Enriched LAZ Only Mode

Generate feature-enriched LAZ files without creating patches - perfect for visualization and exploration workflows.

Classification Schema

Enriched LAZ files use the LOD2/LOD3 classification taxonomy, not ASPRS standard codes. Buildings are classified as Class 0 (wall), ground as Class 9, etc. See Classification Taxonomy for complete details.

🎯 What is Enriched LAZ Only Mode?

Enriched LAZ Only Mode computes geometric features and stores them directly in LAZ files, skipping patch generation entirely. This is ideal when you need enriched point clouds for visualization, analysis, or custom processing pipelines.

Key Benefits

⚡ 3-5x faster - Skip patch generation
💾 50-70% less disk space - No duplicate patch data
🔍 Inspectable - View features in CloudCompare, QGIS, etc.
🔄 Flexible - Generate patches later if needed

🚀 Quick Start

Basic Usage

# Generate enriched LAZ files only
ign-lidar-hd process \
  input_dir=data/raw/ \
  output_dir=output/ \
  output=enriched_only

With Full Features

# Compute all features
ign-lidar-hd process \
  input_dir=data/raw/ \
  output_dir=output/ \
  output=enriched_only \
  features=full \
  features.use_rgb=true \
  features.compute_ndvi=true

📁 Output Structure

Enriched Only Mode

output/
├── enriched/
│   ├── tile_1234_5678.laz    ← With computed features
│   ├── tile_1234_5679.laz
│   └── ...
└── metadata.json              ← Processing statistics

Comparison with Other Modes

Mode	Enriched LAZ	Patches	Use Case
`patches`	❌	✅	ML training (default)
`both`	✅	✅	Complete workflow
`enriched_only`	✅	❌	Visualization/exploration

⚙️ Configuration

Output Mode Selection

# Patches only (default)
output=patches

# Both enriched LAZ and patches
output=both

# Enriched LAZ only (new in v2.0.1)
output=enriched_only

Feature Selection

# Minimal features (fast)
ign-lidar-hd process \
  input_dir=data/ \
  output_dir=output/ \
  output=enriched_only \
  features=minimal

# Full features (comprehensive)
ign-lidar-hd process \
  input_dir=data/ \
  output_dir=output/ \
  output=enriched_only \
  features=full

# Custom features
ign-lidar-hd process \
  input_dir=data/ \
  output_dir=output/ \
  output=enriched_only \
  features.compute_linearity=true \
  features.compute_planarity=true \
  features.compute_sphericity=true \
  features.compute_normals=true

🎯 Use Cases

1. Data Exploration

Explore features before committing to full ML pipeline:

# Quick exploration
ign-lidar-hd process \
  input_dir=data/sample/ \
  output_dir=output/exploration/ \
  output=enriched_only \
  features=full

# View in CloudCompare
cloudcompare output/exploration/enriched/*.laz

2. Visualization Workflows

Create enriched data for presentations or analysis:

# Generate for visualization
ign-lidar-hd process \
  input_dir=data/buildings/ \
  output_dir=output/viz/ \
  output=enriched_only \
  features=full \
  features.use_rgb=true \
  features.compute_ndvi=true \
  target_class=building

# Export to QGIS
ign-lidar-qgis \
  input_dir=output/viz/enriched/ \
  output_file=buildings.gpkg

3. Custom Processing

Generate enriched LAZ for custom downstream workflows:

# Generate enriched data
ign-lidar-hd process \
  input_dir=data/raw/ \
  output_dir=output/enriched/ \
  output=enriched_only \
  features=full

# Process with custom script
python custom_analysis.py \
  --input output/enriched/enriched/ \
  --output custom_results/

4. Two-Stage Workflow

Generate enriched LAZ first, decide on patches later:

# Stage 1: Generate enriched LAZ
ign-lidar-hd process \
  input_dir=data/raw/ \
  output_dir=output/stage1/ \
  output=enriched_only \
  features=full

# Analyze, then decide...

# Stage 2: Generate patches from enriched LAZ
ign-lidar-hd process \
  input_dir=output/stage1/enriched/ \
  output_dir=output/stage2/ \
  output=patches

🔧 Advanced Usage

Python API

from ign_lidar.core import LiDARProcessor

# Configure for enriched only
processor = LiDARProcessor(
    output_mode='enriched_only',
    features='full'
)

# Process
results = processor.process(
    input_dir='data/raw/',
    output_dir='output/'
)

print(f"Generated {results.num_tiles} enriched LAZ files")
print(f"Total points processed: {results.total_points:,}")

Read Enriched LAZ

from ign_lidar.io import read_laz_file

# Read enriched LAZ
points, colors, features = read_laz_file(
    'output/enriched/tile_1234_5678.laz'
)

print("Available features:")
for name, values in features.items():
    print(f"  {name}: {values.shape}")

# Example output:
# Available features:
#   linearity: (1234567,)
#   planarity: (1234567,)
#   sphericity: (1234567,)
#   omnivariance: (1234567,)
#   anisotropy: (1234567,)
#   eigenentropy: (1234567,)
#   change_curvature: (1234567,)
#   normal_x: (1234567,)
#   normal_y: (1234567,)
#   normal_z: (1234567,)

Feature Visualization

import numpy as np
import matplotlib.pyplot as plt
from ign_lidar.io import read_laz_file

