std::vector<float> getComboItemAsStdFloatVector(ComboItemDescriptor desc, const ccPointCloud* cloud)
{
int n = cloud->size();
std::vector<float> v;
v.resize(n);
v.reserve(n);
if (desc.type == ComboItemDescriptor::COORDINATE)
{
CCVector3 point;
for (int i = 0; i < n; i++)
{
cloud->getPoint(i, point);
v[i] = point[desc.index_in_cloud];
}
}
else if (desc.type == ComboItemDescriptor::SCALAR)
{
CCLib::ScalarField * field = cloud->getScalarField(desc.index_in_cloud);
for (int i = 0; i < n; i++)
v[i] = field->getValue(i);
}
return v;
}
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);
}
}
CC_FILE_ERROR BinFilter::LoadFileV1(QFile& in, ccHObject& container, unsigned nbScansTotal, const LoadParameters& parameters)
{
ccLog::Print("[BIN] Version 1.0");
if (nbScansTotal > 99)
{
if (QMessageBox::question(0, QString("Oups"), QString("Hum, do you really expect %1 point clouds?").arg(nbScansTotal), QMessageBox::Yes, QMessageBox::No) == QMessageBox::No)
return CC_FERR_WRONG_FILE_TYPE;
}
else if (nbScansTotal == 0)
{
return CC_FERR_NO_LOAD;
}
ccProgressDialog pdlg(true, parameters.parentWidget);
pdlg.setMethodTitle(QObject::tr("Open Bin file (old style)"));
for (unsigned k=0; k<nbScansTotal; k++)
{
HeaderFlags header;
unsigned nbOfPoints = 0;
if (ReadEntityHeader(in, nbOfPoints, header) < 0)
{
return CC_FERR_READING;
}
//Console::print("[BinFilter::loadModelFromBinaryFile] Entity %i : %i points, color=%i, norms=%i, dists=%i\n",k,nbOfPoints,color,norms,distances);
if (nbOfPoints == 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] rien a faire !\n");
continue;
}
//progress for this cloud
CCLib::NormalizedProgress nprogress(&pdlg, nbOfPoints);
if (parameters.alwaysDisplayLoadDialog)
{
pdlg.reset();
pdlg.setInfo(QObject::tr("cloud %1/%2 (%3 points)").arg(k + 1).arg(nbScansTotal).arg(nbOfPoints));
pdlg.start();
QApplication::processEvents();
}
//Cloud name
char cloudName[256] = "unnamed";
if (header.name)
{
for (int i=0; i<256; ++i)
{
if (in.read(cloudName+i,1) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the cloud name!\n");
return CC_FERR_READING;
}
if (cloudName[i] == 0)
{
break;
}
}
//we force the end of the name in case it is too long!
cloudName[255] = 0;
}
else
{
sprintf(cloudName,"unnamed - Cloud #%u",k);
}
//Cloud name
char sfName[1024] = "unnamed";
if (header.sfName)
{
for (int i=0; i<1024; ++i)
{
if (in.read(sfName+i,1) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the cloud name!\n");
return CC_FERR_READING;
}
if (sfName[i] == 0)
break;
}
//we force the end of the name in case it is too long!
