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R/tree.detection.single.scan.R
In FORTLS: Automatic Processing of Terrestrial-Based Technologies Point Cloud Data for Forestry Purposes
Defines functions
tree.detection.single.scan
Documented in
tree.detection.single.scan
tree.detection.single.scan <- function(data, single.tree = NULL,
dbh.min = 4, dbh.max = 200, h.min = 1.3,
ncr.threshold = 0.1, tls.resolution = list(),
stem.section = NULL, stem.range = NULL, breaks = NULL,
slice = 0.1, understory = NULL, bark.roughness = 1,
den.type = 1, d.top = NULL,
plot.attributes = NULL,
save.result = TRUE, dir.result = NULL){
set.seed(123)
data <- data.table::setDT(data)
#### Checking some function arguments ####
# Obtaining working directory for saving files
if(is.null(dir.result))
dir.result <- getwd()
# Converting arguments to International System of Units
# Arguments of the forest inventory
.dbh.min <- dbh.min / 100
.dbh.max <- dbh.max / 100
# Arguments of the TLS precision
# If resolution is defined by points distance at a certain distance from TLS (mm/m):
if(is.null(tls.resolution))
stop("The argument tls.resolution must be defined")
.point.dist <- tls.resolution$point.dist / 1000
.tls.dist <- tls.resolution$tls.dist
# If resolution is defined by angles (?):
.vertical.angle <- tls.resolution$vertical.angle * 2 * pi / 360
.horizontal.angle <- tls.resolution$horizontal.angle * 2 * pi / 360
# Define angle aperture according to available TLS resolution parameters:
# Angular resolution:
if(is.null(.point.dist)){
.alpha.v <- .vertical.angle
.alpha.h <- .horizontal.angle
} else {
.alpha.v <- atan((.point.dist / 2) / .tls.dist) * 2
.alpha.h <- .alpha.v
}
# Obtaining Cartesian coordinates (x,y) from center
kk <- data[data$phi < (pi/2) & data$prob.selec == 1, c("x", "y", "phi", "rho")]
x.center <- mean(kk$x - sin(kk$phi) * kk$rho)
y.center <- mean(kk$y - cos(kk$phi) * kk$rho)
rm(kk)
#### Detecting possible areas with trees in the point cloud ####
if(!is.null(data$GLA)){
woody <- data[data$GLA <= 0, ]
woody <- woody[!is.na(woody$x) & !is.na(woody$y) & !is.na(woody$z), ]} else {woody <- data}
# Statistical filtering of a point cloud
# Implements the Statistical Outliers Removal (SOR)
message("Statistical filtering of the whole point cloud")
woody <- woody[, c("x", "y", "z")]
woody <- VoxR::filter_noise(data = data.table::setDT(woody), store_noise = TRUE, message = FALSE)
noise <- woody[woody$Noise == 2, ]
woody <- woody[woody$Noise == 1, ]
woody <- merge(data, woody[, c("x", "y", "z")], by = c("x", "y", "z"), all = FALSE)
noise <- merge(data, noise, by = c("x", "y", "z"), all = FALSE)
# Detection of stem part without shrub vegetation and crown
message("Detecting tree stem axes")
stem <- woody[woody$prob.selec == 1, ]
# Defining the vertical section in which trees are detected
if(is.null(stem.section)){
stem.section <- .getStem(stem)
stem.section <- c(stem.section$x, stem.section$x + stem.section$diff)
stem <- stem[stem$z > stem.section[1] & stem$z < stem.section[2], ]
} else {
stem <- stem[stem$z > stem.section[1] & stem$z < stem.section[2], ]
}
stem <- VoxR::vox(stem[, c("x", "y", "z")], res = 0.03)
stem <- stem[, c("x", "y", "z", "npts")]
stem <- VoxR::project_voxels(stem)
# plot(stem$x, stem$y, asp = 1, col = "grey")
# Filtering pixels - double branch peeling
stem.2 <- NULL
stem <- stem[stem$npts > mean(stem$npts) & stem$ratio > mean(stem$ratio) & stem$nvox > mean(stem$nvox), ]
# points(stem$x, stem$y, col = "green")
if(!is.null(understory)){
if(is.null(single.tree))
stem.2 <- stem[stem$npts > mean(stem$npts), ]
stem <- stem[stem$npts > mean(stem$npts) & stem$ratio > mean(stem$ratio) & stem$nvox > mean(stem$nvox), ]
}
buf <- sf::st_as_sf(stem, coords = c("x","y"))
# sf::st_crs(buf) <- "+proj=utm +zone=19 +ellps=GRS80 +datum=NAD83 +unit=m"
buf <- sf::st_buffer(buf, max(.dbh.min, 0.5))
buf <- sf::st_cast(sf::st_union(buf), "POLYGON")
rm(stem)
if(!is.null(understory) & is.null(single.tree)){
buf.2 <- sf::st_as_sf(stem.2, coords = c("x","y"))
# sf::st_crs(buf) <- "+proj=utm +zone=19 +ellps=GRS80 +datum=NAD83 +unit=m"
buf.2 <- sf::st_buffer(buf.2, max(.dbh.min, 0.5))
buf.2 <- sf::st_difference(sf::st_union(buf.2), buf, 0.1)
# Detection of stem part without shrub vegetation and crown
buf.2 <- buf.2[sf::st_area(buf.2) > (pi / 4)*(.dbh.min + 0.1) ^ 2]
if(length(buf.2) < 1){
stem.2 <- NULL
} else {
stem.2 <- woody[woody$prob.selec == 1, ]
stem.3 <- sf::st_intersects(buf, sf::st_as_sf(stem.2, coords = c("x","y")))
stem.3 <- data.table::setDT(as.data.frame(stem.3))
colnames(stem.3) <- c("tree", "code")
stem.2$code <- as.numeric(row.names(stem.2))
stem.2 <- merge(stem.2, stem.3, by = "code", all = FALSE)
# stem.2 <- subset(stem.2, select = -code)
stem.2 <- stem.2[, 2:ncol(stem.2)]
rm(stem.3)
if(nrow(stem.2) < 1)
stem.2 <- NULL
}
rm(buf.2)
}
woody.2 <- sf::st_intersects(buf, sf::st_as_sf(woody, coords = c("x","y")))
woody.2 <- data.table::setDT(as.data.frame(woody.2))
colnames(woody.2) <- c("tree", "code")
woody$code <- as.numeric(row.names(woody))
woody <- merge(woody, woody.2, by = "code", all = FALSE)
# woody <- subset(woody, select = -code)
woody <- woody[, 2:ncol(woody)]
# woody <- woody[woody$tree %in% eje$tree, ]
woody <- woody[!is.na(woody$tree), ]
rm(buf, woody.2)
# If there is only one tree in the point cloud
if(!is.null(single.tree)){
filter <- data.frame(table(stem$tree))
filter <- filter[order(filter$Freq, decreasing = TRUE), ]
stem <- stem[stem$tree == filter$Var1[1], ]
# stem$tree <- 1
}
# Breaks argument
if(is.null(breaks)){
breaks <- seq(from = 0.4, to = max(woody$z), by = 0.3)
breaks <- breaks[-length(breaks)]}
# rm(stem)
# Assigning points to trees previously detected
# woody.2 <- sf::st_intersects(buf, sf::st_as_sf(woody, coords = c("x","y")))
# woody.2 <- data.table::setDT(as.data.frame(woody.2))
# colnames(woody.2) <- c("tree", "code")
# woody$code <- as.numeric(row.names(woody))
# woody <- merge(woody, woody.2, by = "code", all = FALSE)
# woody <- subset(woody, select = -code)
#
# woody <- woody[!is.na(woody$tree), ]
#
#
# rm(buf, woody.2)
# Estimating NCR threshold when RGB are available
# if(!is.null(data$GLA)){
# ncr <- data[data$GLA > 0, ]
# ncr <- as.matrix(ncr[, c("point", "x", "y", "z")])
# ncr.threshold <- ncr_point_cloud_double(ncr[1:10000, ])
# ncr.threshold <- mean(ncr.threshold$ncr, na.rm = TRUE)}
#### Starting with clustering process ####
.filteraux <- data.frame(cluster = as.numeric(),
