Ejemplo n.º 1
0
void copyScalarFields(const ccPointCloud *inCloud, ccPointCloud *outCloud, pcl::PointIndicesPtr &in2outMapping, bool overwrite = true)
{
    int n_in = inCloud->size();
    int n_out = outCloud->size();
    assert(in2outMapping->indices.size() == outCloud->size());

    int n_scalars = inCloud->getNumberOfScalarFields();
    for (int i = 0; i < n_scalars; ++i)
      {
        CCLib::ScalarField * field = inCloud->getScalarField(i);
        const char * name = field->getName();

        //we need to verify no scalar field with the same name exists in the output cloud
        int id = outCloud->getScalarFieldIndexByName(name);
        ccScalarField * new_field = new ccScalarField;

        //resize the scalar field to the outcloud size
        new_field->reserve(outCloud->size());
        new_field->setName(name);

        if (id >= 0) //a scalar field with the same name exists
          {
           if (overwrite)
               outCloud->deleteScalarField(id);
           else
              break;
          }


        //now perform point to point copy
        for (unsigned int j = 0; j < outCloud->size(); ++j)
          {
            new_field->setValue(j, field->getValue(in2outMapping->indices.at(j)));
          }


        //recompute stats
        new_field->computeMinAndMax();
        ccScalarField * casted_field = static_cast<ccScalarField *> (new_field);
        casted_field->computeMinAndMax();



        //now put back the scalar field to the outCloud
        if (id < 0)
          outCloud->addScalarField(casted_field);


      }
}
Ejemplo n.º 2
0
CC_FILE_ERROR VTKFilter::saveToFile(ccHObject* entity, QString filename, SaveParameters& parameters)
{
	if (!entity || filename.isEmpty())
		return CC_FERR_BAD_ARGUMENT;

	//look for either a cloud or a mesh
	ccMesh* mesh = ccHObjectCaster::ToMesh(entity);
	unsigned triCount = 0;
	ccGenericPointCloud* vertices = 0;
	if (mesh)
	{
		//input entity is a mesh
		triCount = mesh->size();
		if (triCount == 0)
		{
			ccLog::Warning("[VTK] Input mesh has no triangle?!");
			return CC_FERR_NO_SAVE;
		}
		vertices = mesh->getAssociatedCloud();
	}
	else
	{
		//no mesh? maybe the input entity is a cloud?
		vertices = ccHObjectCaster::ToGenericPointCloud(entity);
	}

	//in any case, we must have a valid 'vertices' entity now
	if (!vertices)
	{
		ccLog::Warning("[VTK] No point cloud nor mesh in input selection!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}
	unsigned ptsCount = vertices->size();
	if (!ptsCount)
	{
		ccLog::Warning("[VTK] No point/vertex to save?!");
		return CC_FERR_NO_SAVE;
	}

	//open ASCII file for writing
	QFile file(filename);
	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
		return CC_FERR_WRITING;

	QTextStream outFile(&file);
	outFile.setRealNumberPrecision(sizeof(PointCoordinateType) == 4 ? 8 : 12);

	//write header
	outFile << "# vtk DataFile Version 3.0" << endl;
	outFile << "vtk output" << endl;
	outFile << "ASCII" << endl;
	outFile << "DATASET " << (mesh ? "POLYDATA" : "UNSTRUCTURED_GRID") << endl;

	//data type
	QString floatType = (sizeof(PointCoordinateType) == 4 ? "float" : "double");

	/*** what shall we save now? ***/

	// write the points
	{
		outFile << "POINTS " << ptsCount << " " << floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3* P = vertices->getPoint(i);
			CCVector3d Pglobal = vertices->toGlobal3d<PointCoordinateType>(*P);
			outFile << Pglobal.x << " "
					<< Pglobal.y << " "
					<< Pglobal.z << endl;
		}
	}

	// write triangles
	if (mesh)
	{
		outFile << "POLYGONS " << triCount << " " <<  4*triCount << endl;
		mesh->placeIteratorAtBegining();
		for (unsigned i=0; i<triCount; ++i)
		{
			const CCLib::VerticesIndexes* tsi = mesh->getNextTriangleVertIndexes(); //DGM: getNextTriangleVertIndexes is faster for mesh groups!
			outFile << "3 " << tsi->i1 << " " << tsi->i2  << " " << tsi->i3 << endl;
		}
	}
	else
	{
		// write cell data
		outFile << "CELLS " << ptsCount << " " <<  2*ptsCount << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << i << endl;

		outFile << "CELL_TYPES " << ptsCount  << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << endl;
	}

	outFile << "POINT_DATA " << ptsCount << endl;