sfName[1023] = 0;
}
else
{
strcpy(sfName,"Loaded scalar field");
}
//Creation
ccPointCloud* loadedCloud = new ccPointCloud(cloudName);
if (!loadedCloud)
return CC_FERR_NOT_ENOUGH_MEMORY;
unsigned fileChunkPos = 0;
unsigned fileChunkSize = std::min(nbOfPoints,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);
loadedCloud->reserveThePointsTable(fileChunkSize);
if (header.colors)
{
loadedCloud->reserveTheRGBTable();
loadedCloud->showColors(true);
}
if (header.normals)
{
loadedCloud->reserveTheNormsTable();
loadedCloud->showNormals(true);
}
if (header.scalarField)
loadedCloud->enableScalarField();
unsigned lineRead = 0;
int parts = 0;
const ScalarType FORMER_HIDDEN_POINTS = (ScalarType)-1.0;
//lecture du fichier
for (unsigned i=0; i<nbOfPoints; ++i)
{
if (lineRead == fileChunkPos+fileChunkSize)
{
if (header.scalarField)
loadedCloud->getCurrentInScalarField()->computeMinAndMax();
container.addChild(loadedCloud);
fileChunkPos = lineRead;
fileChunkSize = std::min(nbOfPoints-lineRead,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);
char partName[64];
++parts;
sprintf(partName,"%s.part_%i",cloudName,parts);
loadedCloud = new ccPointCloud(partName);
loadedCloud->reserveThePointsTable(fileChunkSize);
if (header.colors)
{
loadedCloud->reserveTheRGBTable();
loadedCloud->showColors(true);
}
if (header.normals)
{
loadedCloud->reserveTheNormsTable();
loadedCloud->showNormals(true);
}
if (header.scalarField)
loadedCloud->enableScalarField();
}
float Pf[3];
if (in.read((char*)Pf,sizeof(float)*3) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the %ith entity point !\n",k);
return CC_FERR_READING;
}
loadedCloud->addPoint(CCVector3::fromArray(Pf));
if (header.colors)
{
unsigned char C[3];
if (in.read((char*)C,sizeof(ColorCompType)*3) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the %ith entity colors !\n",k);
return CC_FERR_READING;
}
loadedCloud->addRGBColor(C);
}
if (header.normals)
{
CCVector3 N;
if (in.read((char*)N.u,sizeof(float)*3) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the %ith entity norms !\n",k);
return CC_FERR_READING;
}
loadedCloud->addNorm(N);
}
if (header.scalarField)
{
double D;
if (in.read((char*)&D,sizeof(double)) < 0)
{
//Console::print("[BinFilter::loadModelFromBinaryFile] Error reading the %ith entity distance!\n",k);
return CC_FERR_READING;
}
ScalarType d = static_cast<ScalarType>(D);
loadedCloud->setPointScalarValue(i,d);
}
lineRead++;
if (parameters.alwaysDisplayLoadDialog && !nprogress.oneStep())
{
loadedCloud->resize(i+1-fileChunkPos);
k=nbScansTotal;
i=nbOfPoints;
}
}
if (parameters.alwaysDisplayLoadDialog)
{
pdlg.stop();
QApplication::processEvents();
}
if (header.scalarField)
{
CCLib::ScalarField* sf = loadedCloud->getCurrentInScalarField();
assert(sf);
sf->setName(sfName);
//replace HIDDEN_VALUES by NAN_VALUES
for (unsigned i=0; i<sf->currentSize(); ++i)
{
if (sf->getValue(i) == FORMER_HIDDEN_POINTS)
sf->setValue(i,NAN_VALUE);
}
sf->computeMinAndMax();
loadedCloud->setCurrentDisplayedScalarField(loadedCloud->getCurrentInScalarFieldIndex());
loadedCloud->showSF(true);
}
container.addChild(loadedCloud);
}
return CC_FERR_NO_ERROR;
}
bool cc2Point5DimEditor::RasterGrid::fillWith( ccGenericPointCloud* cloud,
unsigned char projectionDimension,
cc2Point5DimEditor::ProjectionType projectionType,
bool interpolateEmptyCells,
cc2Point5DimEditor::ProjectionType sfInterpolation/*=INVALID_PROJECTION_TYPE*/,
ccProgressDialog* progressDialog/*=0*/)
{
if (!cloud)
{
assert(false);
return false;
}
//current parameters
unsigned gridTotalSize = width * height;
//vertical dimension
const unsigned char Z = projectionDimension;
assert(Z >= 0 && Z <= 2);
const unsigned char X = Z == 2 ? 0 : Z +1;
const unsigned char Y = X == 2 ? 0 : X +1;
//do we need to interpolate scalar fields?
