CC_FILE_ERROR LASFilter::loadFile(const char* filename, ccHObject& container, bool alwaysDisplayLoadDialog/*=true*/, bool* coordinatesShiftEnabled/*=0*/, CCVector3d* coordinatesShift/*=0*/)
{
//opening file
std::ifstream ifs;
ifs.open(filename, std::ios::in | std::ios::binary);
if (ifs.fail())
return CC_FERR_READING;
liblas::Reader* reader = 0;
unsigned nbOfPoints = 0;
std::vector<std::string> dimensions;
try
{
reader = new liblas::Reader(liblas::ReaderFactory().CreateWithStream(ifs)); //using factory for automatic and transparent
//handling of compressed/uncompressed files
liblas::Header const& header = reader->GetHeader();
ccLog::PrintDebug(QString("[LAS FILE] %1 - signature: %2").arg(filename).arg(header.GetFileSignature().c_str()));
//get fields present in file
dimensions = header.GetSchema().GetDimensionNames();
//and of course the number of points
nbOfPoints = header.GetPointRecordsCount();
}
catch (...)
{
delete reader;
ifs.close();
return CC_FERR_READING;
}
if (nbOfPoints==0)
{
//strange file ;)
delete reader;
ifs.close();
return CC_FERR_NO_LOAD;
}
//dialog to choose the fields to load
if (!s_lasOpenDlg)
s_lasOpenDlg = QSharedPointer<LASOpenDlg>(new LASOpenDlg());
s_lasOpenDlg->setDimensions(dimensions);
if (alwaysDisplayLoadDialog && !s_lasOpenDlg->autoSkipMode() && !s_lasOpenDlg->exec())
{
delete reader;
ifs.close();
return CC_FERR_CANCELED_BY_USER;
}
bool ignoreDefaultFields = s_lasOpenDlg->ignoreDefaultFieldsCheckBox->isChecked();
//RGB color
liblas::Color rgbColorMask; //(0,0,0) on construction
if (s_lasOpenDlg->doLoad(LAS_RED))
rgbColorMask.SetRed(~0);
if (s_lasOpenDlg->doLoad(LAS_GREEN))
rgbColorMask.SetGreen(~0);
if (s_lasOpenDlg->doLoad(LAS_BLUE))
rgbColorMask.SetBlue(~0);
bool loadColor = (rgbColorMask[0] || rgbColorMask[1] || rgbColorMask[2]);
//progress dialog
ccProgressDialog pdlg(true); //cancel available
CCLib::NormalizedProgress nprogress(&pdlg,nbOfPoints);
pdlg.setMethodTitle("Open LAS file");
pdlg.setInfo(qPrintable(QString("Points: %1").arg(nbOfPoints)));
pdlg.start();
//number of points read from the begining of the current cloud part
unsigned pointsRead = 0;
CCVector3d Pshift(0,0,0);
//by default we read color as 8 bits integers and we will change this to 16 bits if it's not (16 bits is the standard!)
unsigned char colorCompBitDec = 0;
colorType rgb[3] = {0,0,0};
ccPointCloud* loadedCloud = 0;
std::vector<LasField> fieldsToLoad;
//if the file is too big, we will chunck it in multiple parts
unsigned int fileChunkPos = 0;
unsigned int fileChunkSize = 0;
while (true)
{
//if we reach the end of the file, or the max. cloud size limit (in which case we cerate a new chunk)
bool newPointAvailable = (nprogress.oneStep() && reader->ReadNextPoint());
if (!newPointAvailable || pointsRead == fileChunkPos+fileChunkSize)
{
if (loadedCloud)
{
if (loadedCloud->size())
{
bool thisChunkHasColors = loadedCloud->hasColors();
loadedCloud->showColors(thisChunkHasColors);
if (loadColor && !thisChunkHasColors)
ccLog::Warning("[LAS FILE] Color field was all black! We ignored it...");
while (!fieldsToLoad.empty())
{
LasField& field = fieldsToLoad.back();
if (field.sf)
{
field.sf->computeMinAndMax();
if (field.type == LAS_CLASSIFICATION
|| field.type == LAS_RETURN_NUMBER
|| field.type == LAS_NUMBER_OF_RETURNS)
{
int cMin = (int)field.sf->getMin();
int cMax = (int)field.sf->getMax();
field.sf->setColorRampSteps(std::min<int>(cMax-cMin+1,256));
//classifSF->setMinSaturation(cMin);
}
else if (field.type == LAS_INTENSITY)
{
field.sf->setColorScale(ccColorScalesManager::GetDefaultScale(ccColorScalesManager::GREY));
}
int sfIndex = loadedCloud->addScalarField(field.sf);
if (!loadedCloud->hasDisplayedScalarField())
{
loadedCloud->setCurrentDisplayedScalarField(sfIndex);
loadedCloud->showSF(!thisChunkHasColors);
}
field.sf->release();
field.sf=0;
}
else
{
ccLog::Warning(QString("[LAS FILE] All '%1' values were the same (%2)! We ignored them...").arg(LAS_FIELD_NAMES[field.type]).arg(field.firstValue));
}
fieldsToLoad.pop_back();
}
//if we have reserved too much memory
if (loadedCloud->size() < loadedCloud->capacity())
loadedCloud->resize(loadedCloud->size());
QString chunkName("unnamed - Cloud");
unsigned n = container.getChildrenNumber();
if (n!=0) //if we have more than one cloud, we append an index
{
if (n==1) //we must also update the first one!
