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Merge pull request #208 from LaurensVoerman/submitRWlas

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rewrote las plugin to read in a single pass: more speed, better precision
This commit is contained in:
OpenSceneGraph git repository
2017-03-11 11:37:33 +00:00
committed by GitHub
parent 58b9f5208f 8743c18c5a
commit 8dd22d9178
1 changed files with 147 additions and 68 deletions
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215
src/osgPlugins/las/ReaderWriterLAS.cpp
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@@ -25,49 +25,64 @@ class ReaderWriterLAS : public osgDB::ReaderWriter
ReaderWriterLAS()
{
supportsExtension("las","LAS point cloud format");
supportsOption("v","Verbose output");
supportsExtension("las", "LAS point cloud format");
supportsExtension("laz", "compressed LAS point cloud format");
supportsOption("v", "Verbose output");
supportsOption("noScale", "don't scale vertices according to las haeder - put schale in matixTransform");
supportsOption("noReCenter", "don't transform vertex coords to re-center the pointcloud");
}
virtual const char* className() const { return "LAS point cloud reader"; }
virtual ReadResult readNode(const std::string& file, const osgDB::ReaderWriter::Options* options) const
virtual ReadResult readNode(const std::string& file, const osgDB::ReaderWriter::Options* options) const
{
std::string ext = osgDB::getLowerCaseFileExtension(file);
if (!acceptsExtension(ext)) return ReadResult::FILE_NOT_HANDLED;
std::string fileName = osgDB::findDataFile( file, options );
std::string fileName = osgDB::findDataFile(file, options);
if (fileName.empty()) return ReadResult::FILE_NOT_FOUND;
OSG_INFO << "Reading file "<<fileName<<std::endl;
OSG_INFO << "Reading file " << fileName << std::endl;
std::ifstream ifs;
if (!liblas::Open(ifs, file))
{
return ReadResult::ERROR_IN_READING_FILE;
}
return readNode(ifs, options);
}
virtual ReadResult readNode(std::istream& ifs, const Options* options) const {
// Reading options
bool verbose = false;
bool _verbose = false;
bool _scale = true;
bool _recenter = true;
if (options)
{
std::istringstream iss(options->getOptionString());
std::string opt;
while (iss >> opt)
{
if(opt=="v")
if (opt == "v")
{
verbose = true;
_verbose = true;
}
if (opt == "noScale")
{
_scale = false;
}
if (opt == "noReCenter")
{
_recenter = false;
}
}
}
/// HEADER ///
std::ifstream ifs;
if (!liblas::Open(ifs, file))
{
return ReadResult::ERROR_IN_READING_FILE;
}
liblas::Reader reader(ifs);
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs);
liblas::Header const& h = reader.GetHeader();
if (verbose) {
std::cout << "File name: " << file << '\n';
if (_verbose)
{
//std::cout << "File name: " << file << '\n';
//std::cout << "Version : " << reader.GetVersion() << '\n';
std::cout << "Signature: " << h.GetFileSignature() << '\n';
std::cout << "Format : " << h.GetDataFormatId() << '\n';
@@ -98,66 +113,54 @@ class ReaderWriterLAS : public osgDB::ReaderWriter
liblas::detail::Timer t;
t.start();
// This is legacy from libLas Read example.
// The limits are not used in the OSG actual code
// It is left for visual "verification" using the cout output
typedef std::pair<double, double> minmax_t;
minmax_t mx (DBL_MAX, -DBL_MAX);
minmax_t my (DBL_MAX, -DBL_MAX);
minmax_t mz (DBL_MAX, -DBL_MAX);
while (reader.ReadNextPoint())
{
liblas::Point const& p = reader.GetPoint();
mx.first = std::min<double>(mx.first, p[0]);
mx.second = std::max<double>(mx.second, p[0]);
my.first = std::min<double>(my.first, p[1]);
my.second = std::max<double>(my.second, p[1]);
mz.first = std::min<double>(mz.first, p[2]);
mz.second = std::max<double>(mz.second, p[2]);
}
double const d1 = t.stop();
t.start();
if (verbose) {
std::cout << "Min Max calculation. Elapsed Time: " << d1 << "\n"
<< std::fixed << std::setprecision(6)
<< "\nX: (" << mx.first << ", " << mx.second << ")"
<< "\nY: (" << my.first << ", " << my.second << ")"
<< "\nZ: (" << mz.first << ", " << mz.second << ")"
<< std::endl;
}
// calculate the mid point of the point cloud
double mid_x = 0.5*(mx.second - mx.first);
double mid_y = 0.5*(my.second - my.first);
double mid_z = 0.5*(mz.second - mz.first);
// now we do a second pass subtracting the mid point to each point
reader.Reset();
uint32_t i = 0;
bool singleColor = true;
liblas::Color singleColorValue;
while (reader.ReadNextPoint())
{
liblas::Point const& p = reader.GetPoint();
// Extract color components from LAS point
liblas::Color c = p.GetColor();
uint32_t r = c.GetRed();
uint32_t g = c.GetGreen();
uint32_t b = c.GetBlue();
uint32_t r = c.GetRed() >> 8;
uint32_t g = c.GetGreen() >> 8;
uint32_t b = c.GetBlue() >> 8;
uint32_t a = 255; // default value, since LAS point has no alpha information
if (vertices->size()>=targetNumVertices)
if (vertices->size() == 0)
{
singleColorValue = c;
singleColor = true;
}
else
{
if (singleColor)
{
singleColor = singleColorValue == c;//set false if different color found
}
}
if (vertices->size() >= targetNumVertices)
{
// finishing setting up the current geometry and add it to the geode.