ccPointCloud* pc = cloud->isA(CC_TYPES::POINT_CLOUD) ? static_cast<ccPointCloud*>(cloud) : 0;
bool interpolateSF = (sfInterpolation != INVALID_PROJECTION_TYPE);
interpolateSF &= (pc && pc->hasScalarFields());
if (interpolateSF)
{
unsigned sfCount = pc->getNumberOfScalarFields();
bool memoryError = false;
size_t previousCount = scalarFields.size();
if (sfCount > previousCount)
{
try
{
scalarFields.resize(sfCount,0);
}
catch (const std::bad_alloc&)
{
//not enough memory
memoryError = true;
}
}
for (size_t i=previousCount; i<sfCount; ++i)
{
assert(scalarFields[i] == 0);
scalarFields[i] = new double[gridTotalSize];
if (!scalarFields[i])
{
//not enough memory
memoryError = true;
break;
}
}
if (memoryError)
{
ccLog::Warning(QString("[Rasterize] Failed to allocate memory for scalar fields!"));
}
}
//filling the grid
unsigned pointCount = cloud->size();
double gridMaxX = gridStep * width;
double gridMaxY = gridStep * height;
if (progressDialog)
{
progressDialog->setMethodTitle("Grid generation");
progressDialog->setInfo(qPrintable(QString("Points: %1\nCells: %2 x %3").arg(pointCount).arg(width).arg(height)));
progressDialog->start();
progressDialog->show();
QCoreApplication::processEvents();
}
CCLib::NormalizedProgress nProgress(progressDialog,pointCount);
for (unsigned n=0; n<pointCount; ++n)
{
const CCVector3* P = cloud->getPoint(n);
CCVector3d relativePos = CCVector3d::fromArray(P->u) - minCorner;
int i = static_cast<int>(relativePos.u[X]/gridStep);
int j = static_cast<int>(relativePos.u[Y]/gridStep);
//specific case: if we fall exactly on the max corner of the grid box
if (i == static_cast<int>(width) && relativePos.u[X] == gridMaxX)
--i;
if (j == static_cast<int>(height) && relativePos.u[Y] == gridMaxY)
--j;
//we skip points outside the box!
if ( i < 0 || i >= static_cast<int>(width)
|| j < 0 || j >= static_cast<int>(height) )
continue;
assert(i >= 0 && j >= 0);
RasterCell* aCell = data[j]+i;
unsigned& pointsInCell = aCell->nbPoints;
if (pointsInCell)
{
if (P->u[Z] < aCell->minHeight)
{
aCell->minHeight = P->u[Z];
if (projectionType == PROJ_MINIMUM_VALUE)
aCell->pointIndex = n;
}
else if (P->u[Z] > aCell->maxHeight)
{
aCell->maxHeight = P->u[Z];
if (projectionType == PROJ_MAXIMUM_VALUE)
aCell->pointIndex = n;
}
}
else
{
aCell->minHeight = aCell->maxHeight = P->u[Z];
aCell->pointIndex = n;
}
// Sum the points heights
aCell->avgHeight += P->u[Z];
aCell->stdDevHeight += static_cast<double>(P->u[Z])*P->u[Z];
//scalar fields
if (interpolateSF)
{
int pos = j*static_cast<int>(width)+i; //pos in 2D SF grid(s)
assert(pos < static_cast<int>(gridTotalSize));
for (size_t k=0; k<scalarFields.size(); ++k)
{
if (scalarFields[k])
{
CCLib::ScalarField* sf = pc->getScalarField(static_cast<unsigned>(k));
assert(sf);
ScalarType sfValue = sf->getValue(n);
ScalarType formerValue = static_cast<ScalarType>(scalarFields[k][pos]);
if (pointsInCell && ccScalarField::ValidValue(formerValue))
{
if (ccScalarField::ValidValue(sfValue))
{
switch (sfInterpolation)
{
case PROJ_MINIMUM_VALUE:
// keep the minimum value
scalarFields[k][pos] = std::min<double>(formerValue,sfValue);
break;
case PROJ_AVERAGE_VALUE:
//we sum all values (we will divide them later)
scalarFields[k][pos] += sfValue;
break;
case PROJ_MAXIMUM_VALUE:
// keep the maximum value
scalarFields[k][pos] = std::max<double>(formerValue,sfValue);
break;
default:
assert(false);
break;
}
}
}
else
{
//for the first (vaild) point, we simply have to store its SF value (in any case)
scalarFields[k][pos] = sfValue;
}
}
}
}
pointsInCell++;
if (!nProgress.oneStep())
{
//process cancelled by user
return false;
}
}
//update SF grids for 'average' cases
if (sfInterpolation == PROJ_AVERAGE_VALUE)
{
for (size_t k=0; k<scalarFields.size(); ++k)
{
if (scalarFields[k])
{
double* _gridSF = scalarFields[k];
for (unsigned j=0;j<height;++j)