container.getChild(0)->setName(chunkName+QString(" #1"));
chunkName += QString(" #%1").arg(n+1);
}
loadedCloud->setName(chunkName);
container.addChild(loadedCloud);
loadedCloud=0;
}
else
{
//empty cloud?!
delete loadedCloud;
loadedCloud=0;
}
}
if (!newPointAvailable)
break; //end of the file (or cancel requested)
//otherwise, we must create a new cloud
fileChunkPos = pointsRead;
fileChunkSize = std::min(nbOfPoints-pointsRead,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);
loadedCloud = new ccPointCloud();
if (!loadedCloud->reserveThePointsTable(fileChunkSize))
{
ccLog::Warning("[LASFilter::loadFile] Not enough memory!");
delete loadedCloud;
delete reader;
ifs.close();
return CC_FERR_NOT_ENOUGH_MEMORY;
}
loadedCloud->setGlobalShift(Pshift);
//DGM: from now on, we only enable scalar fields when we detect a valid value!
if (s_lasOpenDlg->doLoad(LAS_CLASSIFICATION))
fieldsToLoad.push_back(LasField(LAS_CLASSIFICATION,0,0,255)); //unsigned char: between 0 and 255
if (s_lasOpenDlg->doLoad(LAS_CLASSIF_VALUE))
fieldsToLoad.push_back(LasField(LAS_CLASSIF_VALUE,0,0,31)); //5 bits: between 0 and 31
if (s_lasOpenDlg->doLoad(LAS_CLASSIF_SYNTHETIC))
fieldsToLoad.push_back(LasField(LAS_CLASSIF_SYNTHETIC,0,0,1)); //1 bit: 0 or 1
if (s_lasOpenDlg->doLoad(LAS_CLASSIF_KEYPOINT))
fieldsToLoad.push_back(LasField(LAS_CLASSIF_KEYPOINT,0,0,1)); //1 bit: 0 or 1
if (s_lasOpenDlg->doLoad(LAS_CLASSIF_WITHHELD))
fieldsToLoad.push_back(LasField(LAS_CLASSIF_WITHHELD,0,0,1)); //1 bit: 0 or 1
if (s_lasOpenDlg->doLoad(LAS_INTENSITY))
fieldsToLoad.push_back(LasField(LAS_INTENSITY,0,0,65535)); //16 bits: between 0 and 65536
if (s_lasOpenDlg->doLoad(LAS_TIME))
fieldsToLoad.push_back(LasField(LAS_TIME,0,0,-1.0)); //8 bytes (double)
if (s_lasOpenDlg->doLoad(LAS_RETURN_NUMBER))
fieldsToLoad.push_back(LasField(LAS_RETURN_NUMBER,1,1,7)); //3 bits: between 1 and 7
if (s_lasOpenDlg->doLoad(LAS_NUMBER_OF_RETURNS))
fieldsToLoad.push_back(LasField(LAS_NUMBER_OF_RETURNS,1,1,7)); //3 bits: between 1 and 7
if (s_lasOpenDlg->doLoad(LAS_SCAN_DIRECTION))
fieldsToLoad.push_back(LasField(LAS_SCAN_DIRECTION,0,0,1)); //1 bit: 0 or 1
if (s_lasOpenDlg->doLoad(LAS_FLIGHT_LINE_EDGE))
fieldsToLoad.push_back(LasField(LAS_FLIGHT_LINE_EDGE,0,0,1)); //1 bit: 0 or 1
if (s_lasOpenDlg->doLoad(LAS_SCAN_ANGLE_RANK))
fieldsToLoad.push_back(LasField(LAS_SCAN_ANGLE_RANK,0,-90,90)); //signed char: between -90 and +90
if (s_lasOpenDlg->doLoad(LAS_USER_DATA))
fieldsToLoad.push_back(LasField(LAS_USER_DATA,0,0,255)); //unsigned char: between 0 and 255
if (s_lasOpenDlg->doLoad(LAS_POINT_SOURCE_ID))
fieldsToLoad.push_back(LasField(LAS_POINT_SOURCE_ID,0,0,65535)); //16 bits: between 0 and 65536
}
assert(newPointAvailable);
const liblas::Point& p = reader->GetPoint();
//first point: check for 'big' coordinates
if (pointsRead == 0)
{
CCVector3d P( p.GetX(),p.GetY(),p.GetZ() );
bool shiftAlreadyEnabled = (coordinatesShiftEnabled && *coordinatesShiftEnabled && coordinatesShift);
if (shiftAlreadyEnabled)
Pshift = *coordinatesShift;
bool applyAll = false;
if ( sizeof(PointCoordinateType) < 8
&& ccCoordinatesShiftManager::Handle(P.u,0,alwaysDisplayLoadDialog,shiftAlreadyEnabled,Pshift,0,applyAll))
{
loadedCloud->setGlobalShift(Pshift);
ccLog::Warning("[LASFilter::loadFile] Cloud has been recentered! Translation: (%.2f,%.2f,%.2f)",Pshift.x,Pshift.y,Pshift.z);
//we save coordinates shift information
if (applyAll && coordinatesShiftEnabled && coordinatesShift)
{
*coordinatesShiftEnabled = true;
*coordinatesShift = Pshift;
}
}
}
CCVector3 P(static_cast<PointCoordinateType>(p.GetX()+Pshift.x),
static_cast<PointCoordinateType>(p.GetY()+Pshift.y),
static_cast<PointCoordinateType>(p.GetZ()+Pshift.z));
loadedCloud->addPoint(P);
//color field
if (loadColor)
{
//Warning: LAS colors are stored on 16 bits!
