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LidarPreprocessor.cpp
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/***********************************************************************
New version of LiDAR data preprocessor.
Copyright (c) 2005-2012 Oliver Kreylos
This file is part of the LiDAR processing and analysis package.
The LiDAR processing and analysis package is free software; you can
redistribute it and/or modify it under the terms of the GNU General
Public License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.
The LiDAR processing and analysis package is distributed in the hope
that it will be useful, but WITHOUT ANY WARRANTY; without even the
implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along
with the LiDAR processing and analysis package; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
02111-1307 USA
***********************************************************************/
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <iostream>
#include <iomanip>
#include <string>
#include <vector>
#include <Misc/ThrowStdErr.h>
#include <Misc/Endianness.h>
#include <Misc/FileNameExtensions.h>
#include <Misc/Timer.h>
#include <Misc/StandardValueCoders.h>
#include <Misc/ConfigurationFile.h>
#include <IO/File.h>
#include <IO/SeekableFile.h>
#include <IO/OpenFile.h>
#include <IO/ReadAheadFilter.h>
#include <IO/ValueSource.h>
#include <Comm/OpenFile.h>
#include <Math/Math.h>
#include <Math/Constants.h>
#include <Geometry/OrthogonalTransformation.h>
#include <Geometry/GeometryValueCoders.h>
#include "LidarTypes.h"
#include "PointAccumulator.h"
#include "ReadPlyFile.h"
#include "LidarProcessOctree.h"
#include "LidarOctreeCreator.h"
void loadPointFileBin(PointAccumulator& pa,const char* fileName)
{
/* Open the binary input file: */
IO::FilePtr file(new IO::ReadAheadFilter(Comm::openFile(fileName)));
file->setEndianness(Misc::LittleEndian);
/* Read the number of points in the file: */
size_t numPoints=file->read<unsigned int>();
/* Read all points: */
for(size_t i=0;i<numPoints;++i)
{
/* Read the point position and intensity from the input file: */
float rp[4];
file->read(rp,4);
/* Store the point: */
pa.addPoint(PointAccumulator::Point(rp),PointAccumulator::Color(rp[3],rp[3],rp[3]));
}
}
void loadPointFileBinRgb(PointAccumulator& pa,const char* fileName)
{
/* Open the binary input file: */
IO::FilePtr file(new IO::ReadAheadFilter(Comm::openFile(fileName)));
file->setEndianness(Misc::LittleEndian);
/* Read the number of points in the file: */
size_t numPoints=file->read<unsigned int>();
/* Read all points: */
for(size_t i=0;i<numPoints;++i)
{
/* Read the point position and color from the input file: */
float rp[3];
file->read(rp,3);
Color::Scalar rcol[4];
file->read(rcol,4);
/* Store the point: */
pa.addPoint(PointAccumulator::Point(rp),PointAccumulator::Color(rcol));
}
}
void loadPointFileLas(PointAccumulator& pa,const char* fileName,unsigned int classMask)
{
/* Open the LAS input file: */
IO::FilePtr file(new IO::ReadAheadFilter(Comm::openFile(fileName)));
file->setEndianness(Misc::LittleEndian);
/* Read the LAS file header: */
char signature[4];
file->read(signature,4);
if(memcmp(signature,"LASF",4)!=0)
return;
file->skip<unsigned short>(1); // Ignore file source ID
file->skip<unsigned short>(1); // Ignore reserved field
file->skip<unsigned int>(1); // Ignore project ID
file->skip<unsigned short>(1); // Ignore project ID
file->skip<unsigned short>(1); // Ignore project ID
file->skip<char>(8); // Ignore project ID
file->skip<char>(2); // Ignore file version number
file->skip<char>(32); // Ignore system identifier