center.x = as.numeric(), center.y = as.numeric(),
center.phi = as.numeric(), center.rho = as.numeric(),
center.r = as.numeric(), center.theta = as.numeric(),
radius = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric(),
phi.left = as.numeric(), phi.right = as.numeric(),
arc.circ = as.numeric(), sec = as.numeric())
.filteraux.2 <- data.frame(cluster = as.numeric(),
center.x = as.numeric(), center.y = as.numeric(),
center.phi = as.numeric(), center.rho = as.numeric(),
center.r = as.numeric(), center.theta = as.numeric(),
radius = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric(),
phi.left = as.numeric(), phi.right = as.numeric(),
circ = as.numeric(), arc.circ = as.numeric(), sec = as.numeric())
slice <- slice / 2
for(cuts in breaks){
message("Computing section: ", cuts, " m")
.cut <- woody[which(woody$z > (cuts-slice-0.05) & woody$z < (cuts+slice+0.05)), , drop = FALSE]
if(nrow(.cut) < 50){next}
.cut <- as.data.frame(.cut)
.cut <- .ncr.remove.slice.double(.cut)
.cut <- .cut[which(.cut$ncr < ncr.threshold | is.na(.cut$ncr)), , drop = FALSE]
# Restrict to slice corresponding to cuts m +/- 5 cm
.cut <- .cut[which(.cut$z > (cuts-slice) & .cut$z < (cuts+slice)), , drop = FALSE]
# DBSCAN parameters
.eps <- 2 * (tan(.alpha.h / 2) * (max(.cut$r) / cos(mean(.cut$slope, na.rm = TRUE))) * 2)
# Clustering
.error <- try(suppressMessages(dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps)))
if(class(.error)[1] == "try-error"){
message("No computed section: ", cuts, " m")
next} else {
.dbscan <- dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps, minPts = 15)
.cut$cluster <- .dbscan$cluster
.cut <- .cut[which(.cut$cluster > 0), , drop = FALSE]}
# Checking if there are clusters
if(nrow(.cut) < 15){next}
.cut$sec <- cuts
.filter <- do.call(rbind, lapply(split(.cut, .cut$cluster), .sections.single.scan, .cut = .cut,
.alpha.v = .alpha.v, .alpha.h = .alpha.h,
.dbh.min = .dbh.min, .dbh.max = .dbh.max,
slice = slice * 2, bark.roughness = bark.roughness,
x.center = x.center, y.center = y.center))
.filteraux<-rbind(.filteraux, .filter)
# Second...
if(!is.null(stem.2)){
.cut <- stem.2[which(stem.2$z > (cuts-slice-0.05) & stem.2$z < (cuts+slice+0.05)), , drop = FALSE]
if(nrow(.cut) < 50){next}
.cut <- .ncr.remove.slice.double(.cut)
# .cut <- .cut[which(.cut$ncr < ncr.threshold | is.na(.cut$ncr)), , drop = FALSE]
.cut <- woody[woody$z > (cuts-2*slice-0.05) & woody$z < cuts, , drop = FALSE]
# Restrict to slice corresponding to cuts m +/- 5 cm
# .cut <- .cut[which(.cut$z > (cuts-slice) & .cut$z < (cuts+slice)), , drop = FALSE]
.cut <- .cut[.cut$z > (cuts-2*slice) & .cut$z < cuts, , drop = FALSE]
# DBSCAN parameters
.eps <- 2 * (tan(.alpha.h / 2) * (max(.cut$r) / cos(mean(.cut$slope, na.rm = TRUE))) * 2)
# Clustering
.error <- try(suppressMessages(dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps, minPts = 15)))
if(class(.error)[1] == "try-error"){
message("No computed section: ", cuts, " m")
next} else {
.dbscan <- dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps)
.cut$cluster <- .dbscan$cluster
.cut <- .cut[which(.cut$cluster > 0), , drop = FALSE]}
# Checking if there are clusters
if(nrow(.cut) < 1){next}
# Assigning section to the slice
.cut$sec <- cuts
# Selection of those cluster belonging to trees
.filter <- do.call(rbind, lapply(split(.cut, .cut$cluster), .sections.single.scan, .cut = .cut,
.alpha.v = .alpha.v, .alpha.h = .alpha.h,
.dbh.min = .dbh.min, .dbh.max = .dbh.max,
slice = slice * 2, bark.roughness = bark.roughness,
x.center = x.center, y.center = y.center))
.filteraux.2 <- rbind(.filteraux.2, .filter)}
}# End of cuts loop
#### Assigning sections to tree axis ####
if(nrow(.filteraux) < 1 & nrow(.filteraux.2) < 1) {
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
else {
eje <- .stem.assignment.single.scan(.filteraux, stem.section, breaks)
if(nrow(.filteraux.2) > 0 & sum(c(.filteraux.2$circ, .filteraux.2$arc.circ)) > 0){
# Assigning sections to tree axis
eje.2 <- .stem.assignment.single.scan(.filteraux.2, stem.section, breaks)
eje.2$tree <- eje.2$tree + max(eje$tree)
eje <- rbind(eje[, c("tree", "sec", "x", "y")], eje.2[, c("tree", "sec", "x", "y")])
rm(eje.2)
.filter <- rbind(.filteraux, .filteraux.2)
rm(.filteraux, .filteraux.2)
} else {
.filter <- .filteraux
rm(.filteraux)
}
.filter <- .stem.assignment.single.scan.2(.filter, eje, stem.section, x.center, y.center, single.tree)
if(nrow(.filter) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Export all section detected
.filter <- .filter[order(.filter$tree, .filter$sec), , drop = FALSE]
.stem <- .filter[, c("tree", "sec", "center.x", "center.y", "radius")]
.stem$radius <- .stem$radius * 200
colnames(.stem) <- c("tree", "sec", "x", "y", "dbh")
# Calculate of taper coefficient as the slope coefficient of linear regression
# .taper <- .filter[.filter$sec >= 1 & .filter$sec <= 1.6, c("tree", "sec", "radius"), drop = FALSE]
.taper <- .filter[, c("tree", "sec", "radius"), drop = FALSE]
.slope.tree <- data.frame(tree = as.numeric(), slope = as.numeric())
for(i in unique(.taper$tree)){
.taper.i <- .taper[.taper$tree == i, ]
if(nrow(.taper.i) < 2){
.slope <- data.frame(tree = i, slope = NA)
} else {
.lm <- stats::lm(radius ~ sec, data = .taper.i)
.slope <- data.frame(tree = i, slope = stats::coef(.lm)[2])
}
.slope.tree <- rbind(.slope.tree, .slope)
}
.filter <- merge(.filter, .slope.tree, by = "tree")
# If a new column ("dif") is created containing the difference between dbh and
# section from which radius is estimated, number of used sections (or cuts)
# will not be important. An estimated radius will always exist
.filter$dif <- 1.3 - .filter$sec
.filter$radio.est <- ifelse(.filter$dif == 0, .filter$radius, .filter$radius + .filter$slope * .filter$dif)
.filter <- .filter[!is.na(.filter$radio.est), ]