	// write normals
	if (vertices->hasNormals())
	{
		outFile << "NORMALS Normals "<< floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3& N = vertices->getPointNormal(i);
			outFile << N.x << " " << N.y << " "  << N.z << endl;
		}
	}

	// write colors
	if (vertices->hasColors())
	{
		outFile << "COLOR_SCALARS RGB 3" << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const colorType* C = vertices->getPointColor(i);
			outFile << static_cast<float>(C[0])/ccColor::MAX << " " << static_cast<float>(C[1])/ccColor::MAX << " "  << static_cast<float>(C[2])/ccColor::MAX << endl;
		}
	}

	// write scalar field(s)?
	if (vertices->isA(CC_TYPES::POINT_CLOUD))
	{
		ccPointCloud* pointCloud = static_cast<ccPointCloud*>(vertices);
		unsigned sfCount = pointCloud->getNumberOfScalarFields();
		for (unsigned i=0;i<sfCount;++i)
		{
			CCLib::ScalarField* sf = pointCloud->getScalarField(i);

			outFile << "SCALARS " << QString(sf->getName()).replace(" ","_") << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << sf->getValue(j) << endl;
		}
	}
	else //virtual point cloud, we only have access to its currently displayed scalar field
	{
		if (vertices->hasScalarFields())
		{
			outFile << "SCALARS ScalarField" << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << vertices->getPointDisplayedDistance(j) << endl;
		}
	}

	file.close();

	return CC_FERR_NO_ERROR;
}
Ejemplo n.º 3
0
CC_FILE_ERROR VTKFilter::saveToFile(ccHObject* entity, const char* filename)
{
	if (!entity || !filename)
		return CC_FERR_BAD_ARGUMENT;

	//look for either a cloud or a mesh
	ccHObject::Container clouds,meshes;
	if (entity->isA(CC_TYPES::POINT_CLOUD))
		clouds.push_back(entity);
	else if (entity->isKindOf(CC_TYPES::MESH))
		meshes.push_back(entity);
	else //group?
	{
		for (unsigned i=0; i<entity->getChildrenNumber(); ++i)
		{
			ccHObject* child = entity->getChild(i);
			if (child->isKindOf(CC_TYPES::POINT_CLOUD))
				clouds.push_back(child);
			else if (child->isKindOf(CC_TYPES::MESH))
				meshes.push_back(child);
		}
	}

	if (clouds.empty() && meshes.empty())
	{
		ccLog::Error("No point cloud nor mesh in input selection!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}
	else if (clouds.size()+meshes.size()>1)
	{
		ccLog::Error("Can't save more than one entity per VTK file!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}

	//the cloud to save
	ccGenericPointCloud* vertices = 0;
	ccMesh* mesh = 0;
	unsigned triCount = 0;
	if (!clouds.empty()) //1 cloud, no mesh
	{
		vertices = ccHObjectCaster::ToGenericPointCloud(clouds[0]);
	}
	else //1 mesh, with vertices as cloud
	{
		mesh = static_cast<ccMesh*>(meshes[0]);
		triCount = mesh->size();
		if (triCount == 0)
		{
			ccLog::Error("Mesh has no triangle?!");
			return CC_FERR_NO_SAVE;
		}
		vertices = mesh->getAssociatedCloud();
	}

	assert(vertices);
	unsigned ptsCount = vertices->size();
	if (!ptsCount)
	{
		ccLog::Error("No point/vertex to save?!");
		return CC_FERR_NO_SAVE;
	}

	//open ASCII file for writing
	QFile file(filename);
	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
		return CC_FERR_WRITING;

	QTextStream outFile(&file);
	outFile.setRealNumberPrecision(sizeof(PointCoordinateType) == 4 ? 8 : 12);

	//write header
	outFile << "# vtk DataFile Version 3.0" << endl;
	outFile << "vtk output" << endl;
	outFile << "ASCII" << endl;
	outFile << "DATASET " << (mesh ? "POLYDATA" : "UNSTRUCTURED_GRID") << endl;

	//data type
	QString floatType = (sizeof(PointCoordinateType) == 4 ? "float" : "double");

	/*** what shall we save now? ***/

	// write the points
	{
		outFile << "POINTS " << ptsCount << " " << floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3* P = vertices->getPoint(i);
			CCVector3d Pglobal = vertices->toGlobal3d<PointCoordinateType>(*P);
			outFile << Pglobal.x << " "
					<< Pglobal.y << " "
					<< Pglobal.z << endl;
		}
	}