file->skip<char>(32); // Ignore generating software
file->skip<unsigned short>(1); // Ignore file creation day of year
file->skip<unsigned short>(1); // Ignore file creation year
file->skip<unsigned short>(1); // Ignore header size
unsigned int pointDataOffset=file->read<unsigned int>();
file->skip<unsigned int>(1); // Ignore number of variable-length records
unsigned char pointDataFormat=file->read<unsigned char>();
unsigned short pointDataRecordLength=file->read<unsigned short>();
size_t numPointRecords=file->read<unsigned int>();
unsigned int numPointsByReturn[5];
file->read(numPointsByReturn,5);
double scale[3];
file->read(scale,3);
PointAccumulator::Vector offset;
file->read(offset.getComponents(),3);
double min[3],max[3];
for(int i=0;i<3;++i)
{
max[i]=file->read<double>();
min[i]=file->read<double>();
}
/* Check the LAS file header for sanity: */
switch(pointDataFormat)
{
case 0:
if(pointDataRecordLength!=20)
return;
break;
case 1:
if(pointDataRecordLength!=28)
return;
break;
case 2:
if(pointDataRecordLength!=26)
return;
break;
case 3:
if(pointDataRecordLength!=34)
return;
break;
default:
return;
}
/* Skip to the beginning of the point records: */
if(pointDataOffset<227)
return;
file->skip<unsigned char>(pointDataOffset-227);
/* Apply the LAS offset to the point accumulator's point offset: */
PointAccumulator::Vector originalPointOffset=pa.getPointOffset();
pa.setPointOffset(originalPointOffset+offset);
/* Read all points: */
for(size_t i=0;i<numPointRecords;++i)
{
/* Read the point position: */
int pos[3];
file->read(pos,3);
PointAccumulator::Point p;
for(int j=0;j<3;++j)
p[j]=double(pos[j])*scale[j];
/* Read the point intensity: */
float intensity=float(file->read<unsigned short>());
/* Skip return data: */
file->skip<char>(1);
/* Read the point classification: */
unsigned int classBit=0x1U<<(file->read<unsigned char>()&0x1fU);
/* Skip angle and user: */
file->skip<unsigned char>(2);
/* Skip source and time: */
file->skip<unsigned short>(1);
if(pointDataFormat&0x1)
file->skip<double>(1);
PointAccumulator::Color c;
if(pointDataFormat>=2)
{
/* Assign point color from stored RGB data: */
unsigned short rgb[3];
file->read(rgb,3);
for(int j=0;j<3;++j)
c[j]=float(rgb[j]);
}
else
{
/* Assign point color from intensity: */
for(int j=0;j<3;++j)
c[j]=float(intensity);
}
if(classMask&classBit)
{
/* Store the point: */
pa.addPoint(p,c);
}
}
/* Reset the point accumulator's point offset: */
pa.setPointOffset(originalPointOffset);
}
void loadPointFileXyzi(PointAccumulator& pa,const char* fileName)
{
/* Open the ASCII input file: */
IO::ValueSource reader(new IO::ReadAheadFilter(Comm::openFile(fileName)));
reader.setPunctuation('#',true);
reader.setPunctuation('\n',true);
reader.skipWs();
/* Read all lines from the input file: */
size_t lineNumber=1;
while(!reader.eof())
{
/* Check for comment or empty lines: */
if(reader.peekc()!='#'&&reader.peekc()!='\n')
{
try
{
/* Parse the point coordinates and intensity from the line: */
PointAccumulator::Point p;
for(int i=0;i<3;++i)
p[i]=reader.readNumber();
float intensity=float(reader.readNumber());
PointAccumulator::Color c(intensity,intensity,intensity);
/* Store the point: */
pa.addPoint(p,c);
}
catch(IO::ValueSource::NumberError err)
{
std::cerr<<"loadPointFileXyzi: Point parsing error in line "<<lineNumber<<std::endl;
}
}
/* Skip the rest of the line: */
reader.skipLine();
++lineNumber;
reader.skipWs();
}
}
void loadPointFileXyzrgb(PointAccumulator& pa,const char* fileName)
{
/* Open the ASCII input file: */
IO::ValueSource reader(new IO::ReadAheadFilter(Comm::openFile(fileName)));
reader.setPunctuation('#',true);
reader.setPunctuation('\n',true);
