BERATools 0.2.0__py3-none-any.whl → 0.2.2__py3-none-any.whl

beratools/tools/Beratools_r_script.r

@@ -1,1120 +1,1120 @@
-chm2trees<-function(in_chm,Min_ws,hmin,out_folder,rprocesses)
-  {
-#     update.packages(list('terra','lidR','future'))
-    library(lidR)
-    library(terra)
-    library(future)
-
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #read Las file and drop any noise from the point cloud
-    current_chm <- rast(in_chm)
-    cell_size <- res(current_chm)[1]
-    # find the highest point of CHM
-    tallest_ht = minmax(current_chm)[2]
-
-    #Reforestation Standard of Alberta 2018
-    #(https://www1.agric.gov.ab.ca/$department/deptdocs.nsf/all/formain15749/$FILE/reforestation-standard-alberta-may1-2018.pdf, p.53)
-    #Live crown ratio is the proportion of total stem length that is covered by living branches. It is expressed as a percentage or decimal of the total tree height. Live crown ratio is a useful indicator of the status of the tree in relation to vigor, photosynthetic leaf area, and is inversely related to stocking density. It is assumed that live crown ratio must be greater than 0.3 (30%) in order for the tree to release well
-
-    if (Min_ws >= (0.3 * hmin)) {
-        (Min_ws <- Min_ws) }else {
-        (Min_ws <- 0.3 * hmin) }
-
-    f <- function(x) {
-        y <- (x * 0.3) + Min_ws
-        y[x < hmin] <- (Min_ws) # Smallest Crown
-        y[x > tallest_ht] <- (tallest_ht * 0.3) # Largest Crown
-        return(y)
-    }
-
-    out_ttop_filename = paste0(out_folder, "/", substr(basename(in_chm), 1, nchar(basename(in_chm)) - 4), ".shp")
-
-    ttop <- locate_trees(current_chm, lmf(ws = f, hmin = hmin, shape = "circular"), uniqueness = "bitmerge")
-
-    x <- vect(ttop)
-    writeVector(x, out_ttop_filename, overwrite = TRUE)
-    #st_write(ttop,out_ttop_filename)
-
-}
-
-##################################################################################################################
-#create a 'generate_pd' function
-generate_pd <- function(ctg, radius_fr_CHM, focal_radius, cell_size, cache_folder,
-                        cut_ht, PD_Ground_folder, PD_Total_folder, rprocesses) {
-#     update.packages(list('terra','lidR','future'))
-    library(terra)
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    opts <- paste0("-drop_class 7")
-
-    print("Processing using R packages.")
-
-    folder <- paste0(cache_folder, "/nlidar/n_{*}")
-    opt_output_files(ctg) <- opt_output_files(ctg) <- folder
-    opt_laz_compression(ctg) <- FALSE
-    opt_filter(ctg) <- "-drop_class 7"
-    opt_chunk_alignment(ctg) <- c(0, 0)
-
-    catalog_laxindex = function(ctg)
-    {
-        stopifnot(is(ctg, "LAScatalog"))
-
-        opt_chunk_size(ctg) <- 0
-        opt_chunk_buffer(ctg) <- 0
-        opt_wall_to_wall(ctg) <- FALSE
-        opt_output_files(ctg) <- ""
-
-        create_lax_file = function(cluster) {
-            rlas::writelax(cluster@files)
-            return(0)
-        }
-
-        options <- list(need_buffer = FALSE, drop_null = FALSE)
-
-        catalog_apply(ctg, create_lax_file, .options = options)
-        return(invisible())
-    }
-
-    #normalized LAS with pulse info
-    print("Indexing LAS Tiles...")
-    #lidR:::catalog_laxindex(ctg)
-    catalog_laxindex(ctg)
-    print("Normalize point cloud using K-nearest neighbour IDW ...")
-    normalize_height(ctg, algorithm = knnidw())
-
-    print("Generating point density (total focal sum) raster ...")
-
-    pd_total <- function(chunk, radius, cell_size)
-    {
-        las <- readLAS(chunk)
-        if (is.empty(las)) return(NULL)
-
-        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
-        hull <- st_convex_hull(las_1)
-        # bbox <- ext(las_1)
-
-        # convert to SpatialPolygons
-        bbox <- vect(hull)
-
-        las <- filter_poi(las, Classification != 7L)
-        #las <- retrieve_pulses(las)
-        density_raster_total <- rasterize_density(las, res = cell_size, pkg = "terra")[[1]]
-
-        tfw <- focalMat(density_raster_total, radius, "circle")
-
-        tfw[tfw > 0] = 1
-        tfw[tfw == 0] = NA
-
-        Total_focal <- focal(density_raster_total, w = tfw, fun = "sum", na.rm = TRUE, na.policy = "omit", fillvalue = NA, expand = FALSE)
-        Total_focal <- crop(Total_focal, bbox)
-    }
-
-    opt <- list(need_output_file = TRUE, autocrop = TRUE)
-    opt_chunk_alignment(ctg) <- c(0, 0)
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    opt_output_files(ctg) <- paste0(PD_Total_folder, "/{*}_PD_Tfocalsum")
-    opt_stop_early(ctg) <- FALSE
-    catalog_apply(ctg, pd_total, radius = focal_radius, cell_size = cell_size, .options = opt)
-
-    #load normalized LAS for ground point density
-    ht <- paste0("-drop_class 7 -drop_z_above ", cut_ht)
-    ctg2 <- readLAScatalog(paste0(cache_folder, "/nlidar"), filter = ht)
-    #lidR:::catalog_laxindex(ctg2)
-    catalog_laxindex(ctg2)
-
-    print("Generating point density (ground focal sum) raster ...")
-
-    pd_ground <- function(chunk, radius, cell_size, cut_ht)
-    {
-        las <- readLAS(chunk)
-        if (is.empty(las)) return(NULL)
-
-        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
-        hull <- st_convex_hull(las_1)
-
-        # convert to SpatialPolygons
-        bbox <- vect(hull)
-        # bbox <- ext(las_1)
-
-        #las <- retrieve_pulses(las)
-        density_raster_ground <- rasterize_density(las, res = cell_size, pkg = "terra")[[1]]
-
-
-        gfw <- focalMat(density_raster_ground, radius, "circle")
-        gfw[gfw > 0] = 1
-        gfw[gfw == 0] = NA
-
-        Ground_focal <- focal(density_raster_ground, w = gfw, fun = "sum", na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = FALSE)
-        ground_focal <- crop(Ground_focal, bbox)
-
-    }
-
-    opt <- list(need_output_file = TRUE, autocrop = TRUE)
-    opt_chunk_alignment(ctg2) <- c(0, 0)
-    ctg2@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    opt_output_files(ctg2) <- paste0(PD_Ground_folder, "/{*}_PD_Gfocalsum")
-    opt_stop_early(ctg2) <- FALSE
-    catalog_apply(ctg2, pd_ground, radius = focal_radius, cell_size = cell_size, cut_ht = cut_ht, .options = opt)
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################################################
-hh_function <- function(in_las_folder, cell_size, Smooth_by, Min_ws, lawn_range, out_folder, rprocesses) {
-# update.packages(list('terra','lidR','future','sf'))
-    library(lidR)
-    library(terra)
-    library(sf)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-
-    print('Generating Hummock/ Hollow Raster ...')
-    ctg <- readLAScatalog(in_las_folder, select = 'xyzc', filter = '-drop_class 7')
-
-    HH_raster <- function(chunk, radius, cell_size, lawn_range, Smooth_by)
-    {
-        las <- readLAS(chunk)
-        if (is.empty(las)) return(NULL)
-
-        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
-        hull <- st_convex_hull(las_1)
-
-        # convert to SpatialPolygons
-        bbox <- vect(hull)
-        # bbox <- ext(las_1)
-
-        #las to DTM
-        dtm <- rasterize_terrain(las, res = cell_size, algorithm = tin())
-
-
-        gfw <- focalMat(dtm, radius, "circle")
-        gfw[gfw > 0] = 1
-        gfw[gfw == 0] = NA
-
-        rdtm <- focal(dtm, w = gfw, fun = Smooth_by, na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = TRUE)
-        cond_raster <- (rdtm - dtm)
-        positive <- abs(lawn_range)
-        negative <- positive * -1
-
-        HH <- ifel(cond_raster < negative, 1, ifel(cond_raster > positive, -1, 0))
-
-        cont_hh <- (crop(cond_raster, ext(bbox))) * -1
-        hh <- crop(HH, ext(bbox))
-
-        return(list(cont_hh, hh, radius, Smooth_by))
-    }
-
-    MultiWrite = function(output_list, file) {
-        chh = output_list[[1]]
-        hh = output_list[[2]]
-        radius = output_list[[3]]
-        Smooth_by = output_list[[4]]
-        path1 = gsub("@@@_", "CHH_", file)
-        path2 = gsub("@@@_", "HH_", file)
-
-        path1 = paste0(path1, "_", Smooth_by, "_", radius, "m.tif")
-        path2 = paste0(path2, "_", Smooth_by, "_", radius, "m.tif")
-
-        terra::writeRaster(chh, path1, overwrite = TRUE)
-        terra::writeRaster(hh, path2, overwrite = TRUE)
-
-    }
-
-    MultiWriteDriver = list(
-      write = MultiWrite,
-      extension = "",
-      object = "output_list",
-      path = "file",
-      param = list())
-
-    ctg@output_options$drivers$list <- MultiWriteDriver
-
-    opt_chunk_alignment(ctg) <- c(0, 0)
-    opt_output_files(ctg) <- paste0(out_folder, "/CHH_{*}_", Smooth_by, "_", Min_ws, "m")
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    opt_stop_early(ctg) <- TRUE
-    out <- catalog_apply(ctg, HH_raster, radius = Min_ws, cell_size = cell_size, lawn_range = lawn_range, Smooth_by = Smooth_by)
-
-    # reset R mutilsession back to default
-    plan(sequential)
-
-}
-
-#########################################################################################################################
-hh_function_byraster <- function(in_raster,cell_size, Min_ws, lawn_range, out_folder,rprocesses){
-# update.packages(list('terra'))
-
-    library(terra)
-    library(utils)
-    library(base)
-    library(terra)
-
-    print('Generating Hummock/ Hollow Raster ...')