liblas::Color col = p.GetColor();
col[0] &= rgbColorMask[0];
col[1] &= rgbColorMask[1];
col[2] &= rgbColorMask[2];
//if we don't have reserved a color field yet, we check first that color is not black
bool pushColor = true;
if (!loadedCloud->hasColors())
{
//if the color is not black, we are sure it's a valid color field!
if (col[0] || col[1] || col[2])
{
if (loadedCloud->reserveTheRGBTable())
{
//we must set the color (black) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
loadedCloud->addRGBColor(ccColor::black);
}
else
{
ccLog::Warning("[LAS FILE] Not enough memory: color field will be ignored!");
loadColor = false; //no need to retry with the other chunks anyway
pushColor = false;
}
}
else //otherwise we ignore it for the moment (we'll add it later if necessary)
{
pushColor = false;
}
}
//do we need to push this color?
if (pushColor)
{
//we test if the color components are on 16 bits (standard) or only on 8 bits (it happens ;)
if (colorCompBitDec==0)
{
if ( (col[0] & 0xFF00)
|| (col[1] & 0xFF00)
|| (col[2] & 0xFF00))
{
//the color components are on 16 bits!
ccLog::Print("[LAS FILE] Color components are coded on 16 bits");
colorCompBitDec = 8;
//we fix all the precedently read colors
for (unsigned i=0;i<loadedCloud->size()-1;++i)
loadedCloud->setPointColor(i,ccColor::black); //255 >> 8 = 0!
}
}
rgb[0]=(colorType)(col[0]>>colorCompBitDec);
rgb[1]=(colorType)(col[1]>>colorCompBitDec);
rgb[2]=(colorType)(col[2]>>colorCompBitDec);
loadedCloud->addRGBColor(rgb);
}
}
//additional fields
for (std::vector<LasField>::iterator it = fieldsToLoad.begin(); it != fieldsToLoad.end(); ++it)
{
double value = 0.0;
switch (it->type)
{
case LAS_X:
case LAS_Y:
case LAS_Z:
assert(false);
break;
case LAS_INTENSITY:
value = (double)p.GetIntensity();
break;
case LAS_RETURN_NUMBER:
value = (double)p.GetReturnNumber();
break;
case LAS_NUMBER_OF_RETURNS:
value = (double)p.GetNumberOfReturns();
break;
case LAS_SCAN_DIRECTION:
value = (double)p.GetScanDirection();
break;
case LAS_FLIGHT_LINE_EDGE:
value = (double)p.GetFlightLineEdge();
break;
case LAS_CLASSIFICATION:
value = (double)p.GetClassification().GetClass();
break;
case LAS_SCAN_ANGLE_RANK:
value = (double)p.GetScanAngleRank();
break;
case LAS_USER_DATA:
value = (double)p.GetUserData();
break;
case LAS_POINT_SOURCE_ID:
value = (double)p.GetPointSourceID();
break;
case LAS_RED:
case LAS_GREEN:
case LAS_BLUE:
assert(false);
break;
case LAS_TIME:
value = p.GetTime();
break;
case LAS_CLASSIF_VALUE:
value = (double)(p.GetClassification().GetClass() & 31); //5 bits
break;
case LAS_CLASSIF_SYNTHETIC:
value = (double)(p.GetClassification().GetClass() & 32); //bit #6
break;
case LAS_CLASSIF_KEYPOINT:
value = (double)(p.GetClassification().GetClass() & 64); //bit #7
break;
case LAS_CLASSIF_WITHHELD:
value = (double)(p.GetClassification().GetClass() & 128); //bit #8
break;
case LAS_INVALID:
default:
assert(false);
break;
}
if (it->sf)
{
ScalarType s = static_cast<ScalarType>(value);
it->sf->addElement(s);
}
else
{
//first point? we track its value
if (loadedCloud->size() == 1)
{
it->firstValue = value;
}
if (!ignoreDefaultFields || value != it->firstValue || it->firstValue != it->defaultValue)
{
it->sf = new ccScalarField(it->getName());
if (it->sf->reserve(fileChunkSize))
{
it->sf->link();
//we must set the value (firstClassifValue) of all the precedently skipped points
ScalarType firstS = static_cast<ScalarType>(it->firstValue);
for (unsigned i=0; i<loadedCloud->size()-1; ++i)
it->sf->addElement(firstS);
ScalarType s = static_cast<ScalarType>(value);
it->sf->addElement(s);
}
else
{
ccLog::Warning(QString("[LAS FILE] Not enough memory: '%1' field will be ignored!").arg(LAS_FIELD_NAMES[it->type]));
it->sf->release();
it->sf = 0;
}
}
}
}
++pointsRead;
}
if (reader)
delete reader;
reader=0;
ifs.close();
return CC_FERR_NO_ERROR;
}
CC_FILE_ERROR LASFilter::loadFile(const char* filename, ccHObject& container, bool alwaysDisplayLoadDialog/*=true*/, bool* coordinatesShiftEnabled/*=0*/, double* coordinatesShift/*=0*/)
{
//opening file
std::ifstream ifs;
ifs.open(filename, std::ios::in | std::ios::binary);
if (ifs.fail())
return CC_FERR_READING;
liblas::Reader* reader = 0;
unsigned nbOfPoints = 0;
std::vector<std::string> dimensions;
try
{
reader = new liblas::Reader(liblas::ReaderFactory().CreateWithStream(ifs)); //using factory for automatic and transparent
//handling of compressed/uncompressed files
liblas::Header const& header = reader->GetHeader();
#ifdef _DEBUG
//ccConsole::Print("[LAS FILE] %s - signature: %s",filename,header.GetFileSignature().c_str());
#endif
//get fields present in file
dimensions = header.GetSchema().GetDimensionNames();
//and of course the number of points
nbOfPoints = header.GetPointRecordsCount();
}
catch (...)
