CPointsMap_liblas.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPOINTSMAP_LIBLAS_H
#define CPOINTSMAP_LIBLAS_H

/** \file Include this file in your user application only if you have libLAS
 * installed in your system */
#include <liblas/liblas.hpp>
#include <liblas/reader.hpp>
#include <liblas/writer.hpp>

#include <mrpt/maps/CPointsMap.h>
#include <string>
#include <iostream>
#include <fstream>

namespace mrpt
{
/** \ingroup mrpt_maps_grp */
namespace maps
{
/** \addtogroup mrpt_maps_liblas_grp libLAS interface for CPointsMap (in
 * #include <mrpt/maps/CPointsMaps_liblas.h>)
    *  \ingroup mrpt_maps_grp
    * @{ */

/** Optional settings for saveLASFile() */
struct LAS_WriteParams
{
    // None.
};

/** Optional settings for loadLASFile() */
struct LAS_LoadParams
{
    // None.
};

/** Extra information gathered from the LAS file header */
struct LAS_HeaderInfo
{
    std::string FileSignature;
    std::string SystemIdentifier;
    std::string SoftwareIdentifier;
    std::string project_guid;
    /** Proj.4 string describing the Spatial Reference System. */
    std::string spatial_reference_proj4;
    /** Creation date (Year number) */
    uint16_t creation_year;
    /** Creation day of year */
    uint16_t creation_DOY;

    LAS_HeaderInfo() : creation_year(0), creation_DOY(0) {}
};

/** Save the point cloud as an ASPRS LAS binary file (requires MRPT built
 * against liblas). Refer to http://www.liblas.org/
    * \return false on any error */
template <class POINTSMAP>
bool saveLASFile(
    const POINTSMAP& ptmap, const std::string& filename,
    const LAS_WriteParams& params = LAS_WriteParams())
{
    std::ofstream ofs;
    ofs.open(filename.c_str(), std::ios::out | std::ios::binary);

    if (!ofs.is_open())
    {
        std::cerr << "[saveLASFile] Couldn't write to file: " << filename
                  << std::endl;
        return false;
    }

    // Fill-in header:
    // ---------------------------------
    liblas::Header header;
    const size_t nPts = ptmap.size();

    header.SetPointRecordsCount(nPts);

    // Create writer:
    // ---------------------------------
    liblas::Writer writer(ofs, header);

    const bool has_color = ptmap.hasColorPoints();
    const float col_fract = 255.0f;

    liblas::Point pt(&header);
    liblas::Color col;
    for (size_t i = 0; i < nPts; i++)
    {
        float x, y, z, R, G, B;
        ptmap.getPoint(i, x, y, z, R, G, B);

        pt.SetX(x);
        pt.SetY(y);
        pt.SetZ(z);

        if (has_color)
        {
            col.SetRed(static_cast<uint16_t>(R * col_fract));
            col.SetGreen(static_cast<uint16_t>(G * col_fract));
            col.SetBlue(static_cast<uint16_t>(B * col_fract));
            pt.SetColor(col);
        }

        if (!writer.WritePoint(pt))
        {
            std::cerr << "[saveLASFile] liblas returned error writing point #"
                      << i << " to file.\n";
            return false;
        }
    }
    return true;  // All ok.
}

/** Load the point cloud from an ASPRS LAS binary file (requires MRPT built
 * against liblas). Refer to http://www.liblas.org/
    * \note Color (RGB) information will be taken into account if using the
 * derived class mrpt::maps::CColouredPointsMap
    * \return false on any error */
template <class POINTSMAP>
bool loadLASFile(
    POINTSMAP& ptmap, const std::string& filename,
    LAS_HeaderInfo& out_headerInfo,
    const LAS_LoadParams& params = LAS_LoadParams())
{
    using namespace std;
    ptmap.clear();

    std::ifstream ifs;
    ifs.open(filename.c_str(), std::ios::in | std::ios::binary);

    if (!ifs.is_open())
    {
        std::cerr << "[loadLASFile] Couldn't open file: " << filename
                  << std::endl;
        return false;
    }

    // Create LAS reader:
    // ---------------------
    liblas::Reader reader(ifs);

    // Parse header info:
    // ---------------------
    liblas::Header const& header = reader.GetHeader();
    const size_t nPts = header.GetPointRecordsCount();
    ptmap.reserve(nPts);

    out_headerInfo.FileSignature = header.GetFileSignature();
    out_headerInfo.SystemIdentifier = header.GetSystemId();
    out_headerInfo.SoftwareIdentifier = header.GetSoftwareId();
#if LIBLAS_VERSION_NUM < 1800
    out_headerInfo.project_guid = header.GetProjectId().to_string();
#else
    out_headerInfo.project_guid =
        boost::lexical_cast<std::string>(header.GetProjectId());
#endif
    out_headerInfo.spatial_reference_proj4 = header.GetSRS().GetProj4();
    out_headerInfo.creation_year = header.GetCreationYear();
    out_headerInfo.creation_DOY = header.GetCreationDOY();

    // Load points:
    // ---------------------
    const bool has_color = ptmap.hasColorPoints();
    const float col_fract = 1.0f / 255.0f;
    while (reader.ReadNextPoint())
    {
        liblas::Point const& p = reader.GetPoint();

        if (has_color)
        {
            liblas::Color const& col = p.GetColor();
            ptmap.insertPoint(
                p.GetX(), p.GetY(), p.GetZ(), col.GetRed() * col_fract,
                col.GetGreen() * col_fract, col.GetBlue() * col_fract);
        }
        else
        {
            ptmap.insertPoint(p.GetX(), p.GetY(), p.GetZ());
        }
    }

    if (ptmap.size() != nPts)
        cerr << "[loadLASFile] Header says point count is " << nPts
             << " but only " << ptmap.size() << " were really parsed in.\n";

    ptmap.mark_as_modified();

    return true;  // All ok.
}
/** @} */
}
}  // End of namespaces

#endif