	// write triangles
	if (mesh)
	{
		outFile << "POLYGONS " << triCount << " " <<  4*triCount << endl;
		mesh->placeIteratorAtBegining();
		for (unsigned i=0; i<triCount; ++i)
		{
			const CCLib::TriangleSummitsIndexes* tsi = mesh->getNextTriangleIndexes(); //DGM: getNextTriangleIndexes is faster for mesh groups!
			outFile << "3 " << tsi->i1 << " " << tsi->i2  << " " << tsi->i3 << endl;
		}
	}
	else
	{
		// write cell data
		outFile << "CELLS " << ptsCount << " " <<  2*ptsCount << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << i << endl;

		outFile << "CELL_TYPES " << ptsCount  << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << endl;
	}

	outFile << "POINT_DATA " << ptsCount << endl;

	// write normals
	if (vertices->hasNormals())
	{
		outFile << "NORMALS Normals "<< floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3& N = vertices->getPointNormal(i);
			outFile << N.x << " " << N.y << " "  << N.z << endl;
		}
	}

	// write colors
	if (vertices->hasColors())
	{
		outFile << "COLOR_SCALARS RGB 3" << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const colorType* C = vertices->getPointColor(i);
			outFile << (float)C[0]/(float)MAX_COLOR_COMP << " " << (float)C[1]/(float)MAX_COLOR_COMP << " "  << (float)C[2]/(float)MAX_COLOR_COMP << endl;
		}
	}

	// write scalar field(s)?
	if (vertices->isA(CC_TYPES::POINT_CLOUD))
	{
		ccPointCloud* pointCloud = static_cast<ccPointCloud*>(vertices);
		unsigned sfCount = pointCloud->getNumberOfScalarFields();
		for (unsigned i=0;i<sfCount;++i)
		{
			CCLib::ScalarField* sf = pointCloud->getScalarField(i);

			outFile << "SCALARS " << QString(sf->getName()).replace(" ","_") << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << sf->getValue(j) << endl;
		}
	}
	else //virtual point cloud, we only have access to its currently displayed scalar field
	{
		if (vertices->hasScalarFields())
		{
			outFile << "SCALARS ScalarField" << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << vertices->getPointDisplayedDistance(j) << endl;
		}
	}

	file.close();

	return CC_FERR_NO_ERROR;
}
Ejemplo n.º 4
0
void ccRasterizeTool::generateRaster() const
{
#ifdef CC_GDAL_SUPPORT

	if (!m_cloud || !m_grid.isValid())
		return;

	GDALAllRegister();
	ccLog::PrintDebug("(GDAL drivers: %i)", GetGDALDriverManager()->GetDriverCount());

	const char *pszFormat = "GTiff";
	GDALDriver *poDriver = GetGDALDriverManager()->GetDriverByName(pszFormat);
	if (!poDriver)
	{
		ccLog::Error("[GDAL] Driver %s is not supported", pszFormat);
		return;
	}

	char** papszMetadata = poDriver->GetMetadata();
	if( !CSLFetchBoolean( papszMetadata, GDAL_DCAP_CREATE, FALSE ) )
	{
		ccLog::Error("[GDAL] Driver %s doesn't support Create() method", pszFormat);
		return;
	}

	//which (and how many) bands shall we create?
	bool heightBand = true; //height by default
	bool densityBand = false;
	bool allSFBands = false;
	int sfBandIndex = -1; //scalar field index
	int totalBands = 0;

	bool interpolateSF = (getTypeOfSFInterpolation() != INVALID_PROJECTION_TYPE);
	ccPointCloud* pc = m_cloud->isA(CC_TYPES::POINT_CLOUD) ? static_cast<ccPointCloud*>(m_cloud) : 0;

	bool hasSF =  interpolateSF && pc && !m_grid.scalarFields.empty();
	
	RasterExportOptionsDlg reoDlg;
	reoDlg.dimensionsLabel->setText(QString("%1 x %2").arg(m_grid.width).arg(m_grid.height));
	reoDlg.exportHeightsCheckBox->setChecked(heightBand);
	reoDlg.exportDensityCheckBox->setChecked(densityBand);
	reoDlg.exportDisplayedSFCheckBox->setEnabled(hasSF);
	reoDlg.exportAllSFCheckBox->setEnabled(hasSF);
	reoDlg.exportAllSFCheckBox->setChecked(allSFBands);

	if (!reoDlg.exec())
		return;