{
delete reader;
ifs.close();
return CC_FERR_READING;
}
if (nbOfPoints==0)
{
//strange file ;)
delete reader;
ifs.close();
return CC_FERR_NO_LOAD;
}
liblas::Color rgbColorMask; //(0,0,0) on construction
bool hasClassif = false;
bool hasIntensity = false;
bool hasTime = false;
bool hasReturnNumber = false;
for (unsigned k=0;k<dimensions.size();++k)
{
QString dim = QString(dimensions[k].c_str()).toUpper();
bool handled = true;
if (dim == "RED")
rgbColorMask.SetRed(~0);
else if (dim == "BLUE")
rgbColorMask.SetBlue(~0);
else if (dim == "GREEN")
rgbColorMask.SetGreen(~0);
else if (dim == "CLASSIFICATION")
hasClassif = true;
else if (dim == "TIME")
hasTime = true;
else if (dim == "INTENSITY")
hasIntensity = true;
else if (dim == "RETURN NUMBER")
hasReturnNumber = true;
else if (dim != "X" && dim != "Y" && dim != "Z")
handled = false;
ccConsole::Print(QString("[LAS FILE] Found dimension '%1' (%2)").arg(dimensions[k].c_str()).arg(handled ? "handled" : "not handled"));
}
bool hasColor = (rgbColorMask[0] || rgbColorMask[1] || rgbColorMask[2]);
//progress dialog
ccProgressDialog pdlg(true); //cancel available
CCLib::NormalizedProgress nprogress(&pdlg,nbOfPoints);
pdlg.setMethodTitle("Open LAS file");
pdlg.setInfo(qPrintable(QString("Points: %1").arg(nbOfPoints)));
pdlg.start();
//number of points read from the begining of the current cloud part
unsigned pointsRead = 0;
double Pshift[3] = {0.0,0.0,0.0};
//by default we read color as 8 bits integers and we will change this to 16 bits if it's not (16 bits is the standard!)
unsigned char colorCompBitDec = 0;
colorType rgb[3] = {0,0,0};
ccPointCloud* loadedCloud = 0;
ccScalarField* classifSF = 0;
uint8_t firstClassifValue = 0;
ccScalarField* timeSF = 0;
double firstTime = 0.0;
ccScalarField* intensitySF = 0;
uint16_t firstIntensity = 0;
ccScalarField* returnNumberSF = 0;
uint16_t firstReturnNumber = 0;
//if the file is too big, we will chunck it in multiple parts
unsigned int fileChunkPos = 0;
unsigned int fileChunkSize = 0;
while (true)
{
//if we reach the end of the file, or the max. cloud size limit (in which case we cerate a new chunk)
bool newPointAvailable = (nprogress.oneStep() && reader->ReadNextPoint());
if (!newPointAvailable || pointsRead == fileChunkPos+fileChunkSize)
{
if (loadedCloud)
{
if (loadedCloud->size())
{
bool thisChunkHasColors = loadedCloud->hasColors();
loadedCloud->showColors(thisChunkHasColors);
if (hasColor && !thisChunkHasColors)
ccLog::Warning("[LAS FILE] Color field was all black! We ignored it...");
if (hasClassif)
{
if (classifSF)
{
classifSF->computeMinAndMax();
int cMin = (int)classifSF->getMin();
int cMax = (int)classifSF->getMax();
classifSF->setColorRampSteps(cMax-cMin);
//classifSF->setMinSaturation(cMin);
int sfIndex = loadedCloud->addScalarField(classifSF);
if (!loadedCloud->hasDisplayedScalarField())
{
loadedCloud->setCurrentDisplayedScalarField(sfIndex);
loadedCloud->showSF(!thisChunkHasColors);
}
}
else
{
ccLog::Warning(QString("[LAS FILE] All classification values were the same (%1)! We ignored them...").arg(firstClassifValue));
}
}
if (hasIntensity)
{
if (intensitySF)
{
intensitySF->computeMinAndMax();
intensitySF->setColorScale(ccColorScalesManager::GetDefaultScale(ccColorScalesManager::GREY));
int sfIndex = loadedCloud->addScalarField(intensitySF);
if (!loadedCloud->hasDisplayedScalarField())
{
loadedCloud->setCurrentDisplayedScalarField(sfIndex);
loadedCloud->showSF(!thisChunkHasColors);
}
}
else
{
ccLog::Warning(QString("[LAS FILE] All intensities were the same (%1)! We ignored them...").arg(firstIntensity));
}
}
if (hasTime)
{
if (timeSF)
{
timeSF->computeMinAndMax();
int sfIndex = loadedCloud->addScalarField(timeSF);
if (!loadedCloud->hasDisplayedScalarField())
{
loadedCloud->setCurrentDisplayedScalarField(sfIndex);
loadedCloud->showSF(!thisChunkHasColors);
}
}
else
{
ccLog::Warning(QString("[LAS FILE] All timestamps were the same (%1)! We ignored them...").arg(firstTime));
}
}
if (hasReturnNumber)
{
if (returnNumberSF)
{
returnNumberSF->computeMinAndMax();
int rMin = (int)returnNumberSF->getMin();
int rMax = (int)returnNumberSF->getMax();
returnNumberSF->setColorRampSteps(rMax-rMin);
int sfIndex = loadedCloud->addScalarField(returnNumberSF);
if (!loadedCloud->hasDisplayedScalarField())
{
loadedCloud->setCurrentDisplayedScalarField(sfIndex);
loadedCloud->showSF(!thisChunkHasColors);
}
}
else
{
ccLog::Warning(QString("[LAS FILE] All return numbers were the same (%1)! We ignored them...").arg(firstReturnNumber));
}
}
//if we have reserved too much memory
if (loadedCloud->size() < loadedCloud->capacity())
loadedCloud->resize(loadedCloud->size());
QString chunkName("unnamed - Cloud");
unsigned n = container.getChildrenNumber();
if (n!=0) //if we have more than one cloud, we append an index
{
if (n==1) //we must also update the first one!