-    in_dtm <- rast(in_raster)
-    filename <- substr(basename(in_raster), 1, nchar(basename(in_raster)) - 4)
-
-    gfw <- focalMat(in_dtm, Min_ws, "circle")
-    gfw[gfw > 0] = 1
-    gfw[gfw == 0] = NA
-
-    rdtm <- focal(in_dtm, w = gfw, fun = Smooth_by, na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = TRUE)
-    #   writeRaster(rdtm,paste0(out_folder,"/rdtm_",filename,".tif"),overwrite=TRUE)
-    cond_raster <- (rdtm - in_dtm)
-    writeRaster(cond_raster, paste0(out_folder, "/CHH_", filename, ".tif"), overwrite = TRUE)
-    positive <- abs(lawn_range)
-    negative <- positive * -1
-
-    HH <- ifel(cond_raster < negative, 1, ifel(cond_raster > positive, -1, 0))
-    writeRaster(HH, paste0(out_folder, "/HH_", filename, ".tif"), overwrite = TRUE)
-
-
-}
-
-
-###################################################################################################################################
-pd2cellsize <- function(in_las_folder, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-
-    print("Calculate output's raster average cell size from point density...")
-    if (is(in_las_folder, "LAS") || is(in_las_folder, "LAScatalog"))
-    { ctg <- in_las_folder }
-    else { ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7') }
-
-
-    point_density <- sum(ctg@data$Number.of.point.records) / st_area(ctg)
-    mean_pd = (3 / point_density)^(1 / 2)
-    cell_size = round(0.05 * round(mean_pd / 0.05), 2)
-    return(cell_size)
-}
-
-##################################################################################
-
-points2trees <- function(in_folder, is_normalized, hmin, out_folder, rprocesses, CHMcell_size, cell_size)
-{
-#   update.packages(list('terra','lidR','future'))
-    library(lidR)
-    library(terra)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #normailize point cloud using K-nearest neighbour IDW
-    if (is_normalized) {
-        n_las <- readLAScatalog(in_folder, filter = '-drop_class 7 -drop_z_below 0')
-    }
-    else {
-        #read Las file and drop any noise from the point cloud
-        ctg <- readLAScatalog(in_folder, filter = '-drop_class 7')
-        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
-        print("Normalize lidar data...")
-        opt_progress(ctg) <- TRUE
-        n_las <- normalize_height(ctg, algorithm = knnidw())
-        opt_filter(n_las) <- '-drop_class 7 -drop_z_below 0' }
-
-    #     # create a CHM from point cloud for visualization
-    if (CHMcell_size != -999) {
-        print("Generating normalized CHM ...")
-        opt_output_files(n_las) <- opt_output_files(n_las) <- paste0(out_folder, "/chm/{*}_chm")
-        n_las@output_options$
-          drivers$
-          SpatRaster$
-          param$
-          overwrite <- TRUE
-        n_las@output_options$
-          drivers$
-          Raster$
-          param$
-          overwrite <- TRUE
-        opt_progress(n_las) <- TRUE
-        #     chm <- rasterize_canopy(n_las, cell_size, pitfree(thresholds = c(0,3,10,15,22,30,38), max_edge = c(0, 1.5)), pkg = "terra")
-        chm <- rasterize_canopy(n_las, CHMcell_size, dsmtin(max_edge = (3 * CHMcell_size)), pkg = "terra") }
-
-
-    print("Compute approximate tree positions ...")
-
-    ctg_detect_tree <- function(chunk, hmin, out_folder, cell_size) {
-        las <- readLAS(chunk)               # read the chunk
-        if (is.empty(las)) return(NULL)     # exit if empty
-        #         quarter_ht<- ((las@header@PHB$`Max Z` + las@header@PHB$`Min Z`)/4)
-
-        f <- function(x) {
-            #         y = 0.4443*(x^0.7874)
-            y = 0.478676 * (x^0.695289)  #base on Plot4209, 4207 and 4203
-            y[x < hmin] <- 0.478676 * (hmin^0.695289) # Min_ws # smallest window
-            #   y[x > (quarter_ht)] <- 0.478676*(quarter_ht^0.695289)    # largest window
-            #     y= 0.39328*x
-            #     y[x <hmin ] <- 0.39328*hmin # largest window
-            #     y[x > (quarter_ht)] <- 0.39328*quarter_ht    # smallest window
-
-            return(y) }
-
-        # dynamic searching window is based on the function of (tree height x 0.3)
-        # dynamic window
-        ttop <- locate_trees(las, lmf(ws = f, hmin = hmin, shape = "circular"), uniqueness = "gpstime")
-        # Fix searching window (Testing only)
-        #         ttop <- locate_trees(las, lmf(ws = 3,hmin=hmin,shape="circular"),uniqueness = "gpstime")
-
-        ttop <- crop(vect(ttop), ext(chunk))   # remove the buffer
-        # generating number of trees per ha raster
-        #    sum_map<-terra::rasterize(ttop,rast(ext(chunk),resolution=cell_size,crs=crs(ttop)),fun=sum)
-        #    sum_map<- classify(sum_map, cbind(NA, 0))
-
-        #     return(list(ttop,sum_map))
-    }
-
-    options <- list(automerge = TRUE, autocrop = TRUE)
-    #    opt_output_files(n_las)<-opt_output_files(n_las)<-paste0(out_folder,"/@@@_{*}")
-    opt_output_files(n_las) <- paste0(out_folder, "/{*}_tree_min_", hmin, "_m")
-    n_las@output_options$drivers$sf$param$append <- FALSE
-    n_las@output_options$
-      drivers$
-      SpatVector$
-      param$
-      overwrite <- TRUE
-    opt_progress(n_las) <- TRUE
-    #    MultiWrite = function(output_list, file){
-    #     extent = output_list[[1]]
-    #     sum_map = output_list[[2]]
-    #     path1 = gsub("@@@_","", file)
-    #     path2 = gsub("@@@_","", file)
-    #
-    #     path1 = paste0(path1, "_trees_above",hmin,"m.shp")
-    #     path2 = paste0(path2, "_Trees_counts_above",hmin,"m.tif")
-    #
-    #     terra::writeVector(extent, path1, overwrite = TRUE)
-    #     terra::writeRaster(sum_map,path2,overwrite=TRUE)
-    #
-    #   }
-    #   MultiWriteDriver = list(
-    #     write = MultiWrite,
-    #     extension = "",
-    #     object = "output_list",
-    #     path = "file",
-    #     param = list())
-
-    #   n_las@output_options$drivers$list <- MultiWriteDriver
-
-    out <- catalog_apply(n_las, ctg_detect_tree, hmin, out_folder, cell_size, .options = options)
-    shmin <- as.character(hmin)
-    shmin <- gsub("\\.", "p", shmin)
-    writeVector(out, paste0(out_folder, "/Merged_ApproxTrees_above_", shmin, "m.shp", overwrite = TRUE))
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################################################################
-ht_metrics_lite <- function(in_las_folder, cell_size, out_folder, rprocesses)
-{
-#    update.packages(list('terra','lidR','future'))
-    library(lidR)
-    library(terra)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0')
-    opt_output_files(ctg) <- paste0(out_folder, "/{*}_lite_metrics_z")
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    print('Generating height metrics ...')
-    zmetrics_f <- ~list(
-      zmax = max(Z),
-      zmin = min(Z),
-      zsd = sd(Z),
-      #       zq25 = quantile(Z, probs = 0.25),
-      zq30 = quantile(Z, probs = 0.30),
-      #       zq35 = quantile(Z, probs = 0.35),
-      zq40 = quantile(Z, probs = 0.40),
-      #       zq45 = quantile(Z, probs = 0.45),
-      zq50 = quantile(Z, probs = 0.50),
-      #       zq55 = quantile(Z, probs = 0.55),
-      zq60 = quantile(Z, probs = 0.60),
-      #       zq65 = quantile(Z, probs = 0.65),
-      zq70 = quantile(Z, probs = 0.70),
-      #       zq75 = quantile(Z, probs = 0.75),
-      zq80 = quantile(Z, probs = 0.80),
-      #       zq85 = quantile(Z, probs = 0.85),
-      zq90 = quantile(Z, probs = 0.90),
-      #       zq95 = quantile(Z, probs = 0.95),
-      zq99 = quantile(Z, probs = 0.99)
-    )
-
-    m <- pixel_metrics(ctg, func = zmetrics_f, res = cell_size)
-    writeRaster(m, paste0(out_folder, "/Merged_metricsZ.tif"), overwrite = TRUE)
-
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-######################################################################################
-veg_cover_percentage <- function(in_las_folder, is_normalized, out_folder, hmin, hmax, cell_size, rprocesses)
-{
-#     update.packages(list('terra','lidR','future'))
-    library(lidR)
-    library(terra)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    if (!(is_normalized)) {
-        ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-        opt_output_files(ctg) <- paste0(out_folder, '/normalized/n_{*}')
-        opt_progress(ctg) <- TRUE
-        print('Normalize point cloud...')
-        n_ctg <- normalize_height(ctg, algorithm = knnidw()) }
-    else {
-        n_ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0')
-    }
-
-    print('Calculating vegetation coverage ...')