# When there are not enough tree to the linear model, and tress were
# detected at at different sections than 1.3 m, we assume these radius
# as dbh. This could happen in very few situations.
# .filter$radio.est <- ifelse(is.na(.filter$radio.est), .filter$radius, .filter$radio.est)
# .filter$radio.est2 <- ifelse(is.na(.filter$radio.est2), .filter$radius2, .filter$radio.est2)
top.lim <- max(1.3, abs(max(stem.section) - 1.3))
.radio.est <- data.frame(radio.est = as.numeric())
for (i in unique(.filter$tree)) {
.dat <- .filter[which(.filter$tree == i), ]
.dat$dif <- abs(.dat$dif)
if(min(.dat$dif) > top.lim)
next
.dat <- .dat[order(.dat$dif), ]
if(.dat$dif[1] == 0 & .dat$arc.circ[1] == 1){
.dat <- .dat[1, ]
} else if (nrow(.dat) > 1 & .dat$dif[1] == 0) {
.dat <- .dat[.dat$dif == 0 | .dat$dif == .dat$dif[2], ]
} else{
.dat <- .dat[.dat$dif == min(.dat$dif), ]
}
.out <- data.frame(radio.est = mean(.dat$radio.est, na.rm = TRUE))
.radio.est <- rbind(.radio.est, .out)
}
# Tree normal section coordinates
.filteraux <- data.frame(tree = as.numeric(),
filter = as.numeric(),
center.x = as.numeric(),
center.y = as.numeric(),
center.phi = as.numeric(),
phi.left = as.numeric(),
phi.right = as.numeric(),
center.rho = as.numeric(),
center.r = as.numeric(),
center.theta = as.numeric(),
sec.x = as.numeric(),
sec.y = as.numeric(),
sec.max = as.numeric(),
horizontal.distance = as.numeric(), # repeated line
radius = as.numeric(),
partial.occlusion = as.numeric(),
n.pts = as.numeric(),
n.pts.red = as.numeric())
for (i in unique(.filter$tree)) {
.dat <- .filter[which(.filter$tree == i), ]
.dat <- .dat[order(abs(.dat$dif)), ]
.sec.x <- .dat$center.x[nrow(.dat)]
.sec.y <- .dat$center.y[nrow(.dat)]
.sec.max <- .dat$sec[nrow(.dat)]
.dat$sec.x <- .sec.x
.dat$sec.y <- .sec.y
.dat$sec.max <- .sec.max
.dat$filter <- nrow(.dat)
if(nrow(.dat) > 3)
.dat <- .dat[1:3, ]
if(min(abs(.dat$dif)) > top.lim)
next
.filteraux <- rbind(.filteraux, .dat)
}
if(nrow(.filteraux) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Dendrometric variables
.tree <- data.frame(tree = tapply(.filteraux$tree, .filteraux$tree, mean, na.rm = TRUE),
filter = tapply(.filteraux$filter, .filteraux$tree, mean, na.rm = TRUE),
x = tapply(.filteraux$center.x, .filteraux$tree, mean, na.rm = TRUE),
y = tapply(.filteraux$center.y, .filteraux$tree, mean, na.rm = TRUE),
sec.x = tapply(.filteraux$sec.x, .filteraux$tree, mean, na.rm = TRUE),
sec.y = tapply(.filteraux$sec.y, .filteraux$tree, mean, na.rm = TRUE),
sec.max = tapply(.filteraux$sec.max, .filteraux$tree, mean, na.rm = TRUE),
phi = tapply(.filteraux$center.phi, .filteraux$tree, mean, na.rm = TRUE),
phi.left = tapply(.filteraux$phi.left, .filteraux$tree, mean, na.rm = TRUE),
phi.right = tapply(.filteraux$phi.right, .filteraux$tree, mean, na.rm = TRUE),
rho = tapply(.filteraux$center.rho, .filteraux$tree, mean, na.rm = TRUE),
r = tapply(.filteraux$center.r, .filteraux$tree, mean, na.rm = TRUE),
theta = tapply(.filteraux$center.theta, .filteraux$tree, mean,na.rm = TRUE),
horizontal.distance = tapply(.filteraux$center.rho, .filteraux$tree, mean, na.rm = TRUE), # repeated line
radius = .radio.est$radio.est,
partial.occlusion = tapply(.filteraux$arc.circ, .filteraux$tree, min, na.rm = TRUE),
n.pts = tapply(.filteraux$n.pts, .filteraux$tree, mean, na.rm = TRUE),
n.pts.red = tapply(.filteraux$n.pts.red, .filteraux$tree, mean, na.rm = TRUE))
rm(.filteraux)
# Cheking if there are negative radious
.tree <- .tree[.tree$radius > 0, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Cheking minimum and maximum radius defined in the arguments
.tree <- .tree[.tree$radius >= .dbh.min / 2 & .tree$radius <= .dbh.max / 2, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Selecting only those trees with more than one section detected when more than two breaks have been specified
if(length(breaks) > 3)
.tree <- .tree[.tree$filter > 1, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Remove duplicated trees and ordering by distance and numbering trees from 1 to n trees
.tree <- .tree[!duplicated(.tree$x) & !duplicated(.tree$y), ]
.tree <- .tree[!duplicated(.tree$sec.x) & !duplicated(.tree$sec.y), ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
.tree <- .tree[order(.tree$rho), ]
.tree$tree <- 1:nrow(.tree)
# Detecting possible trees overlaped
# if(nrow(.tree) < 2 & !is.null(single.tree)){.tree.2 <- .tree}
if(nrow(.tree) < 2){.tree.2 <- .tree}
if(nrow(.tree) > 1 & is.null(single.tree)){
.tree.2 <- data.frame(tree = as.numeric(), filter = as.numeric(),
x = as.numeric(), y = as.numeric(),
sec.x = as.numeric(), sec.y = as.numeric(), sec.max = as.numeric(),
phi = as.numeric(), rho = as.numeric(), r = as.numeric(), theta = as.numeric(),
horizontal.distance = as.numeric(), radius = as.numeric(),
partial.occlusion = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric())
for (i in unique(.tree$tree)) {
if(nrow(.tree[.tree$tree == i, ]) < 1)
next
.filt <- .tree[.tree$tree == i, ]
.filteraux <- .tree[.tree$tree != i, ]
if(nrow(.filteraux) < 1)
next
.filteraux$dist <- sqrt((.filteraux$x - .filt$x) ^ 2 + (.filteraux$y - .filt$y) ^ 2) - .filteraux$radius - .filt$radius
.filteraux$rho.dist <- abs(.filteraux$rho - .filt$rho) - .filteraux$radius - .filt$radius
.filteraux$phi.dist <- abs(.filteraux$phi - .filt$phi)
if(min(.filteraux$dist) < mean(.tree$radius) |
.filteraux$rho.dist[.filteraux$dist == min(.filteraux$dist)] < mean(.tree$radius) &
.filteraux$phi.dist[.filteraux$dist == min(.filteraux$dist)] < 0.1){
.filteraux <- .filteraux[.filteraux$dist < mean(.tree$radius) | .filteraux$rho.dist < mean(.tree$radius) & .filteraux$phi.dist < 0.1, ]
.filteraux <- rbind(.filt, .filteraux[ , 1:(ncol(.filteraux)-3)])
.filt <- .filteraux[.filteraux$filter == max(.filteraux$filter) & .filteraux$sec.max == min(.filteraux$sec.max), ]
if(nrow(.filt) > 1)
.filt <- .filt[.filt$partial.occlusion > 0, ]
if(nrow(.filt) > 1)
.filt <- .filt[1, ]
.tree.remove <- .filteraux[.filteraux$tree != .filt$tree, ]$tree
if(length(.tree.remove) < 1){.tree <- .tree} else {
suppressWarnings(.tree <- .tree[.tree$tree != .tree.remove, ])
}
.tree.2 <- rbind(.tree.2, .filt)
} else {
.tree.2 <- rbind(.tree.2, .filt)
.tree <- .tree[.tree$tree != .filt$tree, ]
}
}
}
.tree <- .tree.2
rm(.tree.2)
.tree <- .tree[order(.tree$rho), ]
.tree$tree <- 1:nrow(.tree)
# Indicate trees with partial occlusions, those for which none of the sections
# was identified as circumference arch (ArcCirc)
.tree$partial.occlusion <- ifelse(.tree$partial.occlusion == 0, 1, 0)
# Compute dbh (cm)
.tree$dbh <- .tree$radius * 200
# Calculate points belonging to radius unit
# Since it will be an estimation, select sections completely visible
# (ArcCirc == 1) in section corresponding to 1.3 m (where dbh is estimated)
.filter$filter <- ifelse(.filter$sec == 1.3 & .filter$arc.circ == 1, 1, 0)
.filter2 <- subset(.filter, .filter$filter == 1)
if(nrow(.filter2) < 1)
.filter2 <- .filter
# Estimate number of points by cluster, with and without point cropping
# process, corresponding to radius 1 m
.filter2$points.radio <- .filter2$n.pts / .filter2$radius
.filter2$points.radio.hom <- .filter2$n.pts.red / .filter2$radius
# Average points after point cropping by m of radius
.tree$points.m <- mean(.filter2$points.radio)