{
RasterCell* cell = data[j];
for (unsigned i=0; i<width; ++i,++cell,++_gridSF)
{
if (cell->nbPoints > 1)
{
ScalarType s = static_cast<ScalarType>(*_gridSF);
if (ccScalarField::ValidValue(s)) //valid SF value
{
*_gridSF /= cell->nbPoints;
}
}
}
}
}
}
}
//update the main grid (average height and std.dev. computation + current 'height' value)
{
for (unsigned j=0; j<height; ++j)
{
RasterCell* cell = data[j];
for (unsigned i=0; i<width; ++i,++cell)
{
if (cell->nbPoints > 1)
{
cell->avgHeight /= cell->nbPoints;
cell->stdDevHeight = sqrt(fabs(cell->stdDevHeight/cell->nbPoints - cell->avgHeight*cell->avgHeight));
}
else
{
cell->stdDevHeight = 0;
}
if (cell->nbPoints != 0)
{
//set the right 'height' value
switch (projectionType)
{
case PROJ_MINIMUM_VALUE:
cell->h = cell->minHeight;
break;
case PROJ_AVERAGE_VALUE:
cell->h = cell->avgHeight;
break;
case PROJ_MAXIMUM_VALUE:
cell->h = cell->maxHeight;
break;
default:
assert(false);
break;
}
}
}
}
}
//compute the number of non empty cells
nonEmptyCellCount = 0;
{
for (unsigned i=0; i<height; ++i)
for (unsigned j=0; j<width; ++j)
if (data[i][j].nbPoints)
++nonEmptyCellCount;
}
//specific case: interpolate the empty cells
if (interpolateEmptyCells)
{
std::vector<CCVector2> the2DPoints;
if (nonEmptyCellCount < 3)
{
ccLog::Warning("[Rasterize] Not enough non-empty cells to interpolate!");
}
else if (nonEmptyCellCount < width * height) //otherwise it's useless!
{
try
{
the2DPoints.resize(nonEmptyCellCount);
}
catch (const std::bad_alloc&)
{
//out of memory
ccLog::Warning("[Rasterize] Not enough memory to interpolate empty cells!");
}
}
//fill 2D vector with non-empty cell indexes
if (!the2DPoints.empty())
{
unsigned index = 0;
for (unsigned j=0; j<height; ++j)
{
const RasterCell* cell = data[j];
for (unsigned i=0; i<width; ++i, ++cell)
{
if (cell->nbPoints)
{
//we only use the non-empty cells to interpolate
the2DPoints[index++] = CCVector2(static_cast<PointCoordinateType>(i),static_cast<PointCoordinateType>(j));
}
}
}
assert(index == nonEmptyCellCount);
//mesh the '2D' points
CCLib::Delaunay2dMesh delaunayMesh;
char errorStr[1024];
if (delaunayMesh.buildMesh(the2DPoints,0,errorStr))
{
unsigned triNum = delaunayMesh.size();
//now we are going to 'project' all triangles on the grid
delaunayMesh.placeIteratorAtBegining();
for (unsigned k=0; k<triNum; ++k)
{
const CCLib::VerticesIndexes* tsi = delaunayMesh.getNextTriangleVertIndexes();
//get the triangle bounding box (in grid coordinates)
int P[3][2];
int xMin = 0, yMin = 0, xMax = 0, yMax = 0;
{
for (unsigned j=0; j<3; ++j)
{
const CCVector2& P2D = the2DPoints[tsi->i[j]];
P[j][0] = static_cast<int>(P2D.x);
P[j][1] = static_cast<int>(P2D.y);
}
xMin = std::min(std::min(P[0][0],P[1][0]),P[2][0]);
yMin = std::min(std::min(P[0][1],P[1][1]),P[2][1]);
xMax = std::max(std::max(P[0][0],P[1][0]),P[2][0]);
yMax = std::max(std::max(P[0][1],P[1][1]),P[2][1]);
}
//now scan the cells
{
//pre-computation for barycentric coordinates
const double& valA = data[ P[0][1] ][ P[0][0] ].h;
const double& valB = data[ P[1][1] ][ P[1][0] ].h;
const double& valC = data[ P[2][1] ][ P[2][0] ].h;
int det = (P[1][1]-P[2][1])*(P[0][0]-P[2][0]) + (P[2][0]-P[1][0])*(P[0][1]-P[2][1]);
for (int j=yMin; j<=yMax; ++j)
{
RasterCell* cell = data[static_cast<unsigned>(j)];
for (int i=xMin; i<=xMax; ++i)
{
//if the cell is empty
if (!cell[i].nbPoints)
{
//we test if it's included or not in the current triangle
//Point Inclusion in Polygon Test (inspired from W. Randolph Franklin - WRF)
bool inside = false;
for (int ti=0; ti<3; ++ti)
{
const int* P1 = P[ti];
const int* P2 = P[(ti+1)%3];
if ((P2[1] <= j &&j < P1[1]) || (P1[1] <= j && j < P2[1]))
{
int t = (i-P2[0])*(P1[1]-P2[1])-(P1[0]-P2[0])*(j-P2[1]);
if (P1[1] < P2[1])
t = -t;
if (t < 0)
inside = !inside;
}
}
//can we interpolate?