-
-    veg_cover_pmetric <- function(chunk, hmin, hmax, out_folder, cell_size)
-    {
-        las <- readLAS(chunk)
-
-        if (is.empty(las)) return(NULL)
-
-        total_pcount <- pixel_metrics(las, func = ~length(Z), pkg = "terra", res = cell_size, start = c(0, 0))
-        # replace NA with 0
-        total_pcount <- classify(total_pcount, cbind(NA, 0))
-        set.names(total_pcount, "Total_Ncount", index = 1)
-
-
-        Veg_pcount <- pixel_metrics(las, func = ~length(Z), filter = ~Z >= hmin & Z <= hmax, pkg = "terra", res = cell_size, start = c(0, 0))
-        # replace NA with 0
-        Veg_pcount <- classify(Veg_pcount, cbind(NA, 0))
-        set.names(Veg_pcount, "Veg_Ncount", index = 1)
-
-        veg_percetage <- Veg_pcount / total_pcount
-        # replace NA with 0
-        veg_percetage <- classify(veg_percetage, cbind(NA, 0))
-        set.names(veg_percetage, "Veg_CovPer", index = 1)
-
-        total_pcount <- crop(total_pcount, ext(chunk))
-        Veg_pcount <- crop(Veg_pcount, ext(chunk))
-        veg_percetage <- crop(veg_percetage, ext(chunk))
-
-        x <- c(total_pcount, Veg_pcount, veg_percetage)
-
-    }
-
-    #
-    #         MultiWrite = function(output_list, file)
-    #         {
-    #           total_pcount = output_list[[1]]
-    #           Veg_pcount = output_list[[2]]
-    #           veg_CovPer=output_list[[3]]
-    #           path1 = gsub("_@@@","_Total_Ncount", file)
-    #           path2 = gsub("_@@@","_Veg_Ncount", file)
-    #           path3 = gsub("_@@@","_Veg_CovPer", file)
-    #           path1 = paste0(path1, ".tif")
-    #           path2 = paste0(path2, ".tif")
-    #           path3 = paste0(path3, ".tif")
-    #
-    #           terra::writeRaster(total_pcount,path1,overwrite=TRUE)
-    #           terra::writeRaster(Veg_pcount,path2,overwrite=TRUE)
-    #           terra::writeRaster(veg_CovPer,path3,overwrite=TRUE)
-    #
-    #
-    #         }
-    #         MultiWriteDiver = list(
-    #           write = MultiWrite,
-    #           extension = "",
-    #           object = "output_list",
-    #           path = "file",
-    #           param = list())
-
-    opt_output_files(n_ctg) <- paste0(out_folder, "/result/{*}_veg_cover_percentage")
-    n_ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    #         n_ctg@output_options$drivers$list <- MultiWriteDiver
-    out <- catalog_apply(n_ctg, veg_cover_pmetric, hmin, hmax, out_folder, cell_size)
-
-    # reset R mutilsession back to default
-    plan(sequential)
-
-}
-
-#########################################################################################
-percentage_aboveDBH <- function(in_las_folder, is_normalized, out_folder, DBH, cell_size, rprocesses)
-{
-#     update.packages(list('terra','lidR','future'))
-    library(lidR)
-    library(terra)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-    sDBH <- DBH
-    if (is_normalized) {
-        print('Loading normalize point cloud...')
-        n_ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0') }
-    else {
-        ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-        opt_output_files(ctg) <- paste0(out_folder, '/normalized/n_{*}')
-        opt_progress(ctg) <- TRUE
-        print('Normalize point cloud...')
-        n_ctg <- normalize_height(ctg, algorithm = knnidw())
-    }
-
-    print('Calculating percentage returns above DBH ...')
-
-    compute_aboveDBH <- function(chunk, DBH, out_folder, cell_size)
-    {
-        las <- readLAS(chunk)
-
-        if (is.empty(las)) return(NULL)
-
-        total_pcount <- pixel_metrics(las, func = ~length(NumberOfReturns), pkg = "terra", res = cell_size, start = c(0, 0))
-
-        abvDBH_pcount <- pixel_metrics(las, func = ~length(NumberOfReturns), filter = ~Z >= DBH, pkg = "terra", res = cell_size, start = c(0, 0))
-
-        abvDBH_percetage <- abvDBH_pcount / total_pcount
-        set.names(abvDBH_percetage, "Per_abvDBH", index = 1)
-        # replace NA with 0
-        abvDBH_percetage <- classify(abvDBH_percetage, cbind(NA, 0))
-        abvDBH_percetage <- crop(abvDBH_percetage, ext(chunk))
-    }
-
-    sDBH <- as.character(sDBH)
-    sDBH <- gsub("\\.", "p", sDBH)
-
-    opt_output_files(n_ctg) <- paste0(out_folder, "/{*}_return_above_", sDBH, 'm')
-    n_ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    out <- catalog_apply(n_ctg, compute_aboveDBH, DBH, out_folder, cell_size)
-    in_file_list = list.files(path = out_folder, pattern = ".tif", all.files = TRUE, full.names = TRUE)
-    rast_list <- list()
-    for (i in 1:length(in_file_list)) {
-        rast_obj <- rast(in_file_list[[i]])
-        rast_list <- c(rast_list, rast_obj)
-    }
-    terra::mosaic(terra::sprc(rast_list), fun = "first", filename = paste0(out_folder, "/Merged__return_above_", sDBH, 'm'), overwrite = TRUE)
-
-
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################
-normalized_lidar_knnidw <- function(in_las_folder, out_folder, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #read Las file and drop any noise from the point cloud
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
-    print("Normalize lidar data...")
-    opt_progress(ctg) <- TRUE
-    n_las <- normalize_height(ctg, algorithm = knnidw())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-##########################################################################
-normalized_lidar_tin <- function(in_las_folder, out_folder, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #read Las file and drop any noise from the point cloud
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
-    print("Normalize lidar data...")
-    opt_progress(ctg) <- TRUE
-
-    n_las <- normalize_height(ctg, algorithm = tin())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-##########################################################################
-normalized_lidar_kriging <- function(in_las_folder, out_folder, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #read Las file and drop any noise from the point cloud
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
-    print("Normalize lidar data...")
-    opt_progress(ctg) <- TRUE
-    n_las <- normalize_height(ctg, algorithm = kriging())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################
-chm_by_dsmtin <- function(in_las_folder, out_folder, cell_size, is_normalized, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    if (is_normalized) {
-        print("Generating CHM using TIN...")
-        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_chm") }
-    else {
-        print("Generating DSM using TIN...")
-        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_dsm") }
-
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    chm <- rasterize_canopy(ctg, cell_size, dsmtin(max_edge = (3 * cell_size)), pkg = "terra")
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################
-chm_by_pitfree <- function(in_las_folder, out_folder, cell_size, is_normalized, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_overlap')
-
-    if (is_normalized) {
-        print("Generate CHM using Pit-free...")
-        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_chm") }
-    else {
-        print("Generate DSM using Pit-free...")
-        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_dsm") }
-
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    chm <- rasterize_canopy(ctg, cell_size, pitfree(thresholds = c(0, 3, 5, 10, 15, 20), max_edge = c(0, 3 * cell_size), subcircle = (cell_size)))
-    # reset R mutilsession back to default
-
-    rast_list <- list()
-    for (i in 1:length(chm)) {
-        rast_obj <- terra::rast(chm[[i]])
-        rast_list <- c(rast_list, rast_obj)
-    }
-    mosaic(sprc(rast_list), fun = "first", filename = paste0(out_folder, "/Merged_CHM.tif"), overwrite = TRUE)
-
-    plan(sequential)
-
-}
-
-#########################################################################################
-dtm_by_knnidw <- function(in_las_folder, out_folder, cell_size, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    print("Generate DTM...")
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = knnidw())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################
-dtm_by_kriging <- function(in_las_folder, out_folder, cell_size, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    print("Generate DTM...")
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = kriging())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#########################################################################################
-dtm_by_tin <- function(in_las_folder, out_folder, cell_size, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-    library(terra)
-
-    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    print("Generate DTM...")
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    #         ctg@output_options$drivers$Raster$param$overwrite <- TRUE
-    opt_progress(ctg) <- TRUE
-    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = tin())
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-###########################################################################################
-laz2las <- function(in_las_folder, out_folder, rprocesses) {
-#     update.packages(list('lidR','future'))
-    library(lidR)
-    library(future)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    mywriteLAS = function(chunk) {
-        las <- readLAS(chunk)
-
-        if (is.empty(las)) return(NULL)
-        las <- filter_poi(las, buffer == 0)
-        return(las) }
-
-    #read Laz file and drop any noise from the point cloud
-    ctg <- readLAScatalog(in_las_folder)
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/las/{*}")
-    opt_laz_compression(ctg) <- FALSE
-    print("Saving zipped lidar data into *.las format...")
-    opt_progress(ctg) <- TRUE
-    catalog_apply(ctg, mywriteLAS)
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#############################################################
-las_info <- function(in_las_folder, rprocesses) {
-    library(lidR)
-    library(future)
-#     update.packages(list('lidR','future'))
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-    print("loading LiDAR Data")
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    print(paste0("Data format: v", (ctg@data$Version.Major[1]), ".", (ctg@data$Version.Minor[1])))
-    print(paste0("Extent: ", min(ctg@data$Min.X), " ", max(ctg@data$Max.X), " ", min(ctg@data$Min.Y), " ", max(ctg@data$Max.Y)))
-    print(paste0("Area: ", round(st_area(ctg) / (1000 * 1000), 2), " units²"))
-    print(paste0("Total Pts: ", sum(ctg@data$Number.of.point.records)))
-    print(paste0("Density: ", round(sum(ctg@data$Number.of.point.records) / st_area(ctg), 0), " pts/units²"))
-    print(paste0("Total num. files: ", length(ctg@data$filename)))
-
-
-}
-
-#######################################################################################################################################
-classify_gnd <- function(in_las_folder, out_folder, slope, class_threshold, cloth_resolution, rigidness) {
-    library(lidR)
-    library(future)
-    library(RCSF)
-
-    print("loading LiDAR Data")
-    plan(multisession, workers = 4)
-    set_lidr_threads(4)
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class_7 -drop_overlap')
-    opt_output_files(ctg) <- paste0(out_folder, "/{*}_gnd_classified")
-    opt_laz_compression(ctg) <- FALSE
-    gnd_csf <- csf(slope, class_threshold = class_threshold, cloth_resolution = cloth_resolution, rigidness = rigidness, iterations = 500, time_step = 0.65)
-    print("Classify ground start....")
-    c_ctg <- classify_ground(ctg, gnd_csf)
-}
-
-#############################################################################################
-conduct_raster <- function(in_las_folder, out_folder, cell_size, rprocesses) {
-
-    library(terra)
-    library(lidR)
-    library(future)
-    library(sf)
-
-    plan(multisession, workers = rprocesses)
-    set_lidr_threads(rprocesses)
-
-    #normalized LAS with pulse info
-
-    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
-    opt_progress(ctg) <- TRUE
-
-    print("Generating multiple conductivity raster on:")
-    print("CHM, Slope, Roughness, ground point density, intensity raster.")
-    print("Idea from Correction, update, and enhancement of vectorial forestry line maps using LiDAR data, a pathfinder, and seven metrics, Jean-Romain Roussel, etl 2022.")
-
-    Q_raster <- function(chunk, cell_size)
-    {
-        las <- readLAS(chunk)
-        if (is.empty(las)) return(NULL)
-
-        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
-        hull <- st_convex_hull(las_1)
-        bbox <- vect(hull)
-
-
-        #     message('Generate DTM using Triangulation  ...')