.tree$points.m.hom <- mean(.filter2$points.radio.hom)
# Finally, compute number of points estimated for each tree according to
# radius
.tree$n.pts.est <- .tree$points.m * .tree$radius
.tree$n.pts.red.est <- .tree$points.m.hom * .tree$radius
# Obtaining reduced point cloud
data <- data[data$prob.selec == 1, ]
data <- data[, c("id", "file", "x", "y", "z", "rho")]
# If only one tree is detected, Voronoi tessellation is not working
if(nrow(.tree) == 1){
.P99 <- data.frame(tree = .tree$tree, h = stats::quantile(data$z, prob = 0.9999999999))
} else {
# Voronoi tessellation
.tree.2 <- .tree[ , c("tree", "sec.x", "sec.y"), drop = FALSE]
.tree.2 <- .tree.2[!duplicated(.tree.2$sec.x) & !duplicated(.tree.2$sec.y), ]
colnames(.tree.2) <- c("tree", "x", "y")
.tree.2$tree <- 1:nrow(.tree.2)
.sec <- .tree[ , c("tree", "sec.max", "radius"), drop = FALSE]
.sec$tree <- 1:nrow(.sec)
# .sec$radius <- ifelse(.sec$radius < 0, 0.1, .sec$radius)
.voro <- data[, c("x", "y", "z")]
.voro <- sf::st_as_sf(.voro, coords = c("x", "y"))
.tree.2 <- sf::st_as_sf(.tree.2, coords = c("x", "y"))
.voronoi <- sf::st_buffer(.tree.2, dist = .sec$radius * 3)
.voro <- suppressWarnings(sf::st_intersection(.voro, .voronoi))
.voronoi <- sf::st_collection_extract(sf::st_voronoi(do.call(c, sf::st_geometry(.tree.2))))
.tree.3 <- sf::st_intersects(.voronoi, .tree.2)
.tree.3 <- data.frame(id = 1:length(.tree.3),
tree = unlist(.tree.3, recursive = TRUE, use.names = TRUE))
.tree.3 <- merge(.tree.3, .sec, by = "tree")
.voro$tree <- unlist(sf::st_intersects(.voro, .voronoi))
# Compute height percentile P99.9
.P99 <- sapply(sort(unique(.tree.3$id)),
function(id, voro, tree.3) {
sec.max <- .tree.3[.tree.3$id == id, "sec.max"]
z <- voro$z[voro$tree == id & voro$z > sec.max]
if(length(z) < 1) {
P99 <- 0
names(P99) <- tree.3[tree.3$id == id, "tree"]
} else {
P99 <-
height_perc_cpp(rho_seq = Inf, z = z, rho = z)[, "P99.9"]
names(P99) <- tree.3[tree.3$id == id, "tree"]}
return(P99)
},
voro = .voro, tree.3 = .tree.3)
.P99 <- data.frame(tree = names(.P99), h = .P99)
rm(.tree.2, .tree.3, .voro)
}
# Remove possible trees above "h.min" (1.3 m by default)
.P99 <- .P99[.P99$h >= h.min, ]
.tree <- merge(.tree, .P99, by = "tree", all = FALSE)
rm(.P99)
# Assigning dbh to stem dataset
.stem <- merge(.stem, .tree[, c("tree", "h")], by = "tree")
.stem <- .stem[.stem$sec != 1.3, ]
.tree$sec <- 1.3
.stem <- rbind(.stem, .tree[, c("tree", "sec", "x", "y", "dbh", "h")])
.tree <- .tree[, -ncol(.tree)]
.stem <- .stem[order(.stem$tree, .stem$sec), , drop = FALSE]
colnames(.stem) <- c("tree", "sec", "x", "y", "dhi", "h")
.stem <- merge(.stem, .tree[, c("tree", "dbh")], by = "tree", all.x = TRUE)
colnames(.stem) <- c("tree", "hi", "x", "y", "dhi", "h", "dbh")
# Cheking the trees h
.stem <- merge(.stem[, c("tree", "hi", "x", "y", "dhi", "dbh")],
data.frame(tree = unique(.stem$tree),
h = do.call(rbind, lapply(split(.stem[, c("hi", "h")], .stem$tree), max))),
all.x = TRUE, by = "tree")
# Compute volume (m3)
if(length(table(.stem$hi)) > 3 & is.null(d.top)){
# Stem curve
stem.v <- .volume(.stem, id = data$id[1])
.tree <- merge(.tree, stem.v, all = TRUE)
} else if (length(table(.stem$hi)) > 3 & !is.null(d.top)) {
stem.v <- .volume(.stem, d.top, id = data$id[1])
.tree <- merge(.tree, stem.v, all = TRUE)
} else if (length(table(.stem$hi)) <= 3 & !is.null(d.top)) {
den.type <- 1
n <- den.type
# Paraboloid volume
.tree$v <- pi * (.tree[, "h"] ^ (n + 1) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
h.lim <- (((d.top / 200) ^ 2) / ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)) ^ (1 / n)
.tree$v.com <- pi * ((.tree[, "h"] ^ (n + 1) - h.lim ^ (n + 1)) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
.tree$v.com <- ifelse(.tree$v.com < 0, 0, .tree$v.com)
.tree$h.com <- h.lim
} else {
den.type <- 1
n <- den.type
.tree$v <- pi * (.tree[, "h"] ^ (n + 1) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
}
.stem <- .stem[, c("tree", "x", "y", "dhi", "dbh", "hi", "h")]
.stem <- .stem[order(.stem$tree, .stem$hi), , drop = FALSE]
if(!is.null(data$id)){
.stem$id <- data$id[1]
.stem <- .stem[, c("id", "tree", "x", "y", "dhi", "dbh", "hi", "h")]}
# Straighness analysis
straightness <- do.call(rbind, lapply(split(.stem, .stem$tree), .straightness, stem.range = stem.range))
.tree <- merge(.tree, straightness, by = "tree")
utils::write.csv(.stem,
file = file.path(dir.result, "stem.curve.csv"),
row.names = FALSE)
rm(.stem)
# If plot identification (id) is not available
if(is.null(data$id) & is.null(.tree$v.com)){
.tree <- .tree[, c("tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else if (is.null(data$id) & !is.null(.tree$v.com)) {
.tree <- .tree[, c("tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "h.com", "v", "v.com", "n.pts", "SS.max", "sinuosity", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else if (!is.null(data$id) & is.null(.tree$v.com)) {
# If plot identification (id) is available
.tree$id <- data$id[1]
.tree$file <- data$file[1]
.tree <- .tree[, c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else {
# If plot identification (id) is available
.tree$id <- data$id[1]
.tree$file <- data$file[1]
.tree <- .tree[, c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
}
}
.tree <- .tree[order(.tree$h.dist), ]
.tree$tree <- 1:nrow(.tree)
# Removing values of 0 in n.pts
.tree$n.pts <- ifelse(.tree$n.pts < 1, 0.01, .tree$n.pts)
.tree$n.pts.red <- ifelse(.tree$n.pts.red < 1, 0.01, .tree$n.pts.red)
.tree$n.pts.est <- ifelse(.tree$n.pts.est < 1, 0.01, .tree$n.pts.est)
.tree$n.pts.red.est <- ifelse(.tree$n.pts.red.est < 1, 0.01, .tree$n.pts.red.est)
# Lastly, aggregate attributes table
if(!is.null(plot.attributes))
.tree <- merge(.tree, plot.attributes, by = "id", all = FALSE)
if(isTRUE(save.result)){
utils::write.csv(.tree,
file = file.path(dir.result, "tree.tls.csv"),
row.names = FALSE)
}
if(isTRUE(save.result)){
.data.red <- noise[which(noise$prob.selec == 1), , drop = FALSE]
vroom::vroom_write(.data.red, path = file.path(dir.result, paste("noise_", .data.red$file[1], sep = "")), delim = ",", progress = FALSE)
}
#####
return(.tree)
}
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Defines functions tree.detection.single.scan
Documented in tree.detection.single.scan
tree.detection.single.scan <- function(data, single.tree = NULL,
dbh.min = 4, dbh.max = 200, h.min = 1.3,
ncr.threshold = 0.1, tls.resolution = list(),
stem.section = NULL, stem.range = NULL, breaks = NULL,
slice = 0.1, understory = NULL, bark.roughness = 1,
den.type = 1, d.top = NULL,
plot.attributes = NULL,
save.result = TRUE, dir.result = NULL){
set.seed(123)
data <- data.table::setDT(data)
#### Checking some function arguments ####
# Obtaining working directory for saving files
if(is.null(dir.result))
dir.result <- getwd()
# Converting arguments to International System of Units
# Arguments of the forest inventory
.dbh.min <- dbh.min / 100
.dbh.max <- dbh.max / 100
# Arguments of the TLS precision
# If resolution is defined by points distance at a certain distance from TLS (mm/m):
if(is.null(tls.resolution))
stop("The argument tls.resolution must be defined")
.point.dist <- tls.resolution$point.dist / 1000
.tls.dist <- tls.resolution$tls.dist
