1cf8e1752f
- Remove PMF from ground classification options (PDAL recommends SMRF over PMF) - Auto-detection now uses CSF for urban/complex terrain instead of PMF - Add z_std > 30m heuristic to auto-select CSF for complex terrain - Fix pos_open/neg_open lambda missing 'shared' parameter (NameError in workers) - Fix NaN mask not restored in hillshade, slope, aspect, curvature (gradient-based products computed on filled DEM lost NaN transparency) - Add nan_mask parameter to _save_tif for centralized NaN restoration - DTM TIF kept by default (no longer deleted after WebP conversion) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
87 lines
5.0 KiB
Markdown
87 lines
5.0 KiB
Markdown
# CLAUDE.md
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This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
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## Project Overview
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LiDAR archaeological processing pipeline that generates 17 terrain visualizations from LAZ/LAS point clouds. Runs in Docker with optional NVIDIA GPU acceleration (CuPy). Designed for French LiDAR HD data in Lambert 93 (EPSG:2154).
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## Commands
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All commands run inside Docker. Use `./run.sh` as the primary interface.
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```bash
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./run.sh -g # Standard run with GPU
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./run.sh -g -w 4 # GPU + 4 parallel workers
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./run.sh -g -r 0.2 # High resolution (0.2m/px)
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./run.sh --test # Run unit tests
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./run.sh -g --file LHD_FXX_1000_6882_PTS_LAMB93_IGN69.copc # Single file
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./run.sh --ground-classification csf # Force CSF ground classification (complex terrain)
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./run.sh -g --keep-tif # Keep TIFF files (allows WebP regeneration without recalculating DTM)
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./run.sh # Print help (no args)
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```
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Direct Docker:
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```bash
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docker build -t lidar-lidar .
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docker run --rm --gpus all -v $(pwd)/input:/data/input:ro -v $(pwd)/output:/data/output lidar-lidar
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```
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## Architecture
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### Module responsibilities
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- **`cli.py`** — argparse + logging setup. Entry point via `python -m lidar_pipeline`.
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- **`pipeline.py`** — `LidarArchaeoPipeline` orchestrator. `VIZ_STEPS` registry maps names to generate functions. `FilePrefixFilter` for parallel logging. Creates `SharedDEM` once per file and passes it to all visualizations.
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- **`dtm.py`** — PDAL ground classification (SMRF/CSF + auto-detection) and DTM generation via scipy `binned_statistic_2d`.
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- **`visualizations.py`** — 15 `generate_*` functions + 2 IGN overlay lambdas. All take `(dem_file, basename, vis_dir, resolution, shared=None)` and return a TIF path or None. `SharedDEM` class pre-computes gradient, NaN mask, LRM to avoid redundant I/O and computation.
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- **`gpu.py`** — CuPy/numpy abstraction: `HAS_GPU`, `to_gpu()`, `to_cpu()`, `xp_gaussian_filter()`, `xp_uniform_filter()`, `xp_minimum_filter()`, `gpu_cleanup()`. Falls back to CPU gracefully.
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- **`ign.py`** — IGN WMTS tile download + overlay generation for orthophoto and topographic maps.
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- **`rendering.py`** — `COLORMAPS` dict maps filename keywords to (cmap, title, legend, description). `tif_to_png()` converts TIF→WebP with legend/scale/north arrow. `generate_pdf_report()` creates A3 PDF.
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### SharedDEM optimization
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`SharedDEM` pre-computes once per file:
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- DEM data (single I/O read)
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- NaN mask + filled DEM (single `_fill_nans` call, avoiding ~20 redundant calls)
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- Gradient components (dy, dx, slope, aspect) shared by hillshade, slope, aspect, curvature
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- LRM at 15m kernel (shared by lrm + anomalies)
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`_filter_nanaware_from_filled()` applies filters on the pre-filled DEM, skipping the expensive `_fill_nans` interpolation.
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### Adding a visualization
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Three places must be updated:
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1. `visualizations.py` — add `generate_X(dem_file, basename, vis_dir, resolution, shared=None)` function
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2. `pipeline.py` `VIZ_STEPS` — add `('name', generate_X)` entry
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3. `rendering.py` `COLORMAPS` — add entry keyed by the output filename keyword
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### Ground classification
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Auto-detection in `dtm.py` `detect_ground_method()`:
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- Single-return ratio > 0.6 → CSF (urban terrain, cloth simulation)
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- Height std > 30m → CSF (complex/mountainous terrain)
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- Default → SMRF (natural terrain)
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Override with `--ground-classification {auto,smrf,csf}`.
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### NaN handling
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DTM small gaps (< 1m from existing data) are filled using `rasterio.fill.fillnodata`. Large gaps remain as NaN. `SharedDEM` fills NaN once; `_filter_nanaware_from_filled()` applies filters on the pre-filled array and restores the NaN mask.
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### Flow accumulation
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Uses priority-flood algorithm (Wang & Liu 2006) for sink filling, which is O(n log n) instead of iterative minimum_filter. D8 accumulation uses numba JIT; falls back to pure Python if numba unavailable.
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### Parallel processing
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Uses `ProcessPoolExecutor` with `'spawn'` start method (required for CUDA). Each worker gets its own temp directory (`temp_{basename}`). `_process_file_standalone()` configures its own logger with `_file_filter` for per-file log prefixes.
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## Key conventions
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- **Language**: UI messages and comments in French. Code identifiers in English.
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- **Logging**: Use `logger = logging.getLogger("lidar")`. Prefix per-file logs via `_file_filter.basename`.
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- **GPU pattern**: `arr_gpu = to_gpu(arr)` → compute → `result = to_cpu(arr_gpu)` → `gpu_cleanup()` between visualizations.
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- **Output format**: Visualizations saved as WebP. TIFF intermediates deleted by default. Use `--keep-tif` to keep DTM+TIF for WebP regeneration with `--force`. No COGs or viewer.
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- **Compression**: TIF intermediates use `deflate` compression (faster than LZW for float32 data).
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- **Tests**: Run only inside Docker via `./run.sh --test`. Synthetic DEM fixture in `tests/conftest.py`. |