if (inside)
{
double l1 = static_cast<double>((P[1][1]-P[2][1])*(i-P[2][0])+(P[2][0]-P[1][0])*(j-P[2][1]))/det;
double l2 = static_cast<double>((P[2][1]-P[0][1])*(i-P[2][0])+(P[0][0]-P[2][0])*(j-P[2][1]))/det;
double l3 = 1.0-l1-l2;
cell[i].h = l1 * valA + l2 * valB + l3 * valC;
assert(cell[i].h == cell[i].h);
//interpolate SFs as well!
for (size_t sfIndex=0; sfIndex<scalarFields.size(); ++sfIndex)
{
if (scalarFields[sfIndex])
{
double* gridSF = scalarFields[sfIndex];
const double& sfValA = gridSF[ P[0][0] + P[0][1]*width ];
const double& sfValB = gridSF[ P[1][0] + P[1][1]*width ];
const double& sfValC = gridSF[ P[2][0] + P[2][1]*width ];
gridSF[i + j*width] = l1 * sfValA + l2 * sfValB + l3 * sfValC;
}
}
}
}
}
}
}
}
}
else
{
ccLog::Warning(QString("[Rasterize] Empty cells interpolation failed: Triangle lib. said '%1'").arg(errorStr));
}
}
}
//computation of the average and extreme height values in the grid
{
minHeight = 0;
maxHeight = 0;
meanHeight = 0;
validCellCount = 0;
for (unsigned i=0; i<height; ++i)
{
for (unsigned j=0; j<width; ++j)
{
if (data[i][j].h == data[i][j].h) //valid height
{
double h = data[i][j].h;
if (validCellCount)
{
if (h < minHeight)
minHeight = h;
else if (h > maxHeight)
maxHeight = h;
meanHeight += h;
}
else
{
//first valid cell
meanHeight = minHeight = maxHeight = h;
}
++validCellCount;
}
}
}
meanHeight /= validCellCount;
}
setValid(true);
return true;
}
CC_FILE_ERROR LASFilter::saveToFile(ccHObject* entity, const char* filename)
{
if (!entity || !filename)
return CC_FERR_BAD_ARGUMENT;
ccHObject::Container clouds;
if (entity->isKindOf(CC_POINT_CLOUD))
clouds.push_back(entity);
else
entity->filterChildren(clouds, true, CC_POINT_CLOUD);
if (clouds.empty())
{
ccConsole::Error("No point cloud in input selection!");
return CC_FERR_BAD_ENTITY_TYPE;
}
else if (clouds.size()>1)
{
ccConsole::Error("Can't save more than one cloud per LAS file!");
return CC_FERR_BAD_ENTITY_TYPE;
}
//the cloud to save
ccGenericPointCloud* theCloud = static_cast<ccGenericPointCloud*>(clouds[0]);
unsigned numberOfPoints = theCloud->size();
if (numberOfPoints==0)
{
ccConsole::Error("Cloud is empty!");
return CC_FERR_BAD_ENTITY_TYPE;
}
//colors
bool hasColor = theCloud->hasColors();
//additional fields (as scalar fields)
CCLib::ScalarField* classifSF = 0;
CCLib::ScalarField* intensitySF = 0;
CCLib::ScalarField* timeSF = 0;
CCLib::ScalarField* returnNumberSF = 0;
if (theCloud->isA(CC_POINT_CLOUD))
{
ccPointCloud* pc = static_cast<ccPointCloud*>(theCloud);
//Classification
{
int sfIdx = pc->getScalarFieldIndexByName(CC_LAS_CLASSIFICATION_FIELD_NAME);
if (sfIdx>=0)
{
classifSF = pc->getScalarField(sfIdx);
assert(classifSF);
if ((int)classifSF->getMin()<0 || (int)classifSF->getMax()>255) //outbounds unsigned char?