geometry->setUseDisplayList(true);
geometry->setUseVertexBufferObjects(true);
geometry->setVertexArray(vertices);
geometry->setColorArray(colours, osg::Array::BIND_PER_VERTEX);
geometry->addPrimitiveSet(new osg::DrawArrays(GL_POINTS,0,vertices->size()));
if (singleColor)
{
colours->resize(1);
geometry->setColorArray(colours, osg::Array::BIND_OVERALL);
}
else
{
geometry->setColorArray(colours, osg::Array::BIND_PER_VERTEX);
}
geometry->addPrimitiveSet(new osg::DrawArrays(GL_POINTS, 0, vertices->size()));
geode->addDrawable(geometry);
@@ -170,17 +173,58 @@ class ReaderWriterLAS : public osgDB::ReaderWriter
vertices->reserve(targetNumVertices);
colours->reserve(targetNumVertices);
}
double X = p.GetRawX();
double Y = p.GetRawY();
double Z = p.GetRawZ();
if (_scale)
{
X *= h.GetScaleX();
Y *= h.GetScaleY();
Z *= h.GetScaleZ();
}
if (_recenter)
{
mx.first = std::min<double>(mx.first, X);
mx.second = std::max<double>(mx.second, X);
my.first = std::min<double>(my.first, Y);
my.second = std::max<double>(my.second, Y);
mz.first = std::min<double>(mz.first, Z);
mz.second = std::max<double>(mz.second, Z);
}
vertices->push_back(osg::Vec3(X, Y, Z));
vertices->push_back(osg::Vec3d (p[0] - mid_x, p[1] - mid_y, p[2] - mid_z) );
colours->push_back(osg::Vec4ub(r,g,b,a));
colours->push_back(osg::Vec4ub(r, g, b, a));
// Warning: Printing zillion of points may take looong time
//std::cout << i << ". " << p << '\n';
i++;
}
// calculate the mid point of the point cloud
double mid_x = 0.5*(mx.second + mx.first);
double mid_y = 0.5*(my.second + my.first);
double mid_z = 0.5*(mz.second + mz.first);
osg::Vec3 midVec(mid_x, mid_y, mid_z);
if (_recenter)
{
//Transform vertices to midpoint
for (unsigned int geomIndex = 0; geomIndex < geode->getNumDrawables(); ++geomIndex)
{
osg::Geometry *geom = dynamic_cast<osg::Geometry*>(geode->getDrawable(geomIndex));
if (geom)
{
osg::Vec3Array* vertArray = dynamic_cast<osg::Vec3Array*>(geom->getVertexArray());
size_t vertArraySize = vertArray->size();
for (size_t vertexIndex = 0; vertexIndex < vertArraySize; ++vertexIndex)
{
(*vertArray)[vertexIndex] -= midVec;
}
}
}
}
double const d2 = t.stop();
if (verbose) {
if (_verbose)
{
std::cout << "Read points: " << i << " Elapsed Time: " << d2
<< std::endl << std::endl;
}
@@ -188,8 +232,17 @@ class ReaderWriterLAS : public osgDB::ReaderWriter
geometry->setUseDisplayList(true);
geometry->setUseVertexBufferObjects(true);
geometry->setVertexArray(vertices);
geometry->setColorArray(colours, osg::Array::BIND_PER_VERTEX);
geometry->addPrimitiveSet(new osg::DrawArrays(GL_POINTS,0,vertices->size()));
if (singleColor)
{
colours->resize(1);
geometry->setColorArray(colours, osg::Array::BIND_OVERALL);
}
else
{
geometry->setColorArray(colours, osg::Array::BIND_PER_VERTEX);
}
geometry->addPrimitiveSet(new osg::DrawArrays(GL_POINTS, 0, vertices->size()));
geode->addDrawable(geometry);
@@ -197,7 +250,33 @@ class ReaderWriterLAS : public osgDB::ReaderWriter
// MatrixTransform with the mid-point translation
osg::MatrixTransform *mt = new osg::MatrixTransform;
mt->setMatrix ( osg::Matrix::translate ( osg::Vec3d(mid_x, mid_y, mid_z)) );
mt->setDataVariance(osg::Object::STATIC);//can be optimized away
if (_scale)//vertex positions are scaled already
{
if (_recenter)
{
mt->setMatrix(osg::Matrix::translate(osg::Vec3d(h.GetOffsetX() + mid_x, h.GetOffsetY() + mid_y, h.GetOffsetZ() + mid_z)));
}
else
{
mt->setMatrix(osg::Matrix::translate(osg::Vec3d(h.GetOffsetX(), h.GetOffsetY(), h.GetOffsetZ())));
}
}
else
{
if (_recenter)
{
mid_x *= h.GetScaleX();
mid_y *= h.GetScaleY();
mid_z *= h.GetScaleZ();
mt->setMatrix(osg::Matrix::scale(osg::Vec3d(h.GetScaleX(), h.GetScaleY(), h.GetScaleZ())) * osg::Matrix::translate(osg::Vec3d(h.GetOffsetX() + mid_x, h.GetOffsetY() + mid_y, h.GetOffsetZ() + mid_z)));
}
else
{
mt->setMatrix(osg::Matrix::scale(osg::Vec3d(h.GetScaleX(), h.GetScaleY(), h.GetScaleZ())) * osg::Matrix::translate(osg::Vec3d(h.GetOffsetX(), h.GetOffsetY(), h.GetOffsetZ())));
}
}
mt->addChild (geode);
return mt;