MRPT  1.9.9
CPointsMap_liblas.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 /** \file Include this file in your user application only if you have libLAS
12  * installed in your system */
13 #include <liblas/liblas.hpp>
14 #include <liblas/reader.hpp>
15 #include <liblas/writer.hpp>
16 
17 #include <mrpt/maps/CPointsMap.h>
18 #include <fstream>
19 #include <iostream>
20 #include <string>
21 
22 namespace mrpt
23 {
24 /** \ingroup mrpt_maps_grp */
25 namespace maps
26 {
27 /** \addtogroup mrpt_maps_liblas_grp libLAS interface for CPointsMap (in
28  * #include <mrpt/maps/CPointsMaps_liblas.h>)
29  * \ingroup mrpt_maps_grp
30  * @{ */
31 
32 /** Optional settings for saveLASFile() */
34 {
35  // None.
36 };
37 
38 /** Optional settings for loadLASFile() */
40 {
41  // None.
42 };
43 
44 /** Extra information gathered from the LAS file header */
46 {
51  /** Proj.4 string describing the Spatial Reference System. */
53  /** Creation date (Year number) */
54  uint16_t creation_year;
55  /** Creation day of year */
56  uint16_t creation_DOY;
57 
59 };
60 
61 /** Save the point cloud as an ASPRS LAS binary file (requires MRPT built
62  * against liblas). Refer to http://www.liblas.org/
63  * \return false on any error */
64 template <class POINTSMAP>
66  const POINTSMAP& ptmap, const std::string& filename,
68 {
69  std::ofstream ofs;
70  ofs.open(filename.c_str(), std::ios::out | std::ios::binary);
71 
72  if (!ofs.is_open())
73  {
74  std::cerr << "[saveLASFile] Couldn't write to file: " << filename
75  << std::endl;
76  return false;
77  }
78 
79  // Fill-in header:
80  // ---------------------------------
81  liblas::Header header;
82  const size_t nPts = ptmap.size();
83 
84  header.SetPointRecordsCount(nPts);
85 
86  // Create writer:
87  // ---------------------------------
88  liblas::Writer writer(ofs, header);
89 
90  const bool has_color = ptmap.hasColorPoints();
91  const float col_fract = 255.0f;
92 
93  liblas::Point pt(&header);
94  liblas::Color col;
95  for (size_t i = 0; i < nPts; i++)
96  {
97  float x, y, z, R, G, B;
98  ptmap.getPoint(i, x, y, z, R, G, B);
99 
100  pt.SetX(x);
101  pt.SetY(y);
102  pt.SetZ(z);
103 
104  if (has_color)
105  {
106  col.SetRed(static_cast<uint16_t>(R * col_fract));
107  col.SetGreen(static_cast<uint16_t>(G * col_fract));
108  col.SetBlue(static_cast<uint16_t>(B * col_fract));
109  pt.SetColor(col);
110  }
111 
112  if (!writer.WritePoint(pt))
113  {
114  std::cerr << "[saveLASFile] liblas returned error writing point #"
115  << i << " to file.\n";
116  return false;
117  }
118  }
119  return true; // All ok.
120 }
121 
122 /** Load the point cloud from an ASPRS LAS binary file (requires MRPT built
123  * against liblas). Refer to http://www.liblas.org/
124  * \note Color (RGB) information will be taken into account if using the
125  * derived class mrpt::maps::CColouredPointsMap
126  * \return false on any error */
127 template <class POINTSMAP>
129  POINTSMAP& ptmap, const std::string& filename,
130  LAS_HeaderInfo& out_headerInfo,
132 {
133  using namespace std;
134  ptmap.clear();
135 
136  std::ifstream ifs;
137  ifs.open(filename.c_str(), std::ios::in | std::ios::binary);
138 
139  if (!ifs.is_open())
140  {
141  std::cerr << "[loadLASFile] Couldn't open file: " << filename
142  << std::endl;
143  return false;
144  }
145 
146  // Create LAS reader:
147  // ---------------------
148  liblas::Reader reader(ifs);
149 
150  // Parse header info:
151  // ---------------------
152  liblas::Header const& header = reader.GetHeader();
153  const size_t nPts = header.GetPointRecordsCount();
154  ptmap.reserve(nPts);
155 
156  out_headerInfo.FileSignature = header.GetFileSignature();
157  out_headerInfo.SystemIdentifier = header.GetSystemId();
158  out_headerInfo.SoftwareIdentifier = header.GetSoftwareId();
159 #if LIBLAS_VERSION_NUM < 1800
160  out_headerInfo.project_guid = header.GetProjectId().to_string();
161 #else
162  out_headerInfo.project_guid =
163  boost::lexical_cast<std::string>(header.GetProjectId());
164 #endif
165  out_headerInfo.spatial_reference_proj4 = header.GetSRS().GetProj4();
166  out_headerInfo.creation_year = header.GetCreationYear();
167  out_headerInfo.creation_DOY = header.GetCreationDOY();
168 
169  // Load points:
170  // ---------------------
171  const bool has_color = ptmap.hasColorPoints();
172  const float col_fract = 1.0f / 255.0f;
173  while (reader.ReadNextPoint())
174  {
175  liblas::Point const& p = reader.GetPoint();
176 
177  if (has_color)
178  {
179  liblas::Color const& col = p.GetColor();
180  ptmap.insertPointRGB(
181  p.GetX(), p.GetY(), p.GetZ(), col.GetRed() * col_fract,
182  col.GetGreen() * col_fract, col.GetBlue() * col_fract);
183  }
184  else
185  {
186  ptmap.insertPoint(p.GetX(), p.GetY(), p.GetZ());
187  }
188  }
189 
190  if (ptmap.size() != nPts)
191  cerr << "[loadLASFile] Header says point count is " << nPts
192  << " but only " << ptmap.size() << " were really parsed in.\n";
193 
194  ptmap.mark_as_modified();
195 
196  return true; // All ok.
197 }
198 /** @} */
199 } // namespace maps
200 } // namespace mrpt
GLdouble GLdouble z
Definition: glext.h:3879
Optional settings for loadLASFile()
const double G
std::string spatial_reference_proj4
Proj.4 string describing the Spatial Reference System.
STL namespace.
uint16_t creation_year
Creation date (Year number)
bool saveLASFile(const POINTSMAP &ptmap, const std::string &filename, const LAS_WriteParams &params=LAS_WriteParams())
Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas).
nv_oem6_header_t header
Novatel frame: NV_OEM6_BESTPOS.
bool loadLASFile(POINTSMAP &ptmap, const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams &params=LAS_LoadParams())
Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas).
GLsizei const GLchar ** string
Definition: glext.h:4116
Optional settings for saveLASFile()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
const float R
mrpt::vision::TStereoCalibResults out
GLuint in
Definition: glext.h:7391
GLenum GLint GLint y
Definition: glext.h:3542
GLenum GLint x
Definition: glext.h:3542
GLfloat GLfloat p
Definition: glext.h:6398
GLenum const GLfloat * params
Definition: glext.h:3538
Extra information gathered from the LAS file header.
uint16_t creation_DOY
Creation day of year.



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