-        dtm <- rasterize_terrain(las, res = cell_size, algorithm = tin(max_edge = (3 * cell_size)))
-
-        n_las <- normalize_height(las, dtm)
-
-        #message("Generating slope conductivity raster...")
-        slope <- terrain(dtm, "slope", 8)
-        slope_range = slope@ptr$range_max - slope@ptr$range_min
-        Qslope <- ifel(slope <= slope_range * 0.1, 1, ifel(slope > slope_range * 0.75, 0, (1 - ((slope - slope@ptr$range_min) / slope_range))))
-        Qslope[is.na(Qslope)] = 0
-        Qslope <- terra::crop(Qslope, bbox)
-
-
-        #     message("Generating roughness conductivity raster...")
-        roughness <- terrain(dtm, "roughness")
-        roughness_range = roughness@ptr$range_max - roughness@ptr$range_min
-        Qrough <- ifel(roughness <= roughness_range * 0.1, 1, ifel(roughness > roughness_range * 0.8, 0, (1 - ((roughness - roughness@ptr$range_min) / roughness_range))))
-        Qrough[is.na(Qrough)] = 0
-        Qrough <- terra::crop(Qrough, bbox)
-
-        #     message("Generating edge conductivity raster...")
-        #sobel filter
-        fx = matrix(c(-1, -2, -1, 0, 0, 0, 1, 2, 1), nrow = 3)
-        fy = matrix(c(1, 0, -1, 2, 0, -2, 1, 0, -1), nrow = 3)
-
-        dtm_sobelx = focal(dtm, fx, na.policy = "omit")
-        dtm_sobely = focal(dtm, fy, na.policy = "omit")
-
-        dtm_sobel = sqrt(dtm_sobelx**2 + dtm_sobely**2)
-        dtm_sobel_range = dtm_sobel@ptr$range_max - dtm_sobel@ptr$range_min
-        Qedge <- ifel(dtm_sobel <= dtm_sobel_range * 0.15, 1, ifel(dtm_sobel > dtm_sobel_range * 0.85, 0, (1 - ((dtm_sobel - dtm_sobel@ptr$range_min) / dtm_sobel_range))))
-        Qedge[is.na(Qedge)] = 0
-        Qedge <- terra::crop(Qedge, bbox)
-
-        #     message('Generate CHM...')
-        chm <- rasterize_canopy(n_las, cell_size, dsmtin(max_edge = (3 * cell_size)), pkg = "terra")
-        chm_range = chm@ptr$range_max - chm@ptr$range_min
-        Qchm <- ifel(chm <= chm_range * 0.1, 1, ifel(chm > chm_range * 0.75, 0, (1 - ((chm - chm@ptr$range_min) / chm_range))))
-        Qchm[is.na(Qchm)] = 0
-        Qchm <- terra::crop(Qchm, bbox)
-
-        #     message("Generating intensity conductivity raster...")
-        #     sensor <- track_sensor(las, Roussel2020(pmin=15))
-        #     las <- normalize_intensity(las, range_correction(sensor,Rs=1800 ))
-        int_max <- pixel_metrics(las, (~max(Intensity)), cell_size) #,filter = ~ReturnNumber == 1L)
-        int_min <- pixel_metrics(las, (~min(Intensity)), cell_size) #,filter = ~ReturnNumber == 1L)
-        irange_map <- int_max - int_min
-        irange_map[is.na(irange_map)] = 0
-        iq2 <- global(irange_map, quantile, probs = 0.05, na.rm = TRUE)[[1]]
-        int_map_range <- irange_map@ptr$range_max - irange_map@ptr$range_min
-        Qint <- ifel(irange_map <= iq2, 1, ifel(irange_map > int_map_range * 0.75, 0, (1 - ((irange_map - irange_map@ptr$range_min) / int_map_range))))
-        Qint[is.na(Qint)] = 0
-        Qint <- terra::crop(Qint, bbox)
-
-        #     message("Generating ground point density conductivity raster...")
-        g = filter_poi(las, Classification == 2L)
-        gpd <- rasterize_density(g, res = cell_size, pkg = "terra")
-        #     gpd <- pixel_metrics(las, ~list(length(Z)/0.35**2),res=cell_size,filter=~Classification == 2L)
-        gq2 <- global(gpd, quantile, probs = 0.02, na.rm = TRUE)[[1]]
-        gpd_range = gpd@ptr$range_max - gpd@ptr$range_min
-        Qgpd <- ifel(gpd <= gq2, 0, (gpd - gpd@ptr$range_min) / gpd_range)
-        Qgpd[is.na(Qgpd)] = 0
-        Qgpd <- terra::crop(Qgpd, bbox)
-
-
-        #     message("Generating low vegetation density conductivity raster...")
-        l = filter_poi(n_las, Z >= 1.0 &
-          Z <= 3 &
-          !(Classification %in% c(LASWATER, LASGROUND, LASBUILDING)))
-        lower_density <- rasterize_density(l, res = cell_size, pkg = "terra")
-        #     lower_density <- pixel_metrics(n_las, ~list(length(Z)/0.35**2), cell_size,filter=~(Z>= 0.5 & Z<=3))
-        lq2 <- global(lower_density, quantile, probs = 0.02, na.rm = TRUE)[[1]]
-        lower_range = lower_density@ptr$range_max - lower_density@ptr$range_min
-        Qlower <- ifel(lower_density > lq2, 0, 1)
-        Qlower[is.na(Qlower)] = 0
-        Qlower <- terra::crop(Qlower, bbox)
-
-        #     message("Generating combined conductivity raster...")
-        Conduct <- (Qslope * Qlower * Qedge) * (0.25 * Qchm +
-          0.25 * Qgpd +
-          0.25 * Qrough +
-          0.25 * Qint)
-        cost <- Conduct * -1 + Conduct@ptr$range_max
-        cost[is.na(cost)] = 1
-
-        dtm <- terra::crop(dtm, bbox)
-        dtm[is.na(dtm)] = NaN
-        chm <- terra::crop(chm, bbox)
-        chm[is.na(chm)] = NaN
-
-
-        lower_canopy <- -ifel(lower_density > lq2, 1, 0)
-        lower_canopy <- ifel(lower_canopy == -1, 1, lower_canopy)
-        upper_canopy <- ifel(chm > 3, 1, 0)
-
-        lower_canopy <- extend(lower_canopy, ext(bbox))
-        upper_canopy <- extend(upper_canopy, ext(bbox))
-
-        canopy <- ifel(upper_canopy == 1, upper_canopy * lower_canopy, upper_canopy + lower_canopy)
-        canopy[is.na(canopy)] = 0
-
-
-        return(list(Qchm, Qslope, Qrough, Qgpd, Qint, Qedge, Qlower, Conduct, cost, dtm, chm, canopy))
-
-    }
-
-    MultiWrite = function(output_list, file) {
-        Qchm = output_list[[1]]
-        Qslope = output_list[[2]]
-        Qrough = output_list[[3]]
-        Qgpd = output_list[[4]]
-        Qint = output_list[[5]]
-        Qedge = output_list[[6]]
-        Qlower = output_list[[7]]
-        Conductivity = output_list[[8]]
-        Cost = output_list[[9]]
-        dtm = output_list[[10]]
-        chm = output_list[[11]]
-        canopy = output_list[[12]]
-        path1 = gsub("@@@", "Qchm", file)
-        path2 = gsub("@@@", "Qslope", file)
-        path3 = gsub("@@@", "Qrough", file)
-        path4 = gsub("@@@", "Qgpd", file)
-        path5 = gsub("@@@", "Qint", file)
-        path6 = gsub("@@@", "Qedge", file)
-        path7 = gsub("@@@", "Qlower", file)
-        path8 = gsub("@@@", "Conductivity", file)
-        path9 = gsub("@@@", "Cost", file)
-        path10 = gsub("@@@", "DTM", file)
-        path11 = gsub("@@@", "CHM", file)
-        path12 = gsub("@@@", "Canopy", file)
-
-        path1 = paste0(path1, ".tif")
-        path2 = paste0(path2, ".tif")
-        path3 = paste0(path3, ".tif")
-        path4 = paste0(path4, ".tif")
-        path5 = paste0(path5, ".tif")
-        path6 = paste0(path6, ".tif")
-        path7 = paste0(path7, ".tif")
-        path8 = paste0(path8, ".tif")
-        path9 = paste0(path9, ".tif")
-        path10 = paste0(path10, ".tif")
-        path11 = paste0(path11, ".tif")
-        path12 = paste0(path12, ".tif")
-
-        terra::writeRaster(Qchm, path1, overwrite = TRUE)
-        terra::writeRaster(Qslope, path2, overwrite = TRUE)
-        terra::writeRaster(Qrough, path3, overwrite = TRUE)
-        terra::writeRaster(Qgpd, path4, overwrite = TRUE)
-        terra::writeRaster(Qint, path5, overwrite = TRUE)
-        terra::writeRaster(Qedge, path6, overwrite = TRUE)
-        terra::writeRaster(Qlower, path7, overwrite = TRUE)
-        terra::writeRaster(Conductivity, path8, overwrite = TRUE)
-        terra::writeRaster(Cost, path9, overwrite = TRUE)
-        terra::writeRaster(dtm, path10, overwrite = TRUE)
-        terra::writeRaster(chm, path11, overwrite = TRUE)
-        terra::writeRaster(canopy, path12, overwrite = TRUE)
-
-    }
-
-    MultiWriteDriver = list(
-      write = MultiWrite,
-      extension = "",
-      object = "output_list",
-      path = "file",
-      param = list())
-
-
-    ctg@output_options$drivers$list <- MultiWriteDriver
-    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_@@@")
-    opt_laz_compression(ctg) <- FALSE
-    opt_progress(ctg) <- TRUE
-    opt <- list(need_output_file = TRUE, autocrop = TRUE)
-    opt_chunk_alignment(ctg) <- c(0, 0)
-    ctg@output_options$
-      drivers$
-      SpatRaster$
-      param$
-      overwrite <- TRUE
-    opt_stop_early(ctg) <- TRUE
-    catalog_apply(ctg, Q_raster, cell_size = cell_size, .options = opt)
-    # reset R mutilsession back to default
-    plan(sequential)
-}
-
-#####################################################################################################
+chm2trees<-function(in_chm,Min_ws,hmin,out_folder,rprocesses)
+  {
+#     update.packages(list('terra','lidR','future'))
+    library(lidR)
+    library(terra)
+    library(future)
+
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #read Las file and drop any noise from the point cloud
+    current_chm <- rast(in_chm)
+    cell_size <- res(current_chm)[1]
+    # find the highest point of CHM
+    tallest_ht = minmax(current_chm)[2]
+
+    #Reforestation Standard of Alberta 2018
+    #(https://www1.agric.gov.ab.ca/$department/deptdocs.nsf/all/formain15749/$FILE/reforestation-standard-alberta-may1-2018.pdf, p.53)
+    #Live crown ratio is the proportion of total stem length that is covered by living branches. It is expressed as a percentage or decimal of the total tree height. Live crown ratio is a useful indicator of the status of the tree in relation to vigor, photosynthetic leaf area, and is inversely related to stocking density. It is assumed that live crown ratio must be greater than 0.3 (30%) in order for the tree to release well
+
+    if (Min_ws >= (0.3 * hmin)) {
+        (Min_ws <- Min_ws) }else {
+        (Min_ws <- 0.3 * hmin) }
+
+    f <- function(x) {
+        y <- (x * 0.3) + Min_ws
+        y[x < hmin] <- (Min_ws) # Smallest Crown
+        y[x > tallest_ht] <- (tallest_ht * 0.3) # Largest Crown
+        return(y)
+    }
+
+    out_ttop_filename = paste0(out_folder, "/", substr(basename(in_chm), 1, nchar(basename(in_chm)) - 4), ".shp")
+
+    ttop <- locate_trees(current_chm, lmf(ws = f, hmin = hmin, shape = "circular"), uniqueness = "bitmerge")
+
+    x <- vect(ttop)
+    writeVector(x, out_ttop_filename, overwrite = TRUE)
+    #st_write(ttop,out_ttop_filename)
+
+}
+
+##################################################################################################################
+#create a 'generate_pd' function
+generate_pd <- function(ctg, radius_fr_CHM, focal_radius, cell_size, cache_folder,
+                        cut_ht, PD_Ground_folder, PD_Total_folder, rprocesses) {
+#     update.packages(list('terra','lidR','future'))
+    library(terra)
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    opts <- paste0("-drop_class 7")
+
+    print("Processing using R packages.")