reader.skipWs();
/* Read all lines from the input file: */
size_t lineNumber=1;
while(!reader.eof())
{
/* Check for comment or empty lines: */
if(reader.peekc()!='#'&&reader.peekc()!='\n')
{
try
{
/* Parse the point coordinates and color from the line: */
PointAccumulator::Point p;
for(int i=0;i<3;++i)
p[i]=reader.readNumber();
PointAccumulator::Color c;
for(int i=0;i<3;++i)
c[i]=float(reader.readNumber());
/* Store the point: */
pa.addPoint(p,c);
}
catch(IO::ValueSource::NumberError err)
{
std::cerr<<"loadPointFileXyzrgb: Point parsing error in line "<<lineNumber<<std::endl;
}
}
/* Skip the rest of the line: */
reader.skipLine();
++lineNumber;
reader.skipWs();
}
}
void loadPointFileGenericASCII(PointAccumulator& pa,const char* fileName,int numHeaderLines,bool strictCsv,bool rgb,const int columnIndices[6])
{
/* Create the mapping from column indices to point components: */
int maxColumnIndex=columnIndices[0];
for(int i=1;i<6;++i)
if(maxColumnIndex<columnIndices[i])
maxColumnIndex=columnIndices[i];
int* componentColumnIndices=new int[maxColumnIndex+1];
for(int i=0;i<=maxColumnIndex;++i)
componentColumnIndices[i]=-1;
int numComponents=0;
for(int i=0;i<6;++i)
if(columnIndices[i]>=0)
{
componentColumnIndices[columnIndices[i]]=i;
++numComponents;
}
/* Create color components if they are not given: */
if(rgb)
{
if(numComponents<6)
numComponents=6;
}
else
{
if(numComponents<4)
numComponents=4;
}
double* componentValues=new double[numComponents];
/* Initialize the color components: */
for(int i=3;i<numComponents;++i)
componentValues[i]=255.0;
/* Open the ASCII input file: */
IO::ValueSource reader(new IO::ReadAheadFilter(Comm::openFile(fileName)));
if(strictCsv)
reader.setWhitespace("");
reader.setPunctuation("#,\n");
reader.skipWs();
size_t lineNumber=1;
/* Skip the header lines: */
for(int i=0;i<numHeaderLines;++i)
{
reader.skipLine();
reader.skipWs();
++lineNumber;
}
/* Read all lines from the input file: */
try
{
while(!reader.eof())
{
/* Check for comments or empty lines: */
if(reader.peekc()!='#'&&reader.peekc()!='\n')
{
/* Read all columns: */
for(int columnIndex=0;columnIndex<=maxColumnIndex;++columnIndex)
{
if(componentColumnIndices[columnIndex]>=0)
{
/* Read the next value: */
componentValues[componentColumnIndices[columnIndex]]=reader.readNumber();
}
else
reader.skipString();
if(columnIndex<maxColumnIndex)
{
/* Check for separator: */
if(reader.peekc()==',')
reader.skipString();
}
}
/* Store the point position: */
PointAccumulator::Point p(componentValues);
PointAccumulator::Color c;
if(rgb)
{
/* Modify the read RGB color according to the color mask: */
for(int i=0;i<3;++i)
c[i]=componentValues[3+i];
}
else
{
/* Convert the read intensity to an RGB color according to the color mask: */
for(int i=0;i<3;++i)
c[i]=componentValues[3];
}
/* Store the point: */
pa.addPoint(p,c);
}
/* Skip to the next line: */
reader.skipLine();
reader.skipWs();
++lineNumber;
}
}
catch(std::runtime_error err)
{
std::cerr<<"Caught exception "<<err.what()<<" in line "<<lineNumber<<" in input file "<<fileName<<std::endl;
}
/* Clean up: */
delete[] componentColumnIndices;
delete[] componentValues;
}
void loadPointFileBlockedASCII(PointAccumulator& pa,const char* fileName,int numHeaderLines,bool rgb,const int columnIndices[6])
{
/* Create the mapping from column indices to point components: */
int maxColumnIndex=columnIndices[0];
for(int i=1;i<6;++i)
if(maxColumnIndex<columnIndices[i])
maxColumnIndex=columnIndices[i];
int* componentColumnIndices=new int[maxColumnIndex+1];
for(int i=0;i<=maxColumnIndex;++i)
componentColumnIndices[i]=-1;
int numComponents=0;
for(int i=0;i<6;++i)
