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I am trying pdal to perform a ground filtering on a point cloud (las file) with colors. I use the pcl option and this tutorial Identifying ground returns using ProgressiveMorphologicalFilter segmentation

pdal pcl -i input.las -o output.las -p sor-pmf.json --visualize -v4

However, the result I get is without colors. How can I prevent this from happening? I tried pdal info and there are no RGB values.

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There was a bug in the PMF filter that has been fixed in newer versions of PDAL that was causing this. Try PDAL 1.1+ to get past this issue. If you still have trouble, please ask on the mailing list.

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