container.getChild(0)->setName(chunkName+QString(" #1"));
chunkName += QString(" #%1").arg(n+1);
}
loadedCloud->setName(chunkName);
container.addChild(loadedCloud);
loadedCloud=0;
}
else
{
//empty cloud?!
delete loadedCloud;
loadedCloud=0;
}
if (classifSF)
classifSF->release();
classifSF=0;
if (intensitySF)
intensitySF->release();
intensitySF=0;
if (returnNumberSF)
returnNumberSF->release();
returnNumberSF=0;
if (timeSF)
timeSF->release();
timeSF=0;
}
if (!newPointAvailable)
break; //end of the file (or cancel requested)
//otherwise, we must create a new cloud
fileChunkPos = pointsRead;
fileChunkSize = std::min(nbOfPoints-pointsRead,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);
loadedCloud = new ccPointCloud();
if (!loadedCloud->reserveThePointsTable(fileChunkSize))
{
ccLog::Warning("[LASFilter::loadFile] Not enough memory!");
delete loadedCloud;
delete reader;
ifs.close();
return CC_FERR_NOT_ENOUGH_MEMORY;
}
loadedCloud->setOriginalShift(Pshift[0],Pshift[1],Pshift[2]);
//DGM: from now on, we only enable scalar fields when we detect a valid value!
if (hasClassif)
{
assert(!classifSF);
firstClassifValue = 0;
}
if (hasTime)
{
assert(!timeSF);
firstTime = 0.0;
}
if (hasIntensity)
{
assert(!intensitySF);
firstIntensity=0;
}
if (hasReturnNumber)
{
assert(!returnNumberSF);
firstReturnNumber = 0;
}
}
assert(newPointAvailable);
const liblas::Point& p = reader->GetPoint();
//first point: check for 'big' coordinates
if (pointsRead==0)
{
double P[3]={p.GetX(),p.GetY(),p.GetZ()};
bool shiftAlreadyEnabled = (coordinatesShiftEnabled && *coordinatesShiftEnabled && coordinatesShift);
if (shiftAlreadyEnabled)
memcpy(Pshift,coordinatesShift,sizeof(double)*3);
bool applyAll=false;
if (ccCoordinatesShiftManager::Handle(P,0,alwaysDisplayLoadDialog,shiftAlreadyEnabled,Pshift,0,applyAll))
{
loadedCloud->setOriginalShift(Pshift[0],Pshift[1],Pshift[2]);
ccConsole::Warning("[LASFilter::loadFile] Cloud has been recentered! Translation: (%.2f,%.2f,%.2f)",Pshift[0],Pshift[1],Pshift[2]);
//we save coordinates shift information
if (applyAll && coordinatesShiftEnabled && coordinatesShift)
{
*coordinatesShiftEnabled = true;
coordinatesShift[0] = Pshift[0];
coordinatesShift[1] = Pshift[1];
coordinatesShift[2] = Pshift[2];
}
}
}
CCVector3 P(p.GetX()+Pshift[0],p.GetY()+Pshift[1],p.GetZ()+Pshift[2]);
loadedCloud->addPoint(P);
//color field
if (hasColor)
{
//Warning: LAS colors are stored on 16 bits!
liblas::Color col = p.GetColor();
col[0] &= rgbColorMask[0];
col[1] &= rgbColorMask[1];
col[2] &= rgbColorMask[2];
//if we don't have reserved a color field yet, we check first that color is not black
bool pushColor = true;
if (!loadedCloud->hasColors())
{
//if the color is not black, we are sure it's a valid color field!
if (col[0] || col[1] || col[2])
{
if (loadedCloud->reserveTheRGBTable())
{
//we must set the color (black) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
loadedCloud->addRGBColor(ccColor::black);
}
else
{
ccConsole::Warning("[LAS FILE] Not enough memory: color field will be ignored!");
hasColor = false; //no need to retry with the other chunks anyway
pushColor = false;
}
}
else //otherwise we ignore it for the moment (we'll add it later if necessary)
{
pushColor = false;
}
}
//do we need to push this color?
if (pushColor)
{
//we test if the color components are on 16 bits (standard) or only on 8 bits (it happens ;)
if (colorCompBitDec==0)
{
if ( (col[0] & 0xFF00)
|| (col[1] & 0xFF00)
|| (col[2] & 0xFF00))
{
//the color components are on 16 bits!
ccLog::Print("[LAS FILE] Color components are coded on 16 bits");
colorCompBitDec = 8;
//we fix all the precedently read colors
for (unsigned i=0;i<loadedCloud->size()-1;++i)
loadedCloud->setPointColor(i,ccColor::black); //255 >> 8 = 0!