# If resolution is defined by angles (?):
.vertical.angle <- tls.resolution$vertical.angle * 2 * pi / 360
.horizontal.angle <- tls.resolution$horizontal.angle * 2 * pi / 360
# Define angle aperture according to available TLS resolution parameters:
# Angular resolution:
if(is.null(.point.dist)){
.alpha.v <- .vertical.angle
.alpha.h <- .horizontal.angle
} else {
.alpha.v <- atan((.point.dist / 2) / .tls.dist) * 2
.alpha.h <- .alpha.v
}
# Obtaining Cartesian coordinates (x,y) from center
kk <- data[data$phi < (pi/2) & data$prob.selec == 1, c("x", "y", "phi", "rho")]
x.center <- mean(kk$x - sin(kk$phi) * kk$rho)
y.center <- mean(kk$y - cos(kk$phi) * kk$rho)
rm(kk)
#### Detecting possible areas with trees in the point cloud ####
if(!is.null(data$GLA)){
woody <- data[data$GLA <= 0, ]
woody <- woody[!is.na(woody$x) & !is.na(woody$y) & !is.na(woody$z), ]} else {woody <- data}
# Statistical filtering of a point cloud
# Implements the Statistical Outliers Removal (SOR)
message("Statistical filtering of the whole point cloud")
woody <- woody[, c("x", "y", "z")]
woody <- VoxR::filter_noise(data = data.table::setDT(woody), store_noise = TRUE, message = FALSE)
noise <- woody[woody$Noise == 2, ]
woody <- woody[woody$Noise == 1, ]
woody <- merge(data, woody[, c("x", "y", "z")], by = c("x", "y", "z"), all = FALSE)
noise <- merge(data, noise, by = c("x", "y", "z"), all = FALSE)
# Detection of stem part without shrub vegetation and crown
message("Detecting tree stem axes")
stem <- woody[woody$prob.selec == 1, ]
# Defining the vertical section in which trees are detected
if(is.null(stem.section)){
stem.section <- .getStem(stem)
stem.section <- c(stem.section$x, stem.section$x + stem.section$diff)
stem <- stem[stem$z > stem.section[1] & stem$z < stem.section[2], ]
} else {
stem <- stem[stem$z > stem.section[1] & stem$z < stem.section[2], ]
}
stem <- VoxR::vox(stem[, c("x", "y", "z")], res = 0.03)
stem <- stem[, c("x", "y", "z", "npts")]
stem <- VoxR::project_voxels(stem)
# plot(stem$x, stem$y, asp = 1, col = "grey")
# Filtering pixels - double branch peeling
stem.2 <- NULL
stem <- stem[stem$npts > mean(stem$npts) & stem$ratio > mean(stem$ratio) & stem$nvox > mean(stem$nvox), ]
# points(stem$x, stem$y, col = "green")
if(!is.null(understory)){
if(is.null(single.tree))
stem.2 <- stem[stem$npts > mean(stem$npts), ]
stem <- stem[stem$npts > mean(stem$npts) & stem$ratio > mean(stem$ratio) & stem$nvox > mean(stem$nvox), ]
}
buf <- sf::st_as_sf(stem, coords = c("x","y"))
# sf::st_crs(buf) <- "+proj=utm +zone=19 +ellps=GRS80 +datum=NAD83 +unit=m"
buf <- sf::st_buffer(buf, max(.dbh.min, 0.5))
buf <- sf::st_cast(sf::st_union(buf), "POLYGON")
rm(stem)
if(!is.null(understory) & is.null(single.tree)){
buf.2 <- sf::st_as_sf(stem.2, coords = c("x","y"))
# sf::st_crs(buf) <- "+proj=utm +zone=19 +ellps=GRS80 +datum=NAD83 +unit=m"
buf.2 <- sf::st_buffer(buf.2, max(.dbh.min, 0.5))
buf.2 <- sf::st_difference(sf::st_union(buf.2), buf, 0.1)
# Detection of stem part without shrub vegetation and crown
buf.2 <- buf.2[sf::st_area(buf.2) > (pi / 4)*(.dbh.min + 0.1) ^ 2]
if(length(buf.2) < 1){
stem.2 <- NULL
} else {
stem.2 <- woody[woody$prob.selec == 1, ]
stem.3 <- sf::st_intersects(buf, sf::st_as_sf(stem.2, coords = c("x","y")))
stem.3 <- data.table::setDT(as.data.frame(stem.3))
colnames(stem.3) <- c("tree", "code")
stem.2$code <- as.numeric(row.names(stem.2))
stem.2 <- merge(stem.2, stem.3, by = "code", all = FALSE)
# stem.2 <- subset(stem.2, select = -code)
stem.2 <- stem.2[, 2:ncol(stem.2)]
rm(stem.3)
if(nrow(stem.2) < 1)
stem.2 <- NULL
}
rm(buf.2)
}
woody.2 <- sf::st_intersects(buf, sf::st_as_sf(woody, coords = c("x","y")))
woody.2 <- data.table::setDT(as.data.frame(woody.2))
colnames(woody.2) <- c("tree", "code")
woody$code <- as.numeric(row.names(woody))
woody <- merge(woody, woody.2, by = "code", all = FALSE)
# woody <- subset(woody, select = -code)
woody <- woody[, 2:ncol(woody)]
# woody <- woody[woody$tree %in% eje$tree, ]
woody <- woody[!is.na(woody$tree), ]
rm(buf, woody.2)
# If there is only one tree in the point cloud
if(!is.null(single.tree)){
filter <- data.frame(table(stem$tree))
filter <- filter[order(filter$Freq, decreasing = TRUE), ]
stem <- stem[stem$tree == filter$Var1[1], ]
# stem$tree <- 1
}
# Breaks argument
if(is.null(breaks)){
breaks <- seq(from = 0.4, to = max(woody$z), by = 0.3)
breaks <- breaks[-length(breaks)]}
# rm(stem)
# Assigning points to trees previously detected
# woody.2 <- sf::st_intersects(buf, sf::st_as_sf(woody, coords = c("x","y")))
# woody.2 <- data.table::setDT(as.data.frame(woody.2))
# colnames(woody.2) <- c("tree", "code")
# woody$code <- as.numeric(row.names(woody))
# woody <- merge(woody, woody.2, by = "code", all = FALSE)
# woody <- subset(woody, select = -code)
#
# woody <- woody[!is.na(woody$tree), ]
#
#
# rm(buf, woody.2)
# Estimating NCR threshold when RGB are available
# if(!is.null(data$GLA)){
# ncr <- data[data$GLA > 0, ]
# ncr <- as.matrix(ncr[, c("point", "x", "y", "z")])
# ncr.threshold <- ncr_point_cloud_double(ncr[1:10000, ])
# ncr.threshold <- mean(ncr.threshold$ncr, na.rm = TRUE)}
#### Starting with clustering process ####
.filteraux <- data.frame(cluster = as.numeric(),
center.x = as.numeric(), center.y = as.numeric(),
center.phi = as.numeric(), center.rho = as.numeric(),
center.r = as.numeric(), center.theta = as.numeric(),
radius = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric(),
phi.left = as.numeric(), phi.right = as.numeric(),
arc.circ = as.numeric(), sec = as.numeric())
.filteraux.2 <- data.frame(cluster = as.numeric(),
center.x = as.numeric(), center.y = as.numeric(),
center.phi = as.numeric(), center.rho = as.numeric(),
center.r = as.numeric(), center.theta = as.numeric(),
radius = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric(),
phi.left = as.numeric(), phi.right = as.numeric(),
circ = as.numeric(), arc.circ = as.numeric(), sec = as.numeric())
slice <- slice / 2
for(cuts in breaks){
message("Computing section: ", cuts, " m")
.cut <- woody[which(woody$z > (cuts-slice-0.05) & woody$z < (cuts+slice+0.05)), , drop = FALSE]
if(nrow(.cut) < 50){next}
.cut <- as.data.frame(.cut)
.cut <- .ncr.remove.slice.double(.cut)
.cut <- .cut[which(.cut$ncr < ncr.threshold | is.na(.cut$ncr)), , drop = FALSE]
# Restrict to slice corresponding to cuts m +/- 5 cm
.cut <- .cut[which(.cut$z > (cuts-slice) & .cut$z < (cuts+slice)), , drop = FALSE]
# DBSCAN parameters
.eps <- 2 * (tan(.alpha.h / 2) * (max(.cut$r) / cos(mean(.cut$slope, na.rm = TRUE))) * 2)
# Clustering
.error <- try(suppressMessages(dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps)))
if(class(.error)[1] == "try-error"){
message("No computed section: ", cuts, " m")
next} else {
.dbscan <- dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps, minPts = 15)
.cut$cluster <- .dbscan$cluster
.cut <- .cut[which(.cut$cluster > 0), , drop = FALSE]}
# Checking if there are clusters
if(nrow(.cut) < 15){next}
.cut$sec <- cuts
.filter <- do.call(rbind, lapply(split(.cut, .cut$cluster), .sections.single.scan, .cut = .cut,
.alpha.v = .alpha.v, .alpha.h = .alpha.h,
.dbh.min = .dbh.min, .dbh.max = .dbh.max,
slice = slice * 2, bark.roughness = bark.roughness,
x.center = x.center, y.center = y.center))
.filteraux<-rbind(.filteraux, .filter)