if(columnIndices[i]>=0)
{
componentColumnIndices[columnIndices[i]]=i;
++numComponents;
}
double* componentValues=new double[numComponents];
/* Open the ASCII input file: */
IO::ValueSource reader(new IO::ReadAheadFilter(Comm::openFile(fileName)));
reader.setPunctuation("#,\n");
reader.skipWs();
size_t lineNumber=1;
/* Skip the header lines: */
for(int i=0;i<numHeaderLines;++i)
{
reader.skipLine();
reader.skipWs();
++lineNumber;
}
/* Read all lines from the input file: */
try
{
while(!reader.eof())
{
/* Read the number of points in the next block: */
int numPoints=reader.readInteger();
reader.skipLine();
reader.skipWs();
++lineNumber;
/* Read all points in the block: */
for(int blockIndex=0;blockIndex<numPoints;++blockIndex)
{
/* Read all columns: */
for(int columnIndex=0;columnIndex<=maxColumnIndex;++columnIndex)
{
if(componentColumnIndices[columnIndex]>=0)
{
/* Read the next value: */
componentValues[componentColumnIndices[columnIndex]]=reader.readNumber();
}
else
reader.skipString();
if(columnIndex<maxColumnIndex)
{
/* Check for separator: */
if(reader.peekc()==',')
reader.skipString();
}
}
/* Store the point position: */
PointAccumulator::Point p(componentValues);
/* Store the point color: */
PointAccumulator::Color c;
if(rgb)
{
/* Modify the read RGB color according to the color mask: */
for(int i=0;i<3;++i)
c[i]=float(componentValues[3+i]);
}
else
{
/* Convert the read intensity to an RGB color according to the color mask: */
for(int i=0;i<3;++i)
c[i]=float(componentValues[3]);
}
/* Store the point: */
pa.addPoint(p,c);
/* Skip to the next line: */
reader.skipLine();
reader.skipWs();
++lineNumber;
}
}
}
catch(std::runtime_error err)
{
std::cerr<<"Caught exception "<<err.what()<<" in line "<<lineNumber<<" in input file "<<fileName<<std::endl;
}
/* Clean up: */
delete[] componentColumnIndices;
delete[] componentValues;
}
/**********************************
Helper structure to load IDL files:
**********************************/
struct IDLFileRecord // Structure describing a record in an IDL file
{
/* Elements: */
public:
unsigned int galID[2]; // Galaxy ID (64-bit integer)
unsigned int haloID[2]; // Halo ID (64-bit integer)
unsigned int recordType; // 0=central, 1=sat, 2=orphan
float position[3];
float velocity[3];
float spin[3];
float ra;
float dec;
float z_obs;
float z;
float centralMVir;
float mVir;
float rVir;
float vVir;
float vMax;
float velDisp;
float stellarMass;
float bulgeMass;
float coldGas;
float hotGas;
float ejectedMass;
float blackHoleMass;
float sfr;
float cooling;
float heating;
float appMagSdss[5];
float appMagSdssBulge[5];
float absMagSdss[5];
float appMagDeep[4];
float appMagDeepBulge[4];
float absMagBvrik[5];
float absMagBvrikBulge[5];
float absMagBvrikNoDust[5];
};
namespace Misc {
template <>
class EndiannessSwapper<IDLFileRecord>
{
/* Methods: */
public:
static void swap(IDLFileRecord& value)
{
swapEndianness(value.galID,2);
swapEndianness(value.haloID,2);
swapEndianness(value.recordType);
swapEndianness(value.position,3);
swapEndianness(value.velocity,3);
swapEndianness(value.spin,3);
swapEndianness(value.ra);
swapEndianness(value.dec);
swapEndianness(value.z_obs);
swapEndianness(value.z);
swapEndianness(value.centralMVir);
swapEndianness(value.mVir);
swapEndianness(value.rVir);
swapEndianness(value.vVir);
swapEndianness(value.vMax);
swapEndianness(value.velDisp);
swapEndianness(value.stellarMass);
swapEndianness(value.bulgeMass);
swapEndianness(value.coldGas);
swapEndianness(value.hotGas);
swapEndianness(value.ejectedMass);
swapEndianness(value.blackHoleMass);
swapEndianness(value.sfr);
swapEndianness(value.cooling);