+
+    folder <- paste0(cache_folder, "/nlidar/n_{*}")
+    opt_output_files(ctg) <- opt_output_files(ctg) <- folder
+    opt_laz_compression(ctg) <- FALSE
+    opt_filter(ctg) <- "-drop_class 7"
+    opt_chunk_alignment(ctg) <- c(0, 0)
+
+    catalog_laxindex = function(ctg)
+    {
+        stopifnot(is(ctg, "LAScatalog"))
+
+        opt_chunk_size(ctg) <- 0
+        opt_chunk_buffer(ctg) <- 0
+        opt_wall_to_wall(ctg) <- FALSE
+        opt_output_files(ctg) <- ""
+
+        create_lax_file = function(cluster) {
+            rlas::writelax(cluster@files)
+            return(0)
+        }
+
+        options <- list(need_buffer = FALSE, drop_null = FALSE)
+
+        catalog_apply(ctg, create_lax_file, .options = options)
+        return(invisible())
+    }
+
+    #normalized LAS with pulse info
+    print("Indexing LAS Tiles...")
+    #lidR:::catalog_laxindex(ctg)
+    catalog_laxindex(ctg)
+    print("Normalize point cloud using K-nearest neighbour IDW ...")
+    normalize_height(ctg, algorithm = knnidw())
+
+    print("Generating point density (total focal sum) raster ...")
+
+    pd_total <- function(chunk, radius, cell_size)
+    {
+        las <- readLAS(chunk)
+        if (is.empty(las)) return(NULL)
+
+        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
+        hull <- st_convex_hull(las_1)
+        # bbox <- ext(las_1)
+
+        # convert to SpatialPolygons
+        bbox <- vect(hull)
+
+        las <- filter_poi(las, Classification != 7L)
+        #las <- retrieve_pulses(las)
+        density_raster_total <- rasterize_density(las, res = cell_size, pkg = "terra")[[1]]
+
+        tfw <- focalMat(density_raster_total, radius, "circle")
+
+        tfw[tfw > 0] = 1
+        tfw[tfw == 0] = NA
+
+        Total_focal <- focal(density_raster_total, w = tfw, fun = "sum", na.rm = TRUE, na.policy = "omit", fillvalue = NA, expand = FALSE)
+        Total_focal <- crop(Total_focal, bbox)
+    }
+
+    opt <- list(need_output_file = TRUE, autocrop = TRUE)
+    opt_chunk_alignment(ctg) <- c(0, 0)
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    opt_output_files(ctg) <- paste0(PD_Total_folder, "/{*}_PD_Tfocalsum")
+    opt_stop_early(ctg) <- FALSE
+    catalog_apply(ctg, pd_total, radius = focal_radius, cell_size = cell_size, .options = opt)
+
+    #load normalized LAS for ground point density
+    ht <- paste0("-drop_class 7 -drop_z_above ", cut_ht)
+    ctg2 <- readLAScatalog(paste0(cache_folder, "/nlidar"), filter = ht)
+    #lidR:::catalog_laxindex(ctg2)
+    catalog_laxindex(ctg2)
+
+    print("Generating point density (ground focal sum) raster ...")
+
+    pd_ground <- function(chunk, radius, cell_size, cut_ht)
+    {
+        las <- readLAS(chunk)
+        if (is.empty(las)) return(NULL)
+
+        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
+        hull <- st_convex_hull(las_1)
+
+        # convert to SpatialPolygons
+        bbox <- vect(hull)
+        # bbox <- ext(las_1)
+
+        #las <- retrieve_pulses(las)
+        density_raster_ground <- rasterize_density(las, res = cell_size, pkg = "terra")[[1]]
+
+
+        gfw <- focalMat(density_raster_ground, radius, "circle")
+        gfw[gfw > 0] = 1
+        gfw[gfw == 0] = NA
+
+        Ground_focal <- focal(density_raster_ground, w = gfw, fun = "sum", na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = FALSE)
+        ground_focal <- crop(Ground_focal, bbox)
+
+    }
+
+    opt <- list(need_output_file = TRUE, autocrop = TRUE)
+    opt_chunk_alignment(ctg2) <- c(0, 0)
+    ctg2@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    opt_output_files(ctg2) <- paste0(PD_Ground_folder, "/{*}_PD_Gfocalsum")
+    opt_stop_early(ctg2) <- FALSE
+    catalog_apply(ctg2, pd_ground, radius = focal_radius, cell_size = cell_size, cut_ht = cut_ht, .options = opt)
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################################################
+hh_function <- function(in_las_folder, cell_size, Smooth_by, Min_ws, lawn_range, out_folder, rprocesses) {
+# update.packages(list('terra','lidR','future','sf'))
+    library(lidR)
+    library(terra)
+    library(sf)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+
+    print('Generating Hummock/ Hollow Raster ...')
+    ctg <- readLAScatalog(in_las_folder, select = 'xyzc', filter = '-drop_class 7')
+
+    HH_raster <- function(chunk, radius, cell_size, lawn_range, Smooth_by)
+    {
+        las <- readLAS(chunk)
+        if (is.empty(las)) return(NULL)
+
+        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
+        hull <- st_convex_hull(las_1)
+
+        # convert to SpatialPolygons
+        bbox <- vect(hull)
+        # bbox <- ext(las_1)
+
+        #las to DTM
+        dtm <- rasterize_terrain(las, res = cell_size, algorithm = tin())
+
+
+        gfw <- focalMat(dtm, radius, "circle")
+        gfw[gfw > 0] = 1
+        gfw[gfw == 0] = NA
+
+        rdtm <- focal(dtm, w = gfw, fun = Smooth_by, na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = TRUE)
+        cond_raster <- (rdtm - dtm)
+        positive <- abs(lawn_range)
+        negative <- positive * -1
+
+        HH <- ifel(cond_raster < negative, 1, ifel(cond_raster > positive, -1, 0))
+
+        cont_hh <- (crop(cond_raster, ext(bbox))) * -1
+        hh <- crop(HH, ext(bbox))
+
+        return(list(cont_hh, hh, radius, Smooth_by))
+    }
+
+    MultiWrite = function(output_list, file) {
+        chh = output_list[[1]]
+        hh = output_list[[2]]
+        radius = output_list[[3]]
+        Smooth_by = output_list[[4]]
+        path1 = gsub("@@@_", "CHH_", file)
+        path2 = gsub("@@@_", "HH_", file)
+
+        path1 = paste0(path1, "_", Smooth_by, "_", radius, "m.tif")
+        path2 = paste0(path2, "_", Smooth_by, "_", radius, "m.tif")
+
+        terra::writeRaster(chh, path1, overwrite = TRUE)
+        terra::writeRaster(hh, path2, overwrite = TRUE)
+
+    }
+
+    MultiWriteDriver = list(
+      write = MultiWrite,
+      extension = "",
+      object = "output_list",
+      path = "file",
+      param = list())
+
+    ctg@output_options$drivers$list <- MultiWriteDriver
+
+    opt_chunk_alignment(ctg) <- c(0, 0)
+    opt_output_files(ctg) <- paste0(out_folder, "/CHH_{*}_", Smooth_by, "_", Min_ws, "m")
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    opt_stop_early(ctg) <- TRUE
+    out <- catalog_apply(ctg, HH_raster, radius = Min_ws, cell_size = cell_size, lawn_range = lawn_range, Smooth_by = Smooth_by)
+
+    # reset R mutilsession back to default
+    plan(sequential)
+
+}
+
+#########################################################################################################################
+hh_function_byraster <- function(in_raster,cell_size, Min_ws, lawn_range, out_folder,rprocesses){
+# update.packages(list('terra'))
+
+    library(terra)
+    library(utils)
+    library(base)
+    library(terra)
+
+    print('Generating Hummock/ Hollow Raster ...')