# Second...
if(!is.null(stem.2)){
.cut <- stem.2[which(stem.2$z > (cuts-slice-0.05) & stem.2$z < (cuts+slice+0.05)), , drop = FALSE]
if(nrow(.cut) < 50){next}
.cut <- .ncr.remove.slice.double(.cut)
# .cut <- .cut[which(.cut$ncr < ncr.threshold | is.na(.cut$ncr)), , drop = FALSE]
.cut <- woody[woody$z > (cuts-2*slice-0.05) & woody$z < cuts, , drop = FALSE]
# Restrict to slice corresponding to cuts m +/- 5 cm
# .cut <- .cut[which(.cut$z > (cuts-slice) & .cut$z < (cuts+slice)), , drop = FALSE]
.cut <- .cut[.cut$z > (cuts-2*slice) & .cut$z < cuts, , drop = FALSE]
# DBSCAN parameters
.eps <- 2 * (tan(.alpha.h / 2) * (max(.cut$r) / cos(mean(.cut$slope, na.rm = TRUE))) * 2)
# Clustering
.error <- try(suppressMessages(dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps, minPts = 15)))
if(class(.error)[1] == "try-error"){
message("No computed section: ", cuts, " m")
next} else {
.dbscan <- dbscan::dbscan(.cut[, c("x", "y"), drop = FALSE], eps = .eps)
.cut$cluster <- .dbscan$cluster
.cut <- .cut[which(.cut$cluster > 0), , drop = FALSE]}
# Checking if there are clusters
if(nrow(.cut) < 1){next}
# Assigning section to the slice
.cut$sec <- cuts
# Selection of those cluster belonging to trees
.filter <- do.call(rbind, lapply(split(.cut, .cut$cluster), .sections.single.scan, .cut = .cut,
.alpha.v = .alpha.v, .alpha.h = .alpha.h,
.dbh.min = .dbh.min, .dbh.max = .dbh.max,
slice = slice * 2, bark.roughness = bark.roughness,
x.center = x.center, y.center = y.center))
.filteraux.2 <- rbind(.filteraux.2, .filter)}
}# End of cuts loop
#### Assigning sections to tree axis ####
if(nrow(.filteraux) < 1 & nrow(.filteraux.2) < 1) {
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
else {
eje <- .stem.assignment.single.scan(.filteraux, stem.section, breaks)
if(nrow(.filteraux.2) > 0 & sum(c(.filteraux.2$circ, .filteraux.2$arc.circ)) > 0){
# Assigning sections to tree axis
eje.2 <- .stem.assignment.single.scan(.filteraux.2, stem.section, breaks)
eje.2$tree <- eje.2$tree + max(eje$tree)
eje <- rbind(eje[, c("tree", "sec", "x", "y")], eje.2[, c("tree", "sec", "x", "y")])
rm(eje.2)
.filter <- rbind(.filteraux, .filteraux.2)
rm(.filteraux, .filteraux.2)
} else {
.filter <- .filteraux
rm(.filteraux)
}
.filter <- .stem.assignment.single.scan.2(.filter, eje, stem.section, x.center, y.center, single.tree)
if(nrow(.filter) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Export all section detected
.filter <- .filter[order(.filter$tree, .filter$sec), , drop = FALSE]
.stem <- .filter[, c("tree", "sec", "center.x", "center.y", "radius")]
.stem$radius <- .stem$radius * 200
colnames(.stem) <- c("tree", "sec", "x", "y", "dbh")
# Calculate of taper coefficient as the slope coefficient of linear regression
# .taper <- .filter[.filter$sec >= 1 & .filter$sec <= 1.6, c("tree", "sec", "radius"), drop = FALSE]
.taper <- .filter[, c("tree", "sec", "radius"), drop = FALSE]
.slope.tree <- data.frame(tree = as.numeric(), slope = as.numeric())
for(i in unique(.taper$tree)){
.taper.i <- .taper[.taper$tree == i, ]
if(nrow(.taper.i) < 2){
.slope <- data.frame(tree = i, slope = NA)
} else {
.lm <- stats::lm(radius ~ sec, data = .taper.i)
.slope <- data.frame(tree = i, slope = stats::coef(.lm)[2])
}
.slope.tree <- rbind(.slope.tree, .slope)
}
.filter <- merge(.filter, .slope.tree, by = "tree")
# If a new column ("dif") is created containing the difference between dbh and
# section from which radius is estimated, number of used sections (or cuts)
# will not be important. An estimated radius will always exist
.filter$dif <- 1.3 - .filter$sec
.filter$radio.est <- ifelse(.filter$dif == 0, .filter$radius, .filter$radius + .filter$slope * .filter$dif)
.filter <- .filter[!is.na(.filter$radio.est), ]