	//we ask the output filename AFTER displaying the export parameters ;)
	QString outputFilename;
	{
		QSettings settings;
		settings.beginGroup(ccPS::HeightGridGeneration());
		QString imageSavePath = settings.value("savePathImage",QApplication::applicationDirPath()).toString();
		outputFilename = QFileDialog::getSaveFileName(0,"Save height grid raster",imageSavePath+QString("/raster.tif"),"geotiff (*.tif)");

		if (outputFilename.isNull())
			return;

		//save current export path to persistent settings
		settings.setValue("savePathImage",QFileInfo(outputFilename).absolutePath());
	}

	heightBand = reoDlg.exportHeightsCheckBox->isChecked();
	densityBand = reoDlg.exportDensityCheckBox->isChecked();
	if (hasSF)
	{
		assert(pc);
		allSFBands = reoDlg.exportAllSFCheckBox->isChecked() && hasSF;
		if (!allSFBands && reoDlg.exportDisplayedSFCheckBox->isChecked())
		{
			sfBandIndex = pc->getCurrentDisplayedScalarFieldIndex();
			if (sfBandIndex < 0)
				ccLog::Warning("[Rasterize] Cloud has no active (displayed) SF!");
		}
	}

	totalBands = heightBand ? 1 : 0;
	if (densityBand)
	{
		++totalBands;
	}
	if (allSFBands)
	{
		assert(hasSF);
		for (size_t i=0; i<m_grid.scalarFields.size(); ++i)
			if (m_grid.scalarFields[i])
				++totalBands;
	}
	else if (sfBandIndex >= 0)
	{
		++totalBands;
	}
	
	if (totalBands == 0)
	{
		ccLog::Warning("[Rasterize] Warning, can't output a raster with no band! (check export parameters)");
		return;
	}

	//data type
	GDALDataType dataType = (std::max(sizeof(PointCoordinateType),sizeof(ScalarType)) > 4 ? GDT_Float64 : GDT_Float32);

	char **papszOptions = NULL;
	GDALDataset* poDstDS = poDriver->Create(qPrintable(outputFilename),
											static_cast<int>(m_grid.width),
											static_cast<int>(m_grid.height),
											totalBands,
											dataType, 
											papszOptions);

	if (!poDstDS)
	{
		ccLog::Error("[GDAL] Failed to create output raster (not enough memory?)");
		return;
	}

	ccBBox box = getCustomBBox();
	assert(box.isValid());

	//vertical dimension
	const unsigned char Z = getProjectionDimension();
	assert(Z >= 0 && Z <= 2);
	const unsigned char X = Z == 2 ? 0 : Z +1;
	const unsigned char Y = X == 2 ? 0 : X +1;

	double shiftX = box.minCorner().u[X];
	double shiftY = box.minCorner().u[Y];

	double stepX = m_grid.gridStep;
	double stepY = m_grid.gridStep;
	if (pc)
	{
		const CCVector3d& shift = pc->getGlobalShift();
		shiftX -= shift.u[X];
		shiftY -= shift.u[Y];

		double scale = pc->getGlobalScale();
		assert(scale != 0);
		stepX /= scale;
		stepY /= scale;
	}

	double adfGeoTransform[6] = {	shiftX,		//top left x
									stepX,		//w-e pixel resolution (can be negative)
									0,			//0
									shiftY,		//top left y
									0,			//0
									stepY		//n-s pixel resolution (can be negative)
	};

	poDstDS->SetGeoTransform( adfGeoTransform );

	//OGRSpatialReference oSRS;
	//oSRS.SetUTM( 11, TRUE );
	//oSRS.SetWellKnownGeogCS( "NAD27" );
	//char *pszSRS_WKT = NULL;
	//oSRS.exportToWkt( &pszSRS_WKT );
	//poDstDS->SetProjection( pszSRS_WKT );
	//CPLFree( pszSRS_WKT );

	double* scanline = (double*) CPLMalloc(sizeof(double)*m_grid.width);
	int currentBand = 0;

	//exort height band?
	if (heightBand)
	{
		GDALRasterBand* poBand = poDstDS->GetRasterBand(++currentBand);
		assert(poBand);
		poBand->SetColorInterpretation(GCI_Undefined);

