -replace_z ^
¿Más?           -odix _hn -olaz ^
¿Más?           -cores %NUM_CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_sg_hn.laz'. total time 25.26 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_sg_hn.laz'. total time 47.192 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_sg_hn.laz'. total time 70.607 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_sg_hn.laz'. total time 101.344 sec.
done with all files. total time for 4 files 101.329 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: create canopy height raster (with resolution of STEP meters)
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_hn*.laz -merged ^
¿Más?         -highest -step %STEP% -false -set_min_max 0 10 -fill 2 ^
¿Más?         -o %OUTPUT_CHM%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: first file is a buffered tile. maybe remove buffers first?
WARNING: unlicensed. over 10 million points. inserting black diagonal.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: cortar en slices pedazos de nube por altura (para separar estratos)
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: pastos 0 a 1 metro
C:\LAStools\LAStools\bin>lasheight -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?           -replace_z ^
¿Más?           -drop_below 1.0 ^
¿Más?   -drop_above 3.0 ^
¿Más?           -odix _hn_0a1 -olaz ^
¿Más?           -cores %NUM_CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_sg_hn_0a1.laz'. total time 25.803 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_sg_hn_0a1.laz'. total time 47.49 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_sg_hn_0a1.laz'. total time 70.703 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_sg_hn_0a1.laz'. total time 100.769 sec.
done with all files. total time for 4 files 100.723 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_hn_0a1*.laz -merged ^
¿Más?         -highest -step %STEP% -false -set_min_max 0 10 -fill 2 ^
¿Más?         -o %OUTPUT_CHM_0a1%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: first file is a buffered tile. maybe remove buffers first?

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: arbustos 1 a 3 metros
C:\LAStools\LAStools\bin>lasheight -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?           -replace_z ^
¿Más?           -drop_below 1.0 ^
¿Más?   -drop_above 3.0 ^
¿Más?           -odix _hn_1a3 -olaz ^
¿Más?           -cores %NUM_CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_sg_hn_1a3.laz'. total time 25.643 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_sg_hn_1a3.laz'. total time 47.554 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_sg_hn_1a3.laz'. total time 70.495 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_sg_hn_1a3.laz'. total time 99.789 sec.
done with all files. total time for 4 files 99.774 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_hn_1a3*.laz -merged ^
¿Más?         -highest -step %STEP% -false -set_min_max 0 10 -fill 2 ^
¿Más?         -o %OUTPUT_CHM_1a3%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: first file is a buffered tile. maybe remove buffers first?

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: arboles >3 metros
C:\LAStools\LAStools\bin>lasheight -i %TEMP_DIR%\tile*_sg.laz ^
¿Más?           -replace_z ^
¿Más?           -drop_below 1.0 ^
¿Más?   -drop_above 3.0 ^
¿Más?           -odix _hn_3a20 -olaz ^
¿Más?           -cores %NUM_CORES%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_-500_sg_hn_3a20.laz'. total time 24.486 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_-500_0_sg_hn_3a20.laz'. total time 44.993 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_-500_sg_hn_3a20.laz'. total time 66.788 sec.
WARNING: unlicensed. over 1.5 million points. output slightly distorted.
         tiny xyz noise. points permuted. intensity, gps_time & point_source_ID zeroed.
done with 'C:\LAStools\LAStools\bin\poop\tile_0_0_sg_hn_3a20.laz'. total time 94.905 sec.
done with all files. total time for 4 files 94.905 sec.

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>lasgrid -i %TEMP_DIR%\tile*_hn_3a20*.laz -merged ^
¿Más?         -highest -step %STEP% -false -set_min_max 0 10 -fill 2 ^
¿Más?         -o %OUTPUT_CHM_3a20%
Please note that LAStools is not "free" (see http://lastools.org/LICENSE.txt)
contact 'martin....@rapidlasso.com' to clarify licensing terms if needed.
WARNING: first file is a buffered tile. maybe remove buffers first?

C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: remove the temporary files and directory
C:\LAStools\LAStools\bin>
C:\LAStools\LAStools\bin>:: rmdir %TEMP_DIR% /s /q
C:\LAStools\LAStools\bin>

C:\LAStools\LAStools\bin>echo "bye bye"

Thank you very much for the help!!

Kind regards,

Antonella Ferraina

[Antonella Ferraina]

Hi Sam,

The Terrestrial Laser Scanner is a Faro Focus 3D X130 https://www.positioningsolutions.com/Trimble/product_specs/FocusX130.pdf

I am using now a single scan, but when i use a dense cloud with multiple scans is the same. The multiple scans match (i save the dense cloud later of georeferencing them), and i can see with lasview that the 3D is well constructed. I used the Faro Focus sowftware, that is called SCENE. This software automatically detect the GPS points of each scan and georeferenciate them. Thats why i dont understand why when i save the dense cloud, cant open it with the projection, etc. I was confident that the data was geo-located. Now i doubt! I

Thanks for helping!

Kind regards

Antonella

[Martin Isenburg]

Hello Antonella.

Your data set is clearly in local scanner coordinates as I can tell from the bounding box in the LAS header:

min x y z:                  -97.151100158668129 -97.58329772941768 52.86640167225152

max x y z:                  69.876397705078119 112.85489074707031 71.181800003051762

This is *not* geo-referenced data. Which software exported this data? A Faro Software? CloudCompare? I ask because it is also a very very "ugly* LAS file that does not properly populate the scale factor with the anticipated resolution that the data was acquired with such as quarter-millimeter  (0.00025).  millimeter (0.001) or cm (0.01) but uses these "crazy" scale factors instead:

scale factor x y z:         0.000000167027498 0.000000210438188 0.000000018315398 

If you know or can estimate the resolution that the data was acquired with you can fix this with

las2las -i r1af_xyz_Maru1_scan_000_las_clean.las ^

            -auto_reoffset ^

            -rescale 0.001 0.001 0.001 ^

            -o r1af_xyz_Maru1_scan_000_las_nicer.laz

To add the geo-referencing you'll have to go back to your Faro software and reexport or establish a matching between a few known georeferenced points and your  LiDAR points and use some software that can move the rest of the points in place.

Regards.

Martin @rapidlasso