# Load enriched LAZ
points, colors, features = read_laz_file('output/enriched/tile.laz')

# Extract specific feature
linearity = features['linearity']

# Visualize
fig = plt.figure(figsize=(12, 8))
ax = fig.add_subplot(111, projection='3d')

scatter = ax.scatter(
    points[:, 0],
    points[:, 1],
    points[:, 2],
    c=linearity,
    cmap='viridis',
    s=1
)

plt.colorbar(scatter, label='Linearity')
ax.set_title('Linearity Feature Visualization')
plt.show()

📊 Performance Comparison

Processing Time

Mode	Time per Tile	Relative Speed
Patches Only	60s	1.0x
Both	90s	0.67x
Enriched Only	20s	3.0x ⚡

Disk Usage

Mode	Storage per Tile	Relative Size
Patches Only	150 MB	1.0x
Both	250 MB	1.67x
Enriched Only	80 MB	0.53x 💾

Memory Usage

Mode	Peak Memory	GPU Memory
Patches Only	4 GB	2 GB
Both	6 GB	3 GB
Enriched Only	2 GB	1 GB

🎨 Feature Storage in LAZ

Standard LAZ Fields

Standard point format:
- X, Y, Z (coordinates)
- Intensity
- Return Number
- Classification
- RGB (if available)
- Infrared (if available)

Extra Dimensions for Features

Computed features stored as extra dimensions:

Extra dimensions (32-bit float):
- linearity
- planarity
- sphericity
- omnivariance
- anisotropy
- eigenentropy
- sum_eigenvalues
- change_curvature
- normal_x, normal_y, normal_z
- verticality
- (+ custom features)

Accessing in Other Software

CloudCompare:

cloudcompare output/enriched/tile.laz
# Features appear in "Scalar Fields" menu
# Can visualize, filter, classify based on features

QGIS:

# Convert to vector format with features
ign-lidar-qgis \
  input_dir=output/enriched/ \
  output_file=enriched.gpkg \
  include_features=true

Python (laspy):

import laspy

# Read with laspy
las = laspy.read('output/enriched/tile.laz')

# Access extra dimensions
linearity = las.linearity
planarity = las.planarity
normals = np.column_stack([las.normal_x, las.normal_y, las.normal_z])

✅ Best Practices

When to Use Enriched Only

Use enriched_only when:

Exploring new datasets
Creating visualizations
Need enriched data for custom workflows
Patches not needed (yet)
Storage or time constrained

Use patches or both when:

Training ML models
Need standardized patch format
Using built-in dataset classes
Following ML pipeline

Optimization Tips

# Fast exploration (minimal features)
output=enriched_only \
features=minimal \
preprocess=none

# Quality exploration (full features)
output=enriched_only \
features=full \
preprocess=aggressive

# With boundary-aware (best quality)
output=enriched_only \
features=full \
features.boundary_aware=true \
stitching.enabled=true

Feature Selection Strategy

# Start minimal for speed
features=minimal

# Add features as needed
features.compute_linearity=true
features.compute_planarity=true

# Or go full if unsure
features=full

🐛 Troubleshooting

Features Not Visible

# Ensure features computed
features=full

# Check extra dimensions
pdal info output/enriched/tile.laz | grep "extra"

Large File Sizes

# Reduce feature precision
features.precision=float32  # vs float64

# Or select fewer features
features=minimal

Slow Processing

# Disable expensive features
features.compute_curvature=false
features.compute_normals=false

# Or use CPU only
processor=cpu

🎓 Complete Example

Building Exploration Workflow

# 1. Generate enriched LAZ with all features
ign-lidar-hd process \
  input_dir=data/paris_buildings/ \
  output_dir=output/exploration/ \
  output=enriched_only \
  features=full \
  features.use_rgb=true \
  target_class=building \
  preprocess=aggressive

# 2. View in CloudCompare
cloudcompare output/exploration/enriched/*.laz

# 3. Analyze features in Python
python analyze_features.py \
  --input output/exploration/enriched/ \
  --output analysis/

# 4. If satisfied, generate patches for training
ign-lidar-hd process \
  input_dir=output/exploration/enriched/ \
  output_dir=output/training/ \
  output=patches \
  architecture=pointnet++

# 5. Train model
python train.py \
  --data output/training/ \
  --epochs 100

Feature Computation - Available features
Output Formats - Output options
QGIS Integration - Visualization workflows

Next Steps:

🎯 What is Enriched LAZ Only Mode?​

Key Benefits​

🚀 Quick Start​

Basic Usage​

With Full Features​

📁 Output Structure​

Enriched Only Mode​

Comparison with Other Modes​

⚙️ Configuration​

Output Mode Selection​

Feature Selection​

🎯 Use Cases​

1. Data Exploration​

2. Visualization Workflows​

3. Custom Processing​

4. Two-Stage Workflow​

🔧 Advanced Usage​

Python API​

Read Enriched LAZ​

Feature Visualization​

📊 Performance Comparison​

Processing Time​

Disk Usage​

Memory Usage​

🎨 Feature Storage in LAZ​

Standard LAZ Fields​

Extra Dimensions for Features​

Accessing in Other Software​

✅ Best Practices​

When to Use Enriched Only​

Optimization Tips​

Feature Selection Strategy​

🐛 Troubleshooting​

Features Not Visible​

Large File Sizes​

Slow Processing​

🎓 Complete Example​

Building Exploration Workflow​

📚 Related Topics​