260705_2

B04_wf1_Surface/B04_wf1_Surface_Engine_Ground.py

@@ -0,0 +1,64 @@
+"""B04 지면 필터 오케스트레이션.
+
+구조화된 포인트클라우드(structured.npz)에 대해 grid_min_z/csf/pmf/ransac
+필터를 실행하여 지면 마스크 딕셔너리를 만든다. 필터 선택은 config의
+source_filters를 따른다.
+"""
+
+from typing import Any
+
+import numpy as np
+
+from B04_wf1_Surface.B04_wf1_Surface_Engine_Filter_CSF import filter_csf
+from B04_wf1_Surface.B04_wf1_Surface_Engine_Filter_Grid import filter_grid_min_z
+from B04_wf1_Surface.B04_wf1_Surface_Engine_Filter_PMF import filter_pmf
+from B04_wf1_Surface.B04_wf1_Surface_Engine_Filter_RANSAC import filter_ransac
+
+# 필터 키 → 함수 매핑
+_FILTERS = {
+    "grid_min_z": filter_grid_min_z,
+    "csf": filter_csf,
+    "pmf": filter_pmf,
+    "ransac": filter_ransac,
+}
+
+
+def available_filters() -> tuple[str, ...]:
+    return tuple(_FILTERS.keys())
+
+
+def run_ground_filter(
+    filter_key: str, structured_data: dict[str, Any] | np.lib.npyio.NpzFile
+) -> np.ndarray:
+    """단일 지면 필터를 실행해 불리언 마스크를 반환한다."""
+    if filter_key not in _FILTERS:
+        raise ValueError(f"알 수 없는 지면 필터입니다: {filter_key}")
+    return np.asarray(_FILTERS[filter_key](structured_data), dtype=bool)
+
+
+def build_ground_masks(
+    structured_data: dict[str, Any] | np.lib.npyio.NpzFile,
+    filter_keys: tuple[str, ...] | list[str],
+) -> dict[str, np.ndarray]:
+    """지정한 필터들을 실행해 {filter_key: mask} 딕셔너리를 만든다."""
+    masks: dict[str, np.ndarray] = {}
+    for filter_key in filter_keys:
+        masks[filter_key] = run_ground_filter(filter_key, structured_data)
+    return masks
+
+
+def summarize_masks(
+    structured_data: dict[str, Any] | np.lib.npyio.NpzFile,
+    masks: dict[str, np.ndarray],
+) -> dict[str, dict[str, Any]]:
+    """각 필터 마스크의 지면 포인트 수·비율 요약을 만든다."""
+    total = int(len(structured_data["xyz"]))
+    summary: dict[str, dict[str, Any]] = {}
+    for filter_key, mask in masks.items():
+        ground = int(np.count_nonzero(mask))
+        summary[filter_key] = {
+            "ground_point_count": ground,
+            "total_point_count": total,
+            "ground_ratio": round(ground / total, 4) if total else 0.0,
+        }
+    return summary