{
ccConsole::Warning("[LASFilter] Found a 'Classification' scalar field, but its values outbound LAS specifications (0-255)...");
classifSF = 0;
}
}
}
//Classification end
//intensity (as a scalar field)
{
int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_INTENSITY_FIELD_NAME);
if (sfIdx>=0)
{
intensitySF = pc->getScalarField(sfIdx);
assert(intensitySF);
if ((int)intensitySF->getMin()<0 || (int)intensitySF->getMax()>65535) //outbounds unsigned short?
{
ccConsole::Warning("[LASFilter] Found a 'Intensity' scalar field, but its values outbound LAS specifications (0-65535)...");
intensitySF = 0;
}
}
}
//Intensity end
//Time (as a scalar field)
{
int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_TIME_FIELD_NAME);
if (sfIdx>=0)
{
timeSF = pc->getScalarField(sfIdx);
assert(timeSF);
}
}
//Time end
//Return number (as a scalar field)
{
int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_RETURN_INDEX_FIELD_NAME);
if (sfIdx>=0)
{
returnNumberSF = pc->getScalarField(sfIdx);
assert(returnNumberSF);
if ((int)returnNumberSF->getMin()<0 || (int)returnNumberSF->getMax()>7) //outbounds 3 bits?
{
ccConsole::Warning("[LASFilter] Found a 'Return number' scalar field, but its values outbound LAS specifications (0-7)...");
returnNumberSF = 0;
}
}
}
//Return number end
}
//open binary file for writing
std::ofstream ofs;
ofs.open(filename, std::ios::out | std::ios::binary);
if (ofs.fail())
return CC_FERR_WRITING;
const double* shift = theCloud->getOriginalShift();
liblas::Writer* writer = 0;
try
{
liblas::Header header;
//LAZ support based on extension!
if (QFileInfo(filename).suffix().toUpper() == "LAZ")
{
header.SetCompressed(true);
}
//header.SetDataFormatId(liblas::ePointFormat3);
ccBBox bBox = theCloud->getBB();
if (bBox.isValid())
{
header.SetMin(-shift[0]+(double)bBox.minCorner().x,-shift[1]+(double)bBox.minCorner().y,-shift[2]+(double)bBox.minCorner().z);
header.SetMax(-shift[0]+(double)bBox.maxCorner().x,-shift[1]+(double)bBox.maxCorner().y,-shift[2]+(double)bBox.maxCorner().z);
CCVector3 diag = bBox.getDiagVec();
//Set offset & scale, as points will be stored as boost::int32_t values (between 0 and 4294967296)
//int_value = (double_value-offset)/scale
header.SetOffset(-shift[0]+(double)bBox.minCorner().x,-shift[1]+(double)bBox.minCorner().y,-shift[2]+(double)bBox.minCorner().z);
header.SetScale(1.0e-9*std::max<double>(diag.x,ZERO_TOLERANCE), //result must fit in 32bits?!
1.0e-9*std::max<double>(diag.y,ZERO_TOLERANCE),
1.0e-9*std::max<double>(diag.z,ZERO_TOLERANCE));
}
header.SetPointRecordsCount(numberOfPoints);
//header.SetDataFormatId(Header::ePointFormat1);
writer = new liblas::Writer(ofs, header);
}
catch (...)