swapEndianness(value.heating);
swapEndianness(value.appMagSdss,5);
swapEndianness(value.appMagSdssBulge,5);
swapEndianness(value.absMagSdss,5);
swapEndianness(value.appMagDeep,4);
swapEndianness(value.appMagDeepBulge,4);
swapEndianness(value.absMagBvrik,5);
swapEndianness(value.absMagBvrikBulge,5);
swapEndianness(value.absMagBvrikNoDust,5);
}
};
}
double angdiadistscaled(double z)
{
double h0=71.0;
double oM=0.3;
double oL=0.7;
double oR=1.0-(oM+oL);
double sum1=0.0;
double dz=z/100.0;
double id=1.0;
for(int i=0;i<100;++i,id+=dz)
{
double ez=Math::sqrt((oM*id+oR)*id*id+oL);
sum1+=dz/ez;
}
double dh=3.0e5/h0;
double dc=dh*sum1;
if(oR==0.0)
return dh*sum1;
else
{
double sqrtOR=Math::sqrt(Math::abs(oR));
return dh*(1.0/sqrtOR)*sinh(sqrtOR*(sum1));
}
}
void loadPointFileIdl(PointAccumulator& pa,const char* fileName)
{
/* Open the IDL input file: */
IO::FilePtr file(new IO::ReadAheadFilter(Comm::openFile(fileName)));
file->setEndianness(Misc::LittleEndian);
/* Read the IDL file header: */
size_t numRecords=file->read<unsigned int>();
/* Read all records: */
float massMin=Math::Constants<float>::max;
float massMax=Math::Constants<float>::min;
for(size_t i=0;i<numRecords;++i)
{
/* Read the next record: */
IDLFileRecord record;
file->read(record);
/* Create a point: */
PointAccumulator::Point p;
#if 0
for(int i=0;i<3;++i)
p[i]=record.position[i];
#else
/* New formula using redshift to calculate galaxy position in Cartesian coordinates: */
double z=3200.0*double(record.z);
// double z=angdiadistscaled(record.z);
p[0]=double(record.dec)*z;
p[1]=double(record.ra)*z;
p[2]=z;
#endif
if(massMin>record.mVir)
massMin=record.mVir;
if(massMax<record.mVir)
massMax=record.mVir;
float rgbFactor=(record.mVir/32565.4f)*0.5f+0.5f;
/* Calculate false color from absolute SDSS magnitudes: */
PointAccumulator::Color c;
c[0]=(record.absMagSdss[2]-record.absMagSdss[3]+1.13f);
c[1]=((-record.absMagSdss[2]-14.62f)*0.3);
c[2]=(record.absMagSdss[1]-record.absMagSdss[2]+0.73f);
// if(record.recordType==0)
{
/* Store the point: */
pa.addPoint(p,c);
}
}
std::cout<<"mVir range: "<<massMin<<" - "<<massMax<<std::endl;
}
/**************************************
Helper structures to load octree files:
**************************************/
struct OldLidarOctreeFileHeader // Header structure for old LiDAR octree files
{
/* Elements: */
public:
Point center; // Center of the cube containing all LiDAR points
Scalar radius; // Radius (half side length) of cube containing all LiDAR points
unsigned int maxNumPointsPerNode; // Maximum number of points stored in each octree node
/* Constructors and destructors: */
OldLidarOctreeFileHeader(IO::File& file) // Reads the header from file
{
file.read(center.getComponents(),3);
file.read(radius);
file.read(maxNumPointsPerNode);
}
/* Methods: */
static size_t getSize(void) // Returns the file size of the header
{
return sizeof(Point)+sizeof(Scalar)+sizeof(unsigned int);
}
};
struct OldLidarOctreeFileNode // Structure for a node in a LiDAR octree file
{
/* Elements: */
public:
IO::SeekableFile::Offset childrenOffset; // Offset of the node's children in the octree file (or 0 if leaf node)
Scalar detailSize; // Detail size of this node, for proper LOD computation
unsigned int numPoints; // Number of points in the node
IO::SeekableFile::Offset pointsOffset; // Offset of the node's points in the points file
/* Constructors and destructors: */
OldLidarOctreeFileNode(IO::SeekableFile& file) // Reads the octree node from file
{
file.read(childrenOffset);
file.read(detailSize);
file.read(pointsOffset);
file.read(numPoints);
}
/* Methods: */
static size_t getSize(void) // Returns the file size of an octree node