# When there are not enough tree to the linear model, and tress were
# detected at at different sections than 1.3 m, we assume these radius
# as dbh. This could happen in very few situations.
# .filter$radio.est <- ifelse(is.na(.filter$radio.est), .filter$radius, .filter$radio.est)
# .filter$radio.est2 <- ifelse(is.na(.filter$radio.est2), .filter$radius2, .filter$radio.est2)
top.lim <- max(1.3, abs(max(stem.section) - 1.3))
.radio.est <- data.frame(radio.est = as.numeric())
for (i in unique(.filter$tree)) {
.dat <- .filter[which(.filter$tree == i), ]
.dat$dif <- abs(.dat$dif)
if(min(.dat$dif) > top.lim)
next
.dat <- .dat[order(.dat$dif), ]
if(.dat$dif[1] == 0 & .dat$arc.circ[1] == 1){
.dat <- .dat[1, ]
} else if (nrow(.dat) > 1 & .dat$dif[1] == 0) {
.dat <- .dat[.dat$dif == 0 | .dat$dif == .dat$dif[2], ]
} else{
.dat <- .dat[.dat$dif == min(.dat$dif), ]
}
.out <- data.frame(radio.est = mean(.dat$radio.est, na.rm = TRUE))
.radio.est <- rbind(.radio.est, .out)
}
# Tree normal section coordinates
.filteraux <- data.frame(tree = as.numeric(),
filter = as.numeric(),
center.x = as.numeric(),
center.y = as.numeric(),
center.phi = as.numeric(),
phi.left = as.numeric(),
phi.right = as.numeric(),
center.rho = as.numeric(),
center.r = as.numeric(),
center.theta = as.numeric(),
sec.x = as.numeric(),
sec.y = as.numeric(),
sec.max = as.numeric(),
horizontal.distance = as.numeric(), # repeated line
radius = as.numeric(),
partial.occlusion = as.numeric(),
n.pts = as.numeric(),
n.pts.red = as.numeric())
for (i in unique(.filter$tree)) {
.dat <- .filter[which(.filter$tree == i), ]
.dat <- .dat[order(abs(.dat$dif)), ]
.sec.x <- .dat$center.x[nrow(.dat)]
.sec.y <- .dat$center.y[nrow(.dat)]
.sec.max <- .dat$sec[nrow(.dat)]
.dat$sec.x <- .sec.x
.dat$sec.y <- .sec.y
.dat$sec.max <- .sec.max
.dat$filter <- nrow(.dat)
if(nrow(.dat) > 3)
.dat <- .dat[1:3, ]
if(min(abs(.dat$dif)) > top.lim)
next
.filteraux <- rbind(.filteraux, .dat)
}
if(nrow(.filteraux) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Dendrometric variables
.tree <- data.frame(tree = tapply(.filteraux$tree, .filteraux$tree, mean, na.rm = TRUE),
filter = tapply(.filteraux$filter, .filteraux$tree, mean, na.rm = TRUE),
x = tapply(.filteraux$center.x, .filteraux$tree, mean, na.rm = TRUE),
y = tapply(.filteraux$center.y, .filteraux$tree, mean, na.rm = TRUE),
sec.x = tapply(.filteraux$sec.x, .filteraux$tree, mean, na.rm = TRUE),
sec.y = tapply(.filteraux$sec.y, .filteraux$tree, mean, na.rm = TRUE),
sec.max = tapply(.filteraux$sec.max, .filteraux$tree, mean, na.rm = TRUE),
phi = tapply(.filteraux$center.phi, .filteraux$tree, mean, na.rm = TRUE),
phi.left = tapply(.filteraux$phi.left, .filteraux$tree, mean, na.rm = TRUE),
phi.right = tapply(.filteraux$phi.right, .filteraux$tree, mean, na.rm = TRUE),
rho = tapply(.filteraux$center.rho, .filteraux$tree, mean, na.rm = TRUE),
r = tapply(.filteraux$center.r, .filteraux$tree, mean, na.rm = TRUE),
theta = tapply(.filteraux$center.theta, .filteraux$tree, mean,na.rm = TRUE),
horizontal.distance = tapply(.filteraux$center.rho, .filteraux$tree, mean, na.rm = TRUE), # repeated line
radius = .radio.est$radio.est,
partial.occlusion = tapply(.filteraux$arc.circ, .filteraux$tree, min, na.rm = TRUE),
n.pts = tapply(.filteraux$n.pts, .filteraux$tree, mean, na.rm = TRUE),
n.pts.red = tapply(.filteraux$n.pts.red, .filteraux$tree, mean, na.rm = TRUE))
rm(.filteraux)
# Cheking if there are negative radious
.tree <- .tree[.tree$radius > 0, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Cheking minimum and maximum radius defined in the arguments
.tree <- .tree[.tree$radius >= .dbh.min / 2 & .tree$radius <= .dbh.max / 2, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Selecting only those trees with more than one section detected when more than two breaks have been specified
if(length(breaks) > 3)
.tree <- .tree[.tree$filter > 1, ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
# Remove duplicated trees and ordering by distance and numbering trees from 1 to n trees
.tree <- .tree[!duplicated(.tree$x) & !duplicated(.tree$y), ]
.tree <- .tree[!duplicated(.tree$sec.x) & !duplicated(.tree$sec.y), ]
if(nrow(.tree) < 1){
warning("No tree was detected")
.tree <- .no.trees.detected.single(data, d.top, plot.attributes, dir.result, save.result)
return(.tree)
}
.tree <- .tree[order(.tree$rho), ]
.tree$tree <- 1:nrow(.tree)
# Detecting possible trees overlaped
# if(nrow(.tree) < 2 & !is.null(single.tree)){.tree.2 <- .tree}
if(nrow(.tree) < 2){.tree.2 <- .tree}
if(nrow(.tree) > 1 & is.null(single.tree)){
.tree.2 <- data.frame(tree = as.numeric(), filter = as.numeric(),
x = as.numeric(), y = as.numeric(),
sec.x = as.numeric(), sec.y = as.numeric(), sec.max = as.numeric(),
phi = as.numeric(), rho = as.numeric(), r = as.numeric(), theta = as.numeric(),
horizontal.distance = as.numeric(), radius = as.numeric(),
partial.occlusion = as.numeric(),
n.pts = as.numeric(), n.pts.red = as.numeric())
for (i in unique(.tree$tree)) {
if(nrow(.tree[.tree$tree == i, ]) < 1)
next
.filt <- .tree[.tree$tree == i, ]
.filteraux <- .tree[.tree$tree != i, ]
if(nrow(.filteraux) < 1)
next
.filteraux$dist <- sqrt((.filteraux$x - .filt$x) ^ 2 + (.filteraux$y - .filt$y) ^ 2) - .filteraux$radius - .filt$radius
.filteraux$rho.dist <- abs(.filteraux$rho - .filt$rho) - .filteraux$radius - .filt$radius
.filteraux$phi.dist <- abs(.filteraux$phi - .filt$phi)
if(min(.filteraux$dist) < mean(.tree$radius) |
.filteraux$rho.dist[.filteraux$dist == min(.filteraux$dist)] < mean(.tree$radius) &
.filteraux$phi.dist[.filteraux$dist == min(.filteraux$dist)] < 0.1){
.filteraux <- .filteraux[.filteraux$dist < mean(.tree$radius) | .filteraux$rho.dist < mean(.tree$radius) & .filteraux$phi.dist < 0.1, ]
.filteraux <- rbind(.filt, .filteraux[ , 1:(ncol(.filteraux)-3)])
.filt <- .filteraux[.filteraux$filter == max(.filteraux$filter) & .filteraux$sec.max == min(.filteraux$sec.max), ]
if(nrow(.filt) > 1)
.filt <- .filt[.filt$partial.occlusion > 0, ]
if(nrow(.filt) > 1)
.filt <- .filt[1, ]
.tree.remove <- .filteraux[.filteraux$tree != .filt$tree, ]$tree
if(length(.tree.remove) < 1){.tree <- .tree} else {
suppressWarnings(.tree <- .tree[.tree$tree != .tree.remove, ])
}
.tree.2 <- rbind(.tree.2, .filt)
} else {
.tree.2 <- rbind(.tree.2, .filt)
.tree <- .tree[.tree$tree != .filt$tree, ]
}
}
}
.tree <- .tree.2
rm(.tree.2)
.tree <- .tree[order(.tree$rho), ]
.tree$tree <- 1:nrow(.tree)
# Indicate trees with partial occlusions, those for which none of the sections
# was identified as circumference arch (ArcCirc)
.tree$partial.occlusion <- ifelse(.tree$partial.occlusion == 0, 1, 0)
# Compute dbh (cm)
.tree$dbh <- .tree$radius * 200
# Calculate points belonging to radius unit
# Since it will be an estimation, select sections completely visible
# (ArcCirc == 1) in section corresponding to 1.3 m (where dbh is estimated)
.filter$filter <- ifelse(.filter$sec == 1.3 & .filter$arc.circ == 1, 1, 0)