{
return CC_FERR_WRITING;
}
//progress dialog
ccProgressDialog pdlg(true); //cancel available
CCLib::NormalizedProgress nprogress(&pdlg,numberOfPoints);
pdlg.setMethodTitle("Save LAS file");
char buffer[256];
sprintf(buffer,"Points: %i",numberOfPoints);
pdlg.setInfo(buffer);
pdlg.start();
//liblas::Point point(boost::shared_ptr<liblas::Header>(new liblas::Header(writer->GetHeader())));
liblas::Point point(&writer->GetHeader());
for (unsigned i=0; i<numberOfPoints; i++)
{
const CCVector3* P = theCloud->getPoint(i);
{
double x=-shift[0]+(double)P->x;
double y=-shift[1]+(double)P->y;
double z=-shift[2]+(double)P->z;
point.SetCoordinates(x, y, z);
}
if (hasColor)
{
const colorType* rgb = theCloud->getPointColor(i);
point.SetColor(liblas::Color(rgb[0]<<8,rgb[1]<<8,rgb[2]<<8)); //DGM: LAS colors are stored on 16 bits!
}
if (classifSF)
{
liblas::Classification classif;
classif.SetClass((boost::uint32_t)classifSF->getValue(i));
point.SetClassification(classif);
}
if (intensitySF)
{
point.SetIntensity((boost::uint16_t)intensitySF->getValue(i));
}
if (timeSF)
{
point.SetTime((double)timeSF->getValue(i));
}
if (returnNumberSF)
{
point.SetReturnNumber((boost::uint16_t)returnNumberSF->getValue(i));
point.SetNumberOfReturns((boost::uint16_t)returnNumberSF->getMax());
}
writer->WritePoint(point);
if (!nprogress.oneStep())
break;
}
delete writer;
//ofs.close();
return CC_FERR_NO_ERROR;
}
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;
}
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;
}
CC_FILE_ERROR PVFilter::saveToFile(ccHObject* entity, const char* filename)
{
if (!entity || !filename)
return CC_FERR_BAD_ARGUMENT;
ccHObject::Container clouds;
if (entity->isKindOf(CC_POINT_CLOUD))
clouds.push_back(entity);
else
entity->filterChildren(clouds, true, CC_POINT_CLOUD);
if (clouds.empty())
{
ccConsole::Error("No point cloud in input selection!");
return CC_FERR_BAD_ENTITY_TYPE;
}
else if (clouds.size()>1)
{
ccConsole::Error("Can't save more than one cloud per PV file!");
return CC_FERR_BAD_ENTITY_TYPE;
}
//the cloud to save
ccGenericPointCloud* theCloud = static_cast<ccGenericPointCloud*>(clouds[0]);
//and its scalar field
CCLib::ScalarField* sf = 0;
if (theCloud->isA(CC_POINT_CLOUD))
sf = static_cast<ccPointCloud*>(theCloud)->getCurrentDisplayedScalarField();
if (!sf)
ccConsole::Warning("No displayed scalar field! Values will all be 0!\n");
unsigned numberOfPoints = theCloud->size();
if (numberOfPoints==0)
{
ccConsole::Error("Cloud is empty!");
return CC_FERR_BAD_ENTITY_TYPE;
}
//open binary file for writing
FILE* theFile = fopen(filename , "wb");
if (!theFile)
return CC_FERR_WRITING;
//Has the cloud been recentered?
const double* shift = theCloud->getOriginalShift();
if (fabs(shift[0])+fabs(shift[0])+fabs(shift[0])>0.0)
ccConsole::Warning(QString("[PVFilter::save] Can't recenter cloud %1 on PV file save!").arg(theCloud->getName()));
//progress dialog
ccProgressDialog pdlg(true); //cancel available
CCLib::NormalizedProgress nprogress(&pdlg,numberOfPoints);
pdlg.setMethodTitle("Save PV file");
char buffer[256];
sprintf(buffer,"Points: %i",numberOfPoints);
pdlg.setInfo(buffer);
pdlg.start();
float wBuff[3];
float val=0.0;
for (unsigned i=0;i<numberOfPoints;i++)
{
//conversion to float
const CCVector3* P = theCloud->getPoint(i);
wBuff[0]=float(P->x);
wBuff[1]=float(P->y);
wBuff[2]=float(P->z);
if (fwrite(wBuff,sizeof(float),3,theFile) < 0)
{fclose(theFile);return CC_FERR_WRITING;}
if (sf)
val = (float)sf->getValue(i);
if (fwrite(&val,sizeof(float),1,theFile) < 0)
{fclose(theFile);return CC_FERR_WRITING;}
if (!nprogress.oneStep())
break;
}
fclose(theFile);
return CC_FERR_NO_ERROR;
}