{
return sizeof(IO::SeekableFile::Offset)+sizeof(Scalar)+sizeof(IO::SeekableFile::Offset)+sizeof(unsigned int);
}
};
void readOctreeFileSubtree(PointAccumulator& pa,IO::SeekableFile& octFile,IO::SeekableFile& obinFile)
{
/* Read the node's header from the octree file: */
OldLidarOctreeFileNode ofn(octFile);
if(ofn.childrenOffset!=0)
{
/* Recurse into the node's children: */
IO::SeekableFile::Offset childOffset=ofn.childrenOffset;
for(int childIndex=0;childIndex<8;++childIndex,childOffset+=OldLidarOctreeFileNode::getSize())
{
octFile.setReadPosAbs(childOffset);
readOctreeFileSubtree(pa,octFile,obinFile);
}
}
else if(ofn.numPoints>0)
{
/* Read the node's points from the octree point file: */
obinFile.setReadPosAbs(ofn.pointsOffset);
for(unsigned int i=0;i<ofn.numPoints;++i)
{
LidarPoint p;
obinFile.read(p.getComponents(),3);
obinFile.read(p.value.getRgba(),4);
pa.addPoint(PointAccumulator::Point(p.getComponents()),PointAccumulator::Color(p.value.getRgba()));
}
}
}
void loadPointFileOctree(PointAccumulator& pa,const char* fileNameStem)
{
/* Open the input octree structure and octree point files: */
char octFileName[1024];
snprintf(octFileName,sizeof(octFileName),"%s.oct",fileNameStem);
IO::SeekableFilePtr octFile(IO::openSeekableFile(octFileName));
octFile->setEndianness(Misc::LittleEndian);
char obinFileName[1024];
snprintf(obinFileName,sizeof(obinFileName),"%s.obin",fileNameStem);
IO::SeekableFilePtr obinFile(IO::openSeekableFile(obinFileName));
obinFile->setEndianness(Misc::LittleEndian);
/* Read the octree structure file header: */
OldLidarOctreeFileHeader ofh(*octFile);
/* Read all original points from the octree: */
readOctreeFileSubtree(pa,*octFile,*obinFile);
}
/*****************************************************
Helper class to load LiDAR files in new octree format:
*****************************************************/
class LidarFileLoader
{
/* Elements: */
private:
PointAccumulator& pa;
/* Constructors and destructors: */
public:
LidarFileLoader(PointAccumulator& sPa)
:pa(sPa)
{
}
/* Methods: */
void operator()(LidarProcessOctree::Node& node,unsigned int nodeLevel)
{
/* Check if this node is a leaf: */
if(node.isLeaf())
{
/* Add each node point to the point accumulator: */
for(unsigned int i=0;i<node.getNumPoints();++i)
{
LidarPoint p=node[i];
pa.addPoint(PointAccumulator::Point(p.getComponents()),PointAccumulator::Color(p.value.getRgba()));
}
}
}
};
void loadLidarFile(PointAccumulator& pa,const char* lidarFileName)
{
/* Open the LiDAR file: */
LidarProcessOctree lpo(lidarFileName,size_t(64)*size_t(1024)*size_t(1024));
LidarFileLoader lfl(pa);
lpo.processNodesPostfix(lfl);
}
/**************
Helper classes:
**************/
enum PointFileType // Enumerated type for point file formats
{
AUTO, // Tries to autodetect input file format based on file name extension
BIN, // Simple binary format: number of points followed by (x, y, z, i) tuples
BINRGB, // Simple binary format: number of points followed by (x, y, z, r, g, b) tuples
PLY, // File in standard PLY format; only reads vertex positions and colors
LAS, // Standard binary LiDAR point cloud interchange format
XYZI, // Simple ASCII format: rows containing space-separated (x, y, z, i) tuples
XYZRGB, // Simple ASCII format: rows containing space-separated (x, y, z, r, g, b) tuples
ASCII, // Generic ASCII format with intensity data
ASCIIRGB, // Generic ASCII format with RGB data
CSV, // Strict comma-separated values file with intensity data
CSVRGB, // Strict comma-separated values file with RGB data
BLOCKEDASCII, // Blocked ASCII format with intensity data