}
}
rgb[0]=(colorType)(col[0]>>colorCompBitDec);
rgb[1]=(colorType)(col[1]>>colorCompBitDec);
rgb[2]=(colorType)(col[2]>>colorCompBitDec);
loadedCloud->addRGBColor(rgb);
}
}
if (hasClassif)
{
uint8_t intValue = p.GetClassification().GetClass();
if (classifSF)
{
classifSF->addElement(intValue);
}
else
{
//first point? we track its value
if (loadedCloud->size()==1)
{
firstClassifValue = intValue;
}
if (intValue != firstClassifValue || firstClassifValue > 1) //0 = Created, never classified, 1 = Unclassified
{
classifSF = new ccScalarField(CC_LAS_CLASSIFICATION_FIELD_NAME);
if (classifSF->reserve(fileChunkSize))
{
classifSF->link();
//we must set the classification value (firstClassifValue) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
classifSF->addElement(firstClassifValue);
classifSF->addElement(intValue);
}
else
{
ccConsole::Warning("[LAS FILE] Not enough memory: classificaiton field will be ignored!");
hasClassif = false; //no need to retry with the other chunks anyway
classifSF->release();
classifSF=0;
}
}
}
}
if (hasTime)
{
double timeValue = p.GetTime();
if (timeSF)
{
timeSF->addElement(timeValue);
}
else
{
//first point? we track its value
if (loadedCloud->size()==1)
{
firstTime = timeValue;
}
else if (timeValue != firstTime)
{
timeSF = new ccScalarField(CC_SCAN_TIME_FIELD_NAME);
if (timeSF->reserve(fileChunkSize))
{
timeSF->link();
//we must set the timestamp value (firstTime) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
timeSF->addElement(firstTime);
timeSF->addElement(timeValue);
}
else
{
ccConsole::Warning("[LAS FILE] Not enough memory: 'time' field will be ignored!");
hasTime = false; //no need to retry with the other chunks anyway
timeSF->release();
timeSF=0;
}
}
}
}
if (hasIntensity)
{
uint16_t intValue = p.GetIntensity();
if (intensitySF)
{
intensitySF->addElement(intValue);
}
else
{
//first point? we track its value
if (loadedCloud->size()==1)
{
firstIntensity = intValue;
}
if (intValue != firstIntensity || (firstIntensity != 0 && firstIntensity != 65535))
{
intensitySF = new ccScalarField(CC_SCAN_INTENSITY_FIELD_NAME);
if (intensitySF->reserve(fileChunkSize))
{
intensitySF->link();
//we must set the intensity (firstIntensity) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
intensitySF->addElement(firstIntensity);
intensitySF->addElement(intValue);
}
else
{
ccConsole::Warning("[LAS FILE] Not enough memory: intensity field will be ignored!");
hasIntensity = false; //no need to retry with the other chunks anyway
intensitySF->release();
intensitySF=0;
}
}
}
}
if (hasReturnNumber)
{
uint16_t intValue = p.GetReturnNumber();
if (returnNumberSF)
{
returnNumberSF->addElement(intValue);
}
else
{
//first point? we track its value
if (loadedCloud->size()==1)
{
firstReturnNumber = intValue;
}
if (intValue != firstReturnNumber)
{
returnNumberSF = new ccScalarField(CC_SCAN_RETURN_INDEX_FIELD_NAME);
if (returnNumberSF->reserve(fileChunkSize))
{
returnNumberSF->link();
//we must set the return index (firstReturnNumber) of all the precedently skipped points
for (unsigned i=0;i<loadedCloud->size()-1;++i)
returnNumberSF->addElement(firstReturnNumber);
returnNumberSF->addElement(intValue);
}
else
{
ccConsole::Warning("[LAS FILE] Not enough memory: return number field will be ignored!");
hasReturnNumber = false; //no need to retry with the other chunks anyway
returnNumberSF->release();
returnNumberSF=0;
}
}
}
}
++pointsRead;
}
if (reader)
delete reader;
reader=0;
ifs.close();
return CC_FERR_NO_ERROR;
}
CC_FILE_ERROR PTXFilter::loadFile( QString filename,
ccHObject& container,
LoadParameters& parameters)
{
//open ASCII file for reading
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
{
return CC_FERR_READING;
}
QTextStream inFile(&file);
CCVector3d PshiftTrans(0,0,0);
CCVector3d PshiftCloud(0,0,0);
CC_FILE_ERROR result = CC_FERR_NO_LOAD;
ScalarType minIntensity = 0;
ScalarType maxIntensity = 0;
//progress dialog
ccProgressDialog pdlg(true, parameters.parentWidget);
pdlg.setMethodTitle(QObject::tr("Loading PTX file"));
pdlg.setAutoClose(false);
//progress dialog (for normals computation)
ccProgressDialog normalsProgressDlg(true, parameters.parentWidget);
normalsProgressDlg.setAutoClose(false);
for (unsigned cloudIndex = 0; result == CC_FERR_NO_ERROR || result == CC_FERR_NO_LOAD; cloudIndex++)
{
unsigned width = 0, height = 0;
ccGLMatrixd sensorTransD, cloudTransD;
//read header
{
QString line = inFile.readLine();
if (line.isNull() && container.getChildrenNumber() != 0) //end of file?