+    in_dtm <- rast(in_raster)
+    filename <- substr(basename(in_raster), 1, nchar(basename(in_raster)) - 4)
+
+    gfw <- focalMat(in_dtm, Min_ws, "circle")
+    gfw[gfw > 0] = 1
+    gfw[gfw == 0] = NA
+
+    rdtm <- focal(in_dtm, w = gfw, fun = Smooth_by, na.policy = "omit", na.rm = TRUE, fillvalue = NA, expand = TRUE)
+    #   writeRaster(rdtm,paste0(out_folder,"/rdtm_",filename,".tif"),overwrite=TRUE)
+    cond_raster <- (rdtm - in_dtm)
+    writeRaster(cond_raster, paste0(out_folder, "/CHH_", filename, ".tif"), overwrite = TRUE)
+    positive <- abs(lawn_range)
+    negative <- positive * -1
+
+    HH <- ifel(cond_raster < negative, 1, ifel(cond_raster > positive, -1, 0))
+    writeRaster(HH, paste0(out_folder, "/HH_", filename, ".tif"), overwrite = TRUE)
+
+
+}
+
+
+###################################################################################################################################
+pd2cellsize <- function(in_las_folder, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+
+    print("Calculate output's raster average cell size from point density...")
+    if (is(in_las_folder, "LAS") || is(in_las_folder, "LAScatalog"))
+    { ctg <- in_las_folder }
+    else { ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7') }
+
+
+    point_density <- sum(ctg@data$Number.of.point.records) / st_area(ctg)
+    mean_pd = (3 / point_density)^(1 / 2)
+    cell_size = round(0.05 * round(mean_pd / 0.05), 2)
+    return(cell_size)
+}
+
+##################################################################################
+
+points2trees <- function(in_folder, is_normalized, hmin, out_folder, rprocesses, CHMcell_size, cell_size)
+{
+#   update.packages(list('terra','lidR','future'))
+    library(lidR)
+    library(terra)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #normailize point cloud using K-nearest neighbour IDW
+    if (is_normalized) {
+        n_las <- readLAScatalog(in_folder, filter = '-drop_class 7 -drop_z_below 0')
+    }
+    else {
+        #read Las file and drop any noise from the point cloud
+        ctg <- readLAScatalog(in_folder, filter = '-drop_class 7')
+        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
+        print("Normalize lidar data...")
+        opt_progress(ctg) <- TRUE
+        n_las <- normalize_height(ctg, algorithm = knnidw())
+        opt_filter(n_las) <- '-drop_class 7 -drop_z_below 0' }
+
+    #     # create a CHM from point cloud for visualization
+    if (CHMcell_size != -999) {
+        print("Generating normalized CHM ...")
+        opt_output_files(n_las) <- opt_output_files(n_las) <- paste0(out_folder, "/chm/{*}_chm")
+        n_las@output_options$
+          drivers$
+          SpatRaster$
+          param$
+          overwrite <- TRUE
+        n_las@output_options$
+          drivers$
+          Raster$
+          param$
+          overwrite <- TRUE
+        opt_progress(n_las) <- TRUE
+        #     chm <- rasterize_canopy(n_las, cell_size, pitfree(thresholds = c(0,3,10,15,22,30,38), max_edge = c(0, 1.5)), pkg = "terra")
+        chm <- rasterize_canopy(n_las, CHMcell_size, dsmtin(max_edge = (3 * CHMcell_size)), pkg = "terra") }
+
+
+    print("Compute approximate tree positions ...")
+
+    ctg_detect_tree <- function(chunk, hmin, out_folder, cell_size) {
+        las <- readLAS(chunk)               # read the chunk
+        if (is.empty(las)) return(NULL)     # exit if empty
+        #         quarter_ht<- ((las@header@PHB$`Max Z` + las@header@PHB$`Min Z`)/4)
+
+        f <- function(x) {
+            #         y = 0.4443*(x^0.7874)
+            y = 0.478676 * (x^0.695289)  #base on Plot4209, 4207 and 4203
+            y[x < hmin] <- 0.478676 * (hmin^0.695289) # Min_ws # smallest window
+            #   y[x > (quarter_ht)] <- 0.478676*(quarter_ht^0.695289)    # largest window
+            #     y= 0.39328*x
+            #     y[x <hmin ] <- 0.39328*hmin # largest window
+            #     y[x > (quarter_ht)] <- 0.39328*quarter_ht    # smallest window
+
+            return(y) }
+
+        # dynamic searching window is based on the function of (tree height x 0.3)
+        # dynamic window
+        ttop <- locate_trees(las, lmf(ws = f, hmin = hmin, shape = "circular"), uniqueness = "gpstime")
+        # Fix searching window (Testing only)
+        #         ttop <- locate_trees(las, lmf(ws = 3,hmin=hmin,shape="circular"),uniqueness = "gpstime")
+
+        ttop <- crop(vect(ttop), ext(chunk))   # remove the buffer
+        # generating number of trees per ha raster
+        #    sum_map<-terra::rasterize(ttop,rast(ext(chunk),resolution=cell_size,crs=crs(ttop)),fun=sum)
+        #    sum_map<- classify(sum_map, cbind(NA, 0))
+
+        #     return(list(ttop,sum_map))
+    }
+
+    options <- list(automerge = TRUE, autocrop = TRUE)
+    #    opt_output_files(n_las)<-opt_output_files(n_las)<-paste0(out_folder,"/@@@_{*}")
+    opt_output_files(n_las) <- paste0(out_folder, "/{*}_tree_min_", hmin, "_m")
+    n_las@output_options$drivers$sf$param$append <- FALSE
+    n_las@output_options$
+      drivers$
+      SpatVector$
+      param$
+      overwrite <- TRUE
+    opt_progress(n_las) <- TRUE
+    #    MultiWrite = function(output_list, file){
+    #     extent = output_list[[1]]
+    #     sum_map = output_list[[2]]
+    #     path1 = gsub("@@@_","", file)
+    #     path2 = gsub("@@@_","", file)
+    #
+    #     path1 = paste0(path1, "_trees_above",hmin,"m.shp")
+    #     path2 = paste0(path2, "_Trees_counts_above",hmin,"m.tif")
+    #
+    #     terra::writeVector(extent, path1, overwrite = TRUE)
+    #     terra::writeRaster(sum_map,path2,overwrite=TRUE)
+    #
+    #   }
+    #   MultiWriteDriver = list(
+    #     write = MultiWrite,
+    #     extension = "",
+    #     object = "output_list",
+    #     path = "file",
+    #     param = list())
+
+    #   n_las@output_options$drivers$list <- MultiWriteDriver
+
+    out <- catalog_apply(n_las, ctg_detect_tree, hmin, out_folder, cell_size, .options = options)
+    shmin <- as.character(hmin)
+    shmin <- gsub("\\.", "p", shmin)
+    writeVector(out, paste0(out_folder, "/Merged_ApproxTrees_above_", shmin, "m.shp", overwrite = TRUE))
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################################################################
+ht_metrics_lite <- function(in_las_folder, cell_size, out_folder, rprocesses)
+{
+#    update.packages(list('terra','lidR','future'))
+    library(lidR)
+    library(terra)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0')
+    opt_output_files(ctg) <- paste0(out_folder, "/{*}_lite_metrics_z")
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    print('Generating height metrics ...')
+    zmetrics_f <- ~list(
+      zmax = max(Z),
+      zmin = min(Z),
+      zsd = sd(Z),
+      #       zq25 = quantile(Z, probs = 0.25),
+      zq30 = quantile(Z, probs = 0.30),
+      #       zq35 = quantile(Z, probs = 0.35),
+      zq40 = quantile(Z, probs = 0.40),
+      #       zq45 = quantile(Z, probs = 0.45),
+      zq50 = quantile(Z, probs = 0.50),
+      #       zq55 = quantile(Z, probs = 0.55),
+      zq60 = quantile(Z, probs = 0.60),
+      #       zq65 = quantile(Z, probs = 0.65),
+      zq70 = quantile(Z, probs = 0.70),
+      #       zq75 = quantile(Z, probs = 0.75),
+      zq80 = quantile(Z, probs = 0.80),
+      #       zq85 = quantile(Z, probs = 0.85),
+      zq90 = quantile(Z, probs = 0.90),
+      #       zq95 = quantile(Z, probs = 0.95),
+      zq99 = quantile(Z, probs = 0.99)
+    )
+
+    m <- pixel_metrics(ctg, func = zmetrics_f, res = cell_size)
+    writeRaster(m, paste0(out_folder, "/Merged_metricsZ.tif"), overwrite = TRUE)
+
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+######################################################################################
+veg_cover_percentage <- function(in_las_folder, is_normalized, out_folder, hmin, hmax, cell_size, rprocesses)
+{
+#     update.packages(list('terra','lidR','future'))
+    library(lidR)
+    library(terra)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    if (!(is_normalized)) {
+        ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+        opt_output_files(ctg) <- paste0(out_folder, '/normalized/n_{*}')
+        opt_progress(ctg) <- TRUE
+        print('Normalize point cloud...')
+        n_ctg <- normalize_height(ctg, algorithm = knnidw()) }
+    else {
+        n_ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0')
+    }
+
+    print('Calculating vegetation coverage ...')
+
+    veg_cover_pmetric <- function(chunk, hmin, hmax, out_folder, cell_size)
+    {
+        las <- readLAS(chunk)
+
+        if (is.empty(las)) return(NULL)
+
+        total_pcount <- pixel_metrics(las, func = ~length(Z), pkg = "terra", res = cell_size, start = c(0, 0))
+        # replace NA with 0
+        total_pcount <- classify(total_pcount, cbind(NA, 0))
+        set.names(total_pcount, "Total_Ncount", index = 1)
+
+
+        Veg_pcount <- pixel_metrics(las, func = ~length(Z), filter = ~Z >= hmin & Z <= hmax, pkg = "terra", res = cell_size, start = c(0, 0))
+        # replace NA with 0
+        Veg_pcount <- classify(Veg_pcount, cbind(NA, 0))
+        set.names(Veg_pcount, "Veg_Ncount", index = 1)
+
+        veg_percetage <- Veg_pcount / total_pcount
+        # replace NA with 0
+        veg_percetage <- classify(veg_percetage, cbind(NA, 0))
+        set.names(veg_percetage, "Veg_CovPer", index = 1)
+
+        total_pcount <- crop(total_pcount, ext(chunk))
+        Veg_pcount <- crop(Veg_pcount, ext(chunk))
+        veg_percetage <- crop(veg_percetage, ext(chunk))
+
+        x <- c(total_pcount, Veg_pcount, veg_percetage)
+
+    }
+
+    #
+    #         MultiWrite = function(output_list, file)
+    #         {
+    #           total_pcount = output_list[[1]]
+    #           Veg_pcount = output_list[[2]]
+    #           veg_CovPer=output_list[[3]]
+    #           path1 = gsub("_@@@","_Total_Ncount", file)
+    #           path2 = gsub("_@@@","_Veg_Ncount", file)
+    #           path3 = gsub("_@@@","_Veg_CovPer", file)
+    #           path1 = paste0(path1, ".tif")
+    #           path2 = paste0(path2, ".tif")
+    #           path3 = paste0(path3, ".tif")
+    #
+    #           terra::writeRaster(total_pcount,path1,overwrite=TRUE)
+    #           terra::writeRaster(Veg_pcount,path2,overwrite=TRUE)
+    #           terra::writeRaster(veg_CovPer,path3,overwrite=TRUE)
+    #
+    #
+    #         }
+    #         MultiWriteDiver = list(
+    #           write = MultiWrite,
+    #           extension = "",
+    #           object = "output_list",
+    #           path = "file",
+    #           param = list())
+
+    opt_output_files(n_ctg) <- paste0(out_folder, "/result/{*}_veg_cover_percentage")
+    n_ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    #         n_ctg@output_options$drivers$list <- MultiWriteDiver
+    out <- catalog_apply(n_ctg, veg_cover_pmetric, hmin, hmax, out_folder, cell_size)
+
+    # reset R mutilsession back to default
+    plan(sequential)
+
+}
+
+#########################################################################################
+percentage_aboveDBH <- function(in_las_folder, is_normalized, out_folder, DBH, cell_size, rprocesses)
+{
+#     update.packages(list('terra','lidR','future'))
+    library(lidR)
+    library(terra)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+    sDBH <- DBH
+    if (is_normalized) {
+        print('Loading normalize point cloud...')