BLOCKEDASCIIRGB, // Blocked ASCII format with RGB data
IDL, // Redshift data file in IDL format
OCTREE, // Point octree file in old file format
LIDAR, // LiDAR file in new octree file format
ILLEGAL
};
/****************
Helper functions:
****************/
bool readColumnIndexMask(int argc,char* argv[],int& argi,int columnIndices[6])
{
/* Initialize the column indices to invalid: */
for(int i=0;i<6;++i)
columnIndices[i]=-1;
/* Read all parameters that are integers: */
for(int i=0;i<6;++i)
{
++argi;
if(argi<argc)
{
char* conversionEnd;
int value=int(strtol(argv[argi],&conversionEnd,10));
if(*conversionEnd=='\0')
columnIndices[i]=value;
else
{
--argi;
break;
}
}
}
/* Check if the index array at least contains x, y, z components: */
return columnIndices[0]>=0&&columnIndices[1]>=0&&columnIndices[2]>=0;
}
int main(int argc,char* argv[])
{
/* Set default values for all parameters: */
unsigned int memoryCacheSize=512;
unsigned int tempOctreeMaxNumPointsPerNode=4096;
std::string tempOctreeFileNameTemplate="/tmp/LidarPreprocessorTempOctree";
unsigned int maxNumPointsPerNode=4096;
int numThreads=1;
std::string tempPointFileNameTemplate="/tmp/LidarPreprocessorTempPoints";
try
{
/* Open LidarViewer's configuration file: */
Misc::ConfigurationFile configFile(LIDARVIEWER_CONFIGFILENAME);
Misc::ConfigurationFileSection cfg=configFile.getSection("/LidarPreprocessor");
/* Override program settings from configuration file: */
memoryCacheSize=cfg.retrieveValue<unsigned int>("./memoryCacheSize",memoryCacheSize);
tempOctreeMaxNumPointsPerNode=cfg.retrieveValue<unsigned int>("./tempOctreeMaxNumPointsPerNode",tempOctreeMaxNumPointsPerNode);
tempOctreeFileNameTemplate=cfg.retrieveValue<std::string>("./tempOctreeFileNameTemplate",tempOctreeFileNameTemplate);
maxNumPointsPerNode=cfg.retrieveValue<unsigned int>("./maxNumPointsPerNode",maxNumPointsPerNode);
numThreads=cfg.retrieveValue<int>("./numThreads",numThreads);
tempPointFileNameTemplate=cfg.retrieveValue<std::string>("./tempPointFileNameTemplate",tempPointFileNameTemplate);
}
catch(std::runtime_error err)
{
/* Just ignore the error */
}
/* Initialize transient parameters: */
const char* outputFileName=0;
PointFileType pointFileType=AUTO;
int asciiColumnIndices[6];
unsigned int lasClassMask=~0x0U;
int numHeaderLines=0;
bool havePoints=false;
/* Parse the command line and load all input files: */
Misc::Timer loadTimer;
PointAccumulator pa;
for(int i=1;i<argc;++i)
{
if(argv[i][0]=='-')
{
if(strcasecmp(argv[i]+1,"o")==0)
{
++i;
if(i<argc)
outputFileName=argv[i];
else
std::cerr<<"Dangling -o flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"np")==0)
{
++i;
if(i<argc)
maxNumPointsPerNode=(unsigned int)(atoi(argv[i]));
else
std::cerr<<"Dangling -np flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"nt")==0)
{
++i;
if(i<argc)
numThreads=atoi(argv[i]);
else
std::cerr<<"Dangling -nt flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"ooc")==0)
{
++i;
if(i<argc)
memoryCacheSize=(unsigned int)(atoi(argv[i]));
else
std::cerr<<"Dangling -ooc flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"to")==0)
{
++i;
if(i<argc)
{
if(!havePoints)
tempOctreeFileNameTemplate=argv[i];
else
std::cerr<<"Ignoring -to flag; must be specified before any input point sets are read"<<std::endl;
}
else
std::cerr<<"Dangling -to flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"tp")==0)
{
++i;
if(i<argc)
tempPointFileNameTemplate=argv[i];
else
std::cerr<<"Dangling -tp flag on command line"<<std::endl;
}
else if(strcasecmp(argv[i]+1,"lasOffset")==0)
{
if(havePoints)
{
std::cerr<<"Ignoring lasOffset argument; must be specified before any input files are read"<<std::endl;