break;
//read the width (number of columns) and the height (number of rows) on the two first lines
//(DGM: we transpose the matrix right away)
bool ok;
height = line.toUInt(&ok);
if (!ok)
return CC_FERR_MALFORMED_FILE;
line = inFile.readLine();
width = line.toUInt(&ok);
if (!ok)
return CC_FERR_MALFORMED_FILE;
ccLog::Print(QString("[PTX] Scan #%1 - grid size: %2 x %3").arg(cloudIndex+1).arg(height).arg(width));
//read sensor transformation matrix
for (int i=0; i<4; ++i)
{
line = inFile.readLine();
QStringList tokens = line.split(" ",QString::SkipEmptyParts);
if (tokens.size() != 3)
return CC_FERR_MALFORMED_FILE;
double* colDest = 0;
if (i == 0)
{
//Translation
colDest = sensorTransD.getTranslation();
}
else
{
//X, Y and Z axis
colDest = sensorTransD.getColumn(i-1);
}
for (int j=0; j<3; ++j)
{
assert(colDest);
colDest[j] = tokens[j].toDouble(&ok);
if (!ok)
return CC_FERR_MALFORMED_FILE;
}
}
//make the transform a little bit cleaner (necessary as it's read from ASCII!)
CleanMatrix(sensorTransD);
//read cloud transformation matrix
for (int i=0; i<4; ++i)
{
line = inFile.readLine();
QStringList tokens = line.split(" ",QString::SkipEmptyParts);
if (tokens.size() != 4)
return CC_FERR_MALFORMED_FILE;
double* col = cloudTransD.getColumn(i);
for (int j=0; j<4; ++j)
{
col[j] = tokens[j].toDouble(&ok);
if (!ok)
return CC_FERR_MALFORMED_FILE;
}
}
//make the transform a little bit cleaner (necessary as it's read from ASCII!)
CleanMatrix(cloudTransD);
//handle Global Shift directly on the first cloud's translation!
if (cloudIndex == 0)
{
if (HandleGlobalShift(cloudTransD.getTranslationAsVec3D(),PshiftTrans,parameters))
{
ccLog::Warning("[PTXFilter::loadFile] Cloud has be recentered! Translation: (%.2f,%.2f,%.2f)",PshiftTrans.x,PshiftTrans.y,PshiftTrans.z);
}
}
//'remove' global shift from the sensor and cloud transformation matrices
cloudTransD.setTranslation(cloudTransD.getTranslationAsVec3D() + PshiftTrans);
sensorTransD.setTranslation(sensorTransD.getTranslationAsVec3D() + PshiftTrans);
}
//now we can read the grid cells
ccPointCloud* cloud = new ccPointCloud();
if (container.getChildrenNumber() == 0)
{
cloud->setName("unnamed - Cloud");
}
else
{
if (container.getChildrenNumber() == 1)
container.getChild(0)->setName("unnamed - Cloud 1"); //update previous cloud name!
cloud->setName(QString("unnamed - Cloud %1").arg(container.getChildrenNumber()+1));
}
unsigned gridSize = width * height;
if (!cloud->reserve(gridSize))
{
result = CC_FERR_NOT_ENOUGH_MEMORY;
delete cloud;
cloud = 0;
break;
}
//set global shift
cloud->setGlobalShift(PshiftTrans);
//intensities
ccScalarField* intensitySF = new ccScalarField(CC_PTX_INTENSITY_FIELD_NAME);
if (!intensitySF->reserve(static_cast<unsigned>(gridSize)))
{
ccLog::Warning("[PTX] Not enough memory to load intensities!");
intensitySF->release();
intensitySF = 0;
}
//grid structure
ccPointCloud::Grid::Shared grid(new ccPointCloud::Grid);
grid->w = width;
grid->h = height;
bool hasIndexGrid = true;
try
{
grid->indexes.resize(gridSize,-1); //-1 means no cell/point
}
catch (const std::bad_alloc&)
{
ccLog::Warning("[PTX] Not enough memory to load the grid structure");
hasIndexGrid = false;
}
//read points
{
CCLib::NormalizedProgress nprogress(&pdlg, gridSize);
pdlg.setInfo(qPrintable(QString("Number of cells: %1").arg(gridSize)));
pdlg.start();
bool firstPoint = true;
bool hasColors = false;
bool loadColors = false;
bool loadGridColors = false;
size_t gridIndex = 0;
for (unsigned j=0; j<height; ++j)
{
for (unsigned i=0; i<width; ++i, ++gridIndex)
{
QString line = inFile.readLine();
QStringList tokens = line.split(" ",QString::SkipEmptyParts);
if (firstPoint)
{
hasColors = (tokens.size() == 7);
if (hasColors)
{
loadColors = cloud->reserveTheRGBTable();
if (!loadColors)
{
ccLog::Warning("[PTX] Not enough memory to load RGB colors!");
}
else if (hasIndexGrid)
{
//we also load the colors into the grid (as invalid/missing points can have colors!)
try
{
grid->colors.resize(gridSize, ccColor::Rgb(0, 0, 0));
loadGridColors = true;
}
catch (const std::bad_alloc&)
{
ccLog::Warning("[PTX] Not enough memory to load the grid colors");
}
}
}
}
if ((hasColors && tokens.size() != 7) || (!hasColors && tokens.size() != 4))
{
result = CC_FERR_MALFORMED_FILE;
//early stop
j = height;
break;
}
double values[4];
for (int v=0; v<4; ++v)
{
bool ok;
values[v] = tokens[v].toDouble(&ok);
if (!ok)
{
result = CC_FERR_MALFORMED_FILE;
//early stop
j = height;
break;
}
}
//we skip "empty" cells
bool pointIsValid = (CCVector3d::fromArray(values).norm2() != 0);
if (pointIsValid)
{
const double* Pd = values;
//first point: check for 'big' coordinates
if (firstPoint)
{
if (cloudIndex == 0 && !cloud->isShifted()) //in case the trans. matrix was ok!