+        n_ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_z_below 0') }
+    else {
+        ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+        opt_output_files(ctg) <- paste0(out_folder, '/normalized/n_{*}')
+        opt_progress(ctg) <- TRUE
+        print('Normalize point cloud...')
+        n_ctg <- normalize_height(ctg, algorithm = knnidw())
+    }
+
+    print('Calculating percentage returns above DBH ...')
+
+    compute_aboveDBH <- function(chunk, DBH, out_folder, cell_size)
+    {
+        las <- readLAS(chunk)
+
+        if (is.empty(las)) return(NULL)
+
+        total_pcount <- pixel_metrics(las, func = ~length(NumberOfReturns), pkg = "terra", res = cell_size, start = c(0, 0))
+
+        abvDBH_pcount <- pixel_metrics(las, func = ~length(NumberOfReturns), filter = ~Z >= DBH, pkg = "terra", res = cell_size, start = c(0, 0))
+
+        abvDBH_percetage <- abvDBH_pcount / total_pcount
+        set.names(abvDBH_percetage, "Per_abvDBH", index = 1)
+        # replace NA with 0
+        abvDBH_percetage <- classify(abvDBH_percetage, cbind(NA, 0))
+        abvDBH_percetage <- crop(abvDBH_percetage, ext(chunk))
+    }
+
+    sDBH <- as.character(sDBH)
+    sDBH <- gsub("\\.", "p", sDBH)
+
+    opt_output_files(n_ctg) <- paste0(out_folder, "/{*}_return_above_", sDBH, 'm')
+    n_ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    out <- catalog_apply(n_ctg, compute_aboveDBH, DBH, out_folder, cell_size)
+    in_file_list = list.files(path = out_folder, pattern = ".tif", all.files = TRUE, full.names = TRUE)
+    rast_list <- list()
+    for (i in 1:length(in_file_list)) {
+        rast_obj <- rast(in_file_list[[i]])
+        rast_list <- c(rast_list, rast_obj)
+    }
+    terra::mosaic(terra::sprc(rast_list), fun = "first", filename = paste0(out_folder, "/Merged__return_above_", sDBH, 'm'), overwrite = TRUE)
+
+
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################
+normalized_lidar_knnidw <- function(in_las_folder, out_folder, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #read Las file and drop any noise from the point cloud
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
+    print("Normalize lidar data...")
+    opt_progress(ctg) <- TRUE
+    n_las <- normalize_height(ctg, algorithm = knnidw())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+##########################################################################
+normalized_lidar_tin <- function(in_las_folder, out_folder, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #read Las file and drop any noise from the point cloud
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
+    print("Normalize lidar data...")
+    opt_progress(ctg) <- TRUE
+
+    n_las <- normalize_height(ctg, algorithm = tin())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+##########################################################################
+normalized_lidar_kriging <- function(in_las_folder, out_folder, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #read Las file and drop any noise from the point cloud
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/normalized/n_{*}")
+    print("Normalize lidar data...")
+    opt_progress(ctg) <- TRUE
+    n_las <- normalize_height(ctg, algorithm = kriging())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################
+chm_by_dsmtin <- function(in_las_folder, out_folder, cell_size, is_normalized, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    if (is_normalized) {
+        print("Generating CHM using TIN...")
+        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_chm") }
+    else {
+        print("Generating DSM using TIN...")
+        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_dsm") }
+
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    chm <- rasterize_canopy(ctg, cell_size, dsmtin(max_edge = (3 * cell_size)), pkg = "terra")
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################
+chm_by_pitfree <- function(in_las_folder, out_folder, cell_size, is_normalized, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7 -drop_overlap')
+
+    if (is_normalized) {
+        print("Generate CHM using Pit-free...")
+        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_chm") }
+    else {
+        print("Generate DSM using Pit-free...")
+        opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_dsm") }
+
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    chm <- rasterize_canopy(ctg, cell_size, pitfree(thresholds = c(0, 3, 5, 10, 15, 20), max_edge = c(0, 3 * cell_size), subcircle = (cell_size)))
+    # reset R mutilsession back to default
+
+    rast_list <- list()
+    for (i in 1:length(chm)) {
+        rast_obj <- terra::rast(chm[[i]])
+        rast_list <- c(rast_list, rast_obj)
+    }
+    mosaic(sprc(rast_list), fun = "first", filename = paste0(out_folder, "/Merged_CHM.tif"), overwrite = TRUE)
+
+    plan(sequential)
+
+}
+
+#########################################################################################
+dtm_by_knnidw <- function(in_las_folder, out_folder, cell_size, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    print("Generate DTM...")
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = knnidw())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################
+dtm_by_kriging <- function(in_las_folder, out_folder, cell_size, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    print("Generate DTM...")
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    ctg@output_options$drivers$Raster$param$overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = kriging())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#########################################################################################
+dtm_by_tin <- function(in_las_folder, out_folder, cell_size, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+    library(terra)
+
+    if (cell_size < 1.0) { rprocesses = rprocesses / 2 }
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    print("Generate DTM...")
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_DTM")
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    #         ctg@output_options$drivers$Raster$param$overwrite <- TRUE
+    opt_progress(ctg) <- TRUE
+    dtm <- rasterize_terrain(ctg, res = cell_size, algorithm = tin())
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+###########################################################################################
+laz2las <- function(in_las_folder, out_folder, rprocesses) {
+#     update.packages(list('lidR','future'))
+    library(lidR)
+    library(future)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    mywriteLAS = function(chunk) {
+        las <- readLAS(chunk)
+
+        if (is.empty(las)) return(NULL)
+        las <- filter_poi(las, buffer == 0)
+        return(las) }
+
+    #read Laz file and drop any noise from the point cloud
+    ctg <- readLAScatalog(in_las_folder)
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/las/{*}")
+    opt_laz_compression(ctg) <- FALSE
+    print("Saving zipped lidar data into *.las format...")
+    opt_progress(ctg) <- TRUE
+    catalog_apply(ctg, mywriteLAS)
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#############################################################
+las_info <- function(in_las_folder, rprocesses) {
+    library(lidR)
+    library(future)
+#     update.packages(list('lidR','future'))
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+    print("loading LiDAR Data")
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    print(paste0("Data format: v", (ctg@data$Version.Major[1]), ".", (ctg@data$Version.Minor[1])))
+    print(paste0("Extent: ", min(ctg@data$Min.X), " ", max(ctg@data$Max.X), " ", min(ctg@data$Min.Y), " ", max(ctg@data$Max.Y)))
+    print(paste0("Area: ", round(st_area(ctg) / (1000 * 1000), 2), " units²"))
+    print(paste0("Total Pts: ", sum(ctg@data$Number.of.point.records)))
+    print(paste0("Density: ", round(sum(ctg@data$Number.of.point.records) / st_area(ctg), 0), " pts/units²"))
+    print(paste0("Total num. files: ", length(ctg@data$filename)))
+
+
+}
+
+#######################################################################################################################################
+classify_gnd <- function(in_las_folder, out_folder, slope, class_threshold, cloth_resolution, rigidness) {
+    library(lidR)
+    library(future)
+    library(RCSF)
+
+    print("loading LiDAR Data")
+    plan(multisession, workers = 4)
+    set_lidr_threads(4)
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class_7 -drop_overlap')
+    opt_output_files(ctg) <- paste0(out_folder, "/{*}_gnd_classified")
+    opt_laz_compression(ctg) <- FALSE
+    gnd_csf <- csf(slope, class_threshold = class_threshold, cloth_resolution = cloth_resolution, rigidness = rigidness, iterations = 500, time_step = 0.65)
+    print("Classify ground start....")
+    c_ctg <- classify_ground(ctg, gnd_csf)
+}
+
+#############################################################################################
+conduct_raster <- function(in_las_folder, out_folder, cell_size, rprocesses) {
+
+    library(terra)
+    library(lidR)
+    library(future)
+    library(sf)
+
+    plan(multisession, workers = rprocesses)
+    set_lidr_threads(rprocesses)
+
+    #normalized LAS with pulse info
+
+    ctg <- readLAScatalog(in_las_folder, filter = '-drop_class 7')
+    opt_progress(ctg) <- TRUE
+
+    print("Generating multiple conductivity raster on:")
+    print("CHM, Slope, Roughness, ground point density, intensity raster.")
+    print("Idea from Correction, update, and enhancement of vectorial forestry line maps using LiDAR data, a pathfinder, and seven metrics, Jean-Romain Roussel, etl 2022.")
+
+    Q_raster <- function(chunk, cell_size)
+    {
+        las <- readLAS(chunk)
+        if (is.empty(las)) return(NULL)
+
+        las_1 <- filter_poi(readLAS(chunk), buffer == 0)
+        hull <- st_convex_hull(las_1)
+        bbox <- vect(hull)
+
+
+        #     message('Generate DTM using Triangulation  ...')