.filter2 <- subset(.filter, .filter$filter == 1)
if(nrow(.filter2) < 1)
.filter2 <- .filter
# Estimate number of points by cluster, with and without point cropping
# process, corresponding to radius 1 m
.filter2$points.radio <- .filter2$n.pts / .filter2$radius
.filter2$points.radio.hom <- .filter2$n.pts.red / .filter2$radius
# Average points after point cropping by m of radius
.tree$points.m <- mean(.filter2$points.radio)
.tree$points.m.hom <- mean(.filter2$points.radio.hom)
# Finally, compute number of points estimated for each tree according to
# radius
.tree$n.pts.est <- .tree$points.m * .tree$radius
.tree$n.pts.red.est <- .tree$points.m.hom * .tree$radius
# Obtaining reduced point cloud
data <- data[data$prob.selec == 1, ]
data <- data[, c("id", "file", "x", "y", "z", "rho")]
# If only one tree is detected, Voronoi tessellation is not working
if(nrow(.tree) == 1){
.P99 <- data.frame(tree = .tree$tree, h = stats::quantile(data$z, prob = 0.9999999999))
} else {
# Voronoi tessellation
.tree.2 <- .tree[ , c("tree", "sec.x", "sec.y"), drop = FALSE]
.tree.2 <- .tree.2[!duplicated(.tree.2$sec.x) & !duplicated(.tree.2$sec.y), ]
colnames(.tree.2) <- c("tree", "x", "y")
.tree.2$tree <- 1:nrow(.tree.2)
.sec <- .tree[ , c("tree", "sec.max", "radius"), drop = FALSE]
.sec$tree <- 1:nrow(.sec)
# .sec$radius <- ifelse(.sec$radius < 0, 0.1, .sec$radius)
.voro <- data[, c("x", "y", "z")]
.voro <- sf::st_as_sf(.voro, coords = c("x", "y"))
.tree.2 <- sf::st_as_sf(.tree.2, coords = c("x", "y"))
.voronoi <- sf::st_buffer(.tree.2, dist = .sec$radius * 3)
.voro <- suppressWarnings(sf::st_intersection(.voro, .voronoi))
.voronoi <- sf::st_collection_extract(sf::st_voronoi(do.call(c, sf::st_geometry(.tree.2))))
.tree.3 <- sf::st_intersects(.voronoi, .tree.2)
.tree.3 <- data.frame(id = 1:length(.tree.3),
tree = unlist(.tree.3, recursive = TRUE, use.names = TRUE))
.tree.3 <- merge(.tree.3, .sec, by = "tree")
.voro$tree <- unlist(sf::st_intersects(.voro, .voronoi))
# Compute height percentile P99.9
.P99 <- sapply(sort(unique(.tree.3$id)),
function(id, voro, tree.3) {
sec.max <- .tree.3[.tree.3$id == id, "sec.max"]
z <- voro$z[voro$tree == id & voro$z > sec.max]
if(length(z) < 1) {
P99 <- 0
names(P99) <- tree.3[tree.3$id == id, "tree"]
} else {
P99 <-
height_perc_cpp(rho_seq = Inf, z = z, rho = z)[, "P99.9"]
names(P99) <- tree.3[tree.3$id == id, "tree"]}
return(P99)
},
voro = .voro, tree.3 = .tree.3)
.P99 <- data.frame(tree = names(.P99), h = .P99)
rm(.tree.2, .tree.3, .voro)
}
# Remove possible trees above "h.min" (1.3 m by default)
.P99 <- .P99[.P99$h >= h.min, ]
.tree <- merge(.tree, .P99, by = "tree", all = FALSE)
rm(.P99)
# Assigning dbh to stem dataset
.stem <- merge(.stem, .tree[, c("tree", "h")], by = "tree")
.stem <- .stem[.stem$sec != 1.3, ]
.tree$sec <- 1.3
.stem <- rbind(.stem, .tree[, c("tree", "sec", "x", "y", "dbh", "h")])
.tree <- .tree[, -ncol(.tree)]
.stem <- .stem[order(.stem$tree, .stem$sec), , drop = FALSE]
colnames(.stem) <- c("tree", "sec", "x", "y", "dhi", "h")
.stem <- merge(.stem, .tree[, c("tree", "dbh")], by = "tree", all.x = TRUE)
colnames(.stem) <- c("tree", "hi", "x", "y", "dhi", "h", "dbh")
# Cheking the trees h
.stem <- merge(.stem[, c("tree", "hi", "x", "y", "dhi", "dbh")],
data.frame(tree = unique(.stem$tree),
h = do.call(rbind, lapply(split(.stem[, c("hi", "h")], .stem$tree), max))),
all.x = TRUE, by = "tree")
# Compute volume (m3)
if(length(table(.stem$hi)) > 3 & is.null(d.top)){
# Stem curve
stem.v <- .volume(.stem, id = data$id[1])
.tree <- merge(.tree, stem.v, all = TRUE)
} else if (length(table(.stem$hi)) > 3 & !is.null(d.top)) {
stem.v <- .volume(.stem, d.top, id = data$id[1])
.tree <- merge(.tree, stem.v, all = TRUE)
} else if (length(table(.stem$hi)) <= 3 & !is.null(d.top)) {
den.type <- 1
n <- den.type
# Paraboloid volume
.tree$v <- pi * (.tree[, "h"] ^ (n + 1) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
h.lim <- (((d.top / 200) ^ 2) / ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)) ^ (1 / n)
.tree$v.com <- pi * ((.tree[, "h"] ^ (n + 1) - h.lim ^ (n + 1)) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
.tree$v.com <- ifelse(.tree$v.com < 0, 0, .tree$v.com)
.tree$h.com <- h.lim
} else {
den.type <- 1
n <- den.type
.tree$v <- pi * (.tree[, "h"] ^ (n + 1) / (n + 1)) * ((.tree[, "dbh"] / 200) ^ 2 / (.tree[, "h"] - 1.3) ^ n)
}
.stem <- .stem[, c("tree", "x", "y", "dhi", "dbh", "hi", "h")]
.stem <- .stem[order(.stem$tree, .stem$hi), , drop = FALSE]
if(!is.null(data$id)){
.stem$id <- data$id[1]
.stem <- .stem[, c("id", "tree", "x", "y", "dhi", "dbh", "hi", "h")]}
# Straighness analysis
straightness <- do.call(rbind, lapply(split(.stem, .stem$tree), .straightness, stem.range = stem.range))
.tree <- merge(.tree, straightness, by = "tree")
utils::write.csv(.stem,
file = file.path(dir.result, "stem.curve.csv"),
row.names = FALSE)
rm(.stem)
# If plot identification (id) is not available
if(is.null(data$id) & is.null(.tree$v.com)){
.tree <- .tree[, c("tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else if (is.null(data$id) & !is.null(.tree$v.com)) {
.tree <- .tree[, c("tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "h.com", "v", "v.com", "n.pts", "SS.max", "sinuosity", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else if (!is.null(data$id) & is.null(.tree$v.com)) {
# If plot identification (id) is available
.tree$id <- data$id[1]
.tree$file <- data$file[1]
.tree <- .tree[, c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "v", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
} else {
# If plot identification (id) is available
.tree$id <- data$id[1]
.tree$file <- data$file[1]
.tree <- .tree[, c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "horizontal.distance", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion"), drop = FALSE]
colnames(.tree) <- c("id", "file", "tree", "x", "y", "phi", "phi.left", "phi.right", "h.dist", "dbh", "h", "h.com", "v", "v.com", "SS.max", "sinuosity", "n.pts", "n.pts.red", "n.pts.est", "n.pts.red.est", "partial.occlusion")
}
}
.tree <- .tree[order(.tree$h.dist), ]
.tree$tree <- 1:nrow(.tree)
# Removing values of 0 in n.pts
.tree$n.pts <- ifelse(.tree$n.pts < 1, 0.01, .tree$n.pts)
.tree$n.pts.red <- ifelse(.tree$n.pts.red < 1, 0.01, .tree$n.pts.red)
.tree$n.pts.est <- ifelse(.tree$n.pts.est < 1, 0.01, .tree$n.pts.est)
.tree$n.pts.red.est <- ifelse(.tree$n.pts.red.est < 1, 0.01, .tree$n.pts.red.est)
# Lastly, aggregate attributes table
if(!is.null(plot.attributes))
.tree <- merge(.tree, plot.attributes, by = "id", all = FALSE)
if(isTRUE(save.result)){
utils::write.csv(.tree,
file = file.path(dir.result, "tree.tls.csv"),
row.names = FALSE)
}
if(isTRUE(save.result)){
.data.red <- noise[which(noise$prob.selec == 1), , drop = FALSE]
vroom::vroom_write(.data.red, path = file.path(dir.result, paste("noise_", .data.red$file[1], sep = "")), delim = ",", progress = FALSE)
}
#####
return(.tree)
}
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