		EmptyCellFillOption fillEmptyCellsStrategy = getFillEmptyCellsStrategy(fillEmptyCellsComboBox);

		double emptyCellHeight = 0;
		switch (fillEmptyCellsStrategy)
		{
		case LEAVE_EMPTY:
			emptyCellHeight = m_grid.minHeight-1.0;
			poBand->SetNoDataValue(emptyCellHeight); //should be transparent!
			break;
		case FILL_MINIMUM_HEIGHT:
			emptyCellHeight = m_grid.minHeight;
			break;
		case FILL_MAXIMUM_HEIGHT:
			emptyCellHeight = m_grid.maxHeight;
			break;
		case FILL_CUSTOM_HEIGHT:
			emptyCellHeight = getCustomHeightForEmptyCells();
			break;
		case FILL_AVERAGE_HEIGHT:
			emptyCellHeight = m_grid.meanHeight;
			break;
		default:
			assert(false);
		}

		for (unsigned j=0; j<m_grid.height; ++j)
		{
			const RasterCell* aCell = m_grid.data[j];
			for (unsigned i=0; i<m_grid.width; ++i,++aCell)
			{
				scanline[i] = aCell->h == aCell->h ? aCell->h : emptyCellHeight;
			}

			if (poBand->RasterIO( GF_Write, 0, static_cast<int>(j), static_cast<int>(m_grid.width), 1, scanline, static_cast<int>(m_grid.width), 1, GDT_Float64, 0, 0 ) != CE_None)
			{
				ccLog::Error("[GDAL] An error occurred while writing the height band!");
				if (scanline)
					CPLFree(scanline);
				GDALClose( (GDALDatasetH) poDstDS );
				return;
			}
		}
	}

	//export density band
	if (densityBand)
	{
		GDALRasterBand* poBand = poDstDS->GetRasterBand(++currentBand);
		assert(poBand);
		poBand->SetColorInterpretation(GCI_Undefined);
		for (unsigned j=0; j<m_grid.height; ++j)
		{
			const RasterCell* aCell = m_grid.data[j];
			for (unsigned i=0; i<m_grid.width; ++i,++aCell)
			{
				scanline[i] = aCell->nbPoints;
			}

			if (poBand->RasterIO( GF_Write, 0, static_cast<int>(j), static_cast<int>(m_grid.width), 1, scanline, static_cast<int>(m_grid.width), 1, GDT_Float64, 0, 0 ) != CE_None)
			{
				ccLog::Error("[GDAL] An error occurred while writing the height band!");
				if (scanline)
					CPLFree(scanline);
				GDALClose( (GDALDatasetH) poDstDS );
				return;
			}
		}
	}

	//export SF bands
	if (allSFBands || sfBandIndex >= 0)
	{
		for (size_t k=0; k<m_grid.scalarFields.size(); ++k)
		{
			double* _sfGrid = m_grid.scalarFields[k];
			if (_sfGrid && (allSFBands || sfBandIndex == static_cast<int>(k))) //valid SF grid
			{
				GDALRasterBand* poBand = poDstDS->GetRasterBand(++currentBand);

				double sfNanValue = static_cast<double>(CCLib::ScalarField::NaN());
				poBand->SetNoDataValue(sfNanValue); //should be transparent!
				assert(poBand);
				poBand->SetColorInterpretation(GCI_Undefined);

				for (unsigned j=0; j<m_grid.height; ++j)
				{
					const RasterCell* aCell = m_grid.data[j];
					for (unsigned i=0; i<m_grid.width; ++i,++_sfGrid,++aCell)
					{
						scanline[i] = aCell->nbPoints ? *_sfGrid : sfNanValue;
					}

					if (poBand->RasterIO( GF_Write, 0, static_cast<int>(j), static_cast<int>(m_grid.width), 1, scanline, static_cast<int>(m_grid.width), 1, GDT_Float64, 0, 0 ) != CE_None)
					{
						//the corresponding SF should exist on the input cloud
						CCLib::ScalarField* formerSf = pc->getScalarField(static_cast<int>(k));
						assert(formerSf);
						ccLog::Error(QString("[GDAL] An error occurred while writing the '%1' scalar field band!").arg(formerSf->getName()));
						k = m_grid.scalarFields.size(); //quick stop
						break;
					}
				}
			}
		}
	}

	if (scanline)
		CPLFree(scanline);
	scanline = 0;

	/* Once we're done, close properly the dataset */
	GDALClose( (GDALDatasetH) poDstDS );

	ccLog::Print(QString("[Rasterize] Raster '%1' succesfully saved").arg(outputFilename));

#else
	assert(false);
	ccLog::Error("[Rasterize] GDAL not supported by this version! Can't generate a raster...");
#endif
}