{
CCVector3d P(Pd);
if (HandleGlobalShift(P,PshiftCloud,parameters))
{
cloud->setGlobalShift(PshiftCloud);
ccLog::Warning("[PTXFilter::loadFile] Cloud has been recentered! Translation: (%.2f,%.2f,%.2f)",PshiftCloud.x,PshiftCloud.y,PshiftCloud.z);
}
}
firstPoint = false;
}
//update index grid
if (hasIndexGrid)
{
grid->indexes[gridIndex] = static_cast<int>(cloud->size()); // = index (default value = -1, means no point)
}
//add point
cloud->addPoint(CCVector3( static_cast<PointCoordinateType>(Pd[0] + PshiftCloud.x),
static_cast<PointCoordinateType>(Pd[1] + PshiftCloud.y),
static_cast<PointCoordinateType>(Pd[2] + PshiftCloud.z)) );
//add intensity
if (intensitySF)
{
intensitySF->addElement(static_cast<ScalarType>(values[3]));
}
}
//color
if (loadColors && (pointIsValid || loadGridColors))
{
ccColor::Rgb color;
for (int c=0; c<3; ++c)
{
bool ok;
unsigned temp = tokens[4+c].toUInt(&ok);
ok &= (temp <= 255);
if (ok)
{
color.rgb[c] = static_cast<unsigned char>(temp);
}
else
{
result = CC_FERR_MALFORMED_FILE;
//early stop
j = height;
break;
}
}
if (pointIsValid)
{
cloud->addRGBColor(color.rgb);
}
if (loadGridColors)
{
assert(!grid->colors.empty());
grid->colors[gridIndex] = color;
}
}
if (!nprogress.oneStep())
{
result = CC_FERR_CANCELED_BY_USER;
break;
}
}
}
}
//is there at least one valid point in this grid?
if (cloud->size() == 0)
{
delete cloud;
cloud = 0;
if (intensitySF)
intensitySF->release();
ccLog::Warning(QString("[PTX] Scan #%1 is empty?!").arg(cloudIndex+1));
}
else
{
if (result == CC_FERR_NO_LOAD)
result = CC_FERR_NO_ERROR; //to make clear that we have loaded at least something!
cloud->resize(cloud->size());
if (intensitySF)
{
assert(intensitySF->currentSize() == cloud->size());
intensitySF->resize(cloud->size());
intensitySF->computeMinAndMax();
int intensitySFIndex = cloud->addScalarField(intensitySF);
//keep track of the min and max intensity
if (container.getChildrenNumber() == 0)
{
minIntensity = intensitySF->getMin();
maxIntensity = intensitySF->getMax();
}
else
{
minIntensity = std::min(minIntensity,intensitySF->getMin());
maxIntensity = std::max(maxIntensity,intensitySF->getMax());
}
cloud->showSF(true);
cloud->setCurrentDisplayedScalarField(intensitySFIndex);
}
ccGBLSensor* sensor = 0;
if (hasIndexGrid && result != CC_FERR_CANCELED_BY_USER)
{
//determine best sensor parameters (mainly yaw and pitch steps)
ccGLMatrix cloudToSensorTrans((sensorTransD.inverse() * cloudTransD).data());
sensor = ccGriddedTools::ComputeBestSensor(cloud, grid, &cloudToSensorTrans);
}
//we apply the transformation
ccGLMatrix cloudTrans(cloudTransD.data());
cloud->applyGLTransformation_recursive(&cloudTrans);
if (sensor)
{
ccGLMatrix sensorTrans(sensorTransD.data());
sensor->setRigidTransformation(sensorTrans); //after cloud->applyGLTransformation_recursive!
cloud->addChild(sensor);
}
//scan grid
if (hasIndexGrid)
{
grid->validCount = static_cast<unsigned>(cloud->size());
grid->minValidIndex = 0;
grid->maxValidIndex = grid->validCount-1;
grid->sensorPosition = sensorTransD;
cloud->addGrid(grid);
//by default we don't compute normals without asking the user
if (parameters.autoComputeNormals)
{
cloud->computeNormalsWithGrids(LS, 2, true, &normalsProgressDlg);
}
}
cloud->setVisible(true);
cloud->showColors(cloud->hasColors());
cloud->showNormals(cloud->hasNormals());
container.addChild(cloud);
#ifdef QT_DEBUG
//break;
#endif
}
}
//update scalar fields saturation (globally!)
{
bool validIntensityRange = true;
if (minIntensity < 0 || maxIntensity > 1.0)
{
ccLog::Warning("[PTX] Intensity values are invalid (they should all fall in [0 ; 1])");
validIntensityRange = false;
}
for (unsigned i=0; i<container.getChildrenNumber(); ++i)
{
ccHObject* obj = container.getChild(i);
assert(obj && obj->isA(CC_TYPES::POINT_CLOUD));
CCLib::ScalarField* sf = static_cast<ccPointCloud*>(obj)->getScalarField(0);
if (sf)
{
ccScalarField* ccSF = static_cast<ccScalarField*>(sf);
ccSF->setColorScale(ccColorScalesManager::GetDefaultScale(validIntensityRange ? ccColorScalesManager::ABS_NORM_GREY : ccColorScalesManager::GREY));
ccSF->setSaturationStart(0/*minIntensity*/);
ccSF->setSaturationStop(maxIntensity);
}
}
}
return result;
}