+        dtm <- rasterize_terrain(las, res = cell_size, algorithm = tin(max_edge = (3 * cell_size)))
+
+        n_las <- normalize_height(las, dtm)
+
+        #message("Generating slope conductivity raster...")
+        slope <- terrain(dtm, "slope", 8)
+        slope_range = slope@ptr$range_max - slope@ptr$range_min
+        Qslope <- ifel(slope <= slope_range * 0.1, 1, ifel(slope > slope_range * 0.75, 0, (1 - ((slope - slope@ptr$range_min) / slope_range))))
+        Qslope[is.na(Qslope)] = 0
+        Qslope <- terra::crop(Qslope, bbox)
+
+
+        #     message("Generating roughness conductivity raster...")
+        roughness <- terrain(dtm, "roughness")
+        roughness_range = roughness@ptr$range_max - roughness@ptr$range_min
+        Qrough <- ifel(roughness <= roughness_range * 0.1, 1, ifel(roughness > roughness_range * 0.8, 0, (1 - ((roughness - roughness@ptr$range_min) / roughness_range))))
+        Qrough[is.na(Qrough)] = 0
+        Qrough <- terra::crop(Qrough, bbox)
+
+        #     message("Generating edge conductivity raster...")
+        #sobel filter
+        fx = matrix(c(-1, -2, -1, 0, 0, 0, 1, 2, 1), nrow = 3)
+        fy = matrix(c(1, 0, -1, 2, 0, -2, 1, 0, -1), nrow = 3)
+
+        dtm_sobelx = focal(dtm, fx, na.policy = "omit")
+        dtm_sobely = focal(dtm, fy, na.policy = "omit")
+
+        dtm_sobel = sqrt(dtm_sobelx**2 + dtm_sobely**2)
+        dtm_sobel_range = dtm_sobel@ptr$range_max - dtm_sobel@ptr$range_min
+        Qedge <- ifel(dtm_sobel <= dtm_sobel_range * 0.15, 1, ifel(dtm_sobel > dtm_sobel_range * 0.85, 0, (1 - ((dtm_sobel - dtm_sobel@ptr$range_min) / dtm_sobel_range))))
+        Qedge[is.na(Qedge)] = 0
+        Qedge <- terra::crop(Qedge, bbox)
+
+        #     message('Generate CHM...')
+        chm <- rasterize_canopy(n_las, cell_size, dsmtin(max_edge = (3 * cell_size)), pkg = "terra")
+        chm_range = chm@ptr$range_max - chm@ptr$range_min
+        Qchm <- ifel(chm <= chm_range * 0.1, 1, ifel(chm > chm_range * 0.75, 0, (1 - ((chm - chm@ptr$range_min) / chm_range))))
+        Qchm[is.na(Qchm)] = 0
+        Qchm <- terra::crop(Qchm, bbox)
+
+        #     message("Generating intensity conductivity raster...")
+        #     sensor <- track_sensor(las, Roussel2020(pmin=15))
+        #     las <- normalize_intensity(las, range_correction(sensor,Rs=1800 ))
+        int_max <- pixel_metrics(las, (~max(Intensity)), cell_size) #,filter = ~ReturnNumber == 1L)
+        int_min <- pixel_metrics(las, (~min(Intensity)), cell_size) #,filter = ~ReturnNumber == 1L)
+        irange_map <- int_max - int_min
+        irange_map[is.na(irange_map)] = 0
+        iq2 <- global(irange_map, quantile, probs = 0.05, na.rm = TRUE)[[1]]
+        int_map_range <- irange_map@ptr$range_max - irange_map@ptr$range_min
+        Qint <- ifel(irange_map <= iq2, 1, ifel(irange_map > int_map_range * 0.75, 0, (1 - ((irange_map - irange_map@ptr$range_min) / int_map_range))))
+        Qint[is.na(Qint)] = 0
+        Qint <- terra::crop(Qint, bbox)
+
+        #     message("Generating ground point density conductivity raster...")
+        g = filter_poi(las, Classification == 2L)
+        gpd <- rasterize_density(g, res = cell_size, pkg = "terra")
+        #     gpd <- pixel_metrics(las, ~list(length(Z)/0.35**2),res=cell_size,filter=~Classification == 2L)
+        gq2 <- global(gpd, quantile, probs = 0.02, na.rm = TRUE)[[1]]
+        gpd_range = gpd@ptr$range_max - gpd@ptr$range_min
+        Qgpd <- ifel(gpd <= gq2, 0, (gpd - gpd@ptr$range_min) / gpd_range)
+        Qgpd[is.na(Qgpd)] = 0
+        Qgpd <- terra::crop(Qgpd, bbox)
+
+
+        #     message("Generating low vegetation density conductivity raster...")
+        l = filter_poi(n_las, Z >= 1.0 &
+          Z <= 3 &
+          !(Classification %in% c(LASWATER, LASGROUND, LASBUILDING)))
+        lower_density <- rasterize_density(l, res = cell_size, pkg = "terra")
+        #     lower_density <- pixel_metrics(n_las, ~list(length(Z)/0.35**2), cell_size,filter=~(Z>= 0.5 & Z<=3))
+        lq2 <- global(lower_density, quantile, probs = 0.02, na.rm = TRUE)[[1]]
+        lower_range = lower_density@ptr$range_max - lower_density@ptr$range_min
+        Qlower <- ifel(lower_density > lq2, 0, 1)
+        Qlower[is.na(Qlower)] = 0
+        Qlower <- terra::crop(Qlower, bbox)
+
+        #     message("Generating combined conductivity raster...")
+        Conduct <- (Qslope * Qlower * Qedge) * (0.25 * Qchm +
+          0.25 * Qgpd +
+          0.25 * Qrough +
+          0.25 * Qint)
+        cost <- Conduct * -1 + Conduct@ptr$range_max
+        cost[is.na(cost)] = 1
+
+        dtm <- terra::crop(dtm, bbox)
+        dtm[is.na(dtm)] = NaN
+        chm <- terra::crop(chm, bbox)
+        chm[is.na(chm)] = NaN
+
+
+        lower_canopy <- -ifel(lower_density > lq2, 1, 0)
+        lower_canopy <- ifel(lower_canopy == -1, 1, lower_canopy)
+        upper_canopy <- ifel(chm > 3, 1, 0)
+
+        lower_canopy <- extend(lower_canopy, ext(bbox))
+        upper_canopy <- extend(upper_canopy, ext(bbox))
+
+        canopy <- ifel(upper_canopy == 1, upper_canopy * lower_canopy, upper_canopy + lower_canopy)
+        canopy[is.na(canopy)] = 0
+
+
+        return(list(Qchm, Qslope, Qrough, Qgpd, Qint, Qedge, Qlower, Conduct, cost, dtm, chm, canopy))
+
+    }
+
+    MultiWrite = function(output_list, file) {
+        Qchm = output_list[[1]]
+        Qslope = output_list[[2]]
+        Qrough = output_list[[3]]
+        Qgpd = output_list[[4]]
+        Qint = output_list[[5]]
+        Qedge = output_list[[6]]
+        Qlower = output_list[[7]]
+        Conductivity = output_list[[8]]
+        Cost = output_list[[9]]
+        dtm = output_list[[10]]
+        chm = output_list[[11]]
+        canopy = output_list[[12]]
+        path1 = gsub("@@@", "Qchm", file)
+        path2 = gsub("@@@", "Qslope", file)
+        path3 = gsub("@@@", "Qrough", file)
+        path4 = gsub("@@@", "Qgpd", file)
+        path5 = gsub("@@@", "Qint", file)
+        path6 = gsub("@@@", "Qedge", file)
+        path7 = gsub("@@@", "Qlower", file)
+        path8 = gsub("@@@", "Conductivity", file)
+        path9 = gsub("@@@", "Cost", file)
+        path10 = gsub("@@@", "DTM", file)
+        path11 = gsub("@@@", "CHM", file)
+        path12 = gsub("@@@", "Canopy", file)
+
+        path1 = paste0(path1, ".tif")
+        path2 = paste0(path2, ".tif")
+        path3 = paste0(path3, ".tif")
+        path4 = paste0(path4, ".tif")
+        path5 = paste0(path5, ".tif")
+        path6 = paste0(path6, ".tif")
+        path7 = paste0(path7, ".tif")
+        path8 = paste0(path8, ".tif")
+        path9 = paste0(path9, ".tif")
+        path10 = paste0(path10, ".tif")
+        path11 = paste0(path11, ".tif")
+        path12 = paste0(path12, ".tif")
+
+        terra::writeRaster(Qchm, path1, overwrite = TRUE)
+        terra::writeRaster(Qslope, path2, overwrite = TRUE)
+        terra::writeRaster(Qrough, path3, overwrite = TRUE)
+        terra::writeRaster(Qgpd, path4, overwrite = TRUE)
+        terra::writeRaster(Qint, path5, overwrite = TRUE)
+        terra::writeRaster(Qedge, path6, overwrite = TRUE)
+        terra::writeRaster(Qlower, path7, overwrite = TRUE)
+        terra::writeRaster(Conductivity, path8, overwrite = TRUE)
+        terra::writeRaster(Cost, path9, overwrite = TRUE)
+        terra::writeRaster(dtm, path10, overwrite = TRUE)
+        terra::writeRaster(chm, path11, overwrite = TRUE)
+        terra::writeRaster(canopy, path12, overwrite = TRUE)
+
+    }
+
+    MultiWriteDriver = list(
+      write = MultiWrite,
+      extension = "",
+      object = "output_list",
+      path = "file",
+      param = list())
+
+
+    ctg@output_options$drivers$list <- MultiWriteDriver
+    opt_output_files(ctg) <- opt_output_files(ctg) <- paste0(out_folder, "/{*}_@@@")
+    opt_laz_compression(ctg) <- FALSE
+    opt_progress(ctg) <- TRUE
+    opt <- list(need_output_file = TRUE, autocrop = TRUE)
+    opt_chunk_alignment(ctg) <- c(0, 0)
+    ctg@output_options$
+      drivers$
+      SpatRaster$
+      param$
+      overwrite <- TRUE
+    opt_stop_early(ctg) <- TRUE
+    catalog_apply(ctg, Q_raster, cell_size = cell_size, .options = opt)
+    # reset R mutilsession back to default
+    plan(sequential)
+}
+
+#####################################################################################################