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fmt_converter
Commit a667db63 authored by xuebingbing's avatar xuebingbing
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1 新增指定pcd 导出fields的功能(兼容旧数据格式); 

2 优化命令行使用信息
parent d9354fc5
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Showing with 63 additions and 609 deletions
src/jfhdconvert/convertor.cpp
View file @ a667db63
......@@ -62,18 +62,22 @@ pdal::Dimension::Type GetLasDimDataType(const pcl::PCLPointField& field)
}
}
std::unordered_map<std::string, pdal::Dimension::Id> GetLasdimidFromPcdFields(const std::vector<::pcl::PCLPointField>& pcdfields, pdal::PointLayoutPtr layerout)
std::unordered_map<std::string, pdal::Dimension::Id> GetLasdimidFromPcdFields(const std::vector<::pcl::PCLPointField>& pcdfields, const jfhd::convert::Pcd2LasInfo& info, pdal::PointLayoutPtr layerout)
{
std::unordered_map<std::string, pdal::Dimension::Id> dict;
for (auto field : pcdfields)
for (auto& field : pcdfields)
{
if (0 == field.name.compare("_"))
if (0 == info.fieldnames.count(field.name))
{
std::cout << "skip:" << field.name << std::endl;
continue;
}
auto dimdatatype = GetLasDimDataType(field);
if (pdal::Dimension::Type::None == dimdatatype)
{
// TODO::
std::cout << "skip:" << field.name << std::endl;
continue;
}
......@@ -87,6 +91,8 @@ std::unordered_map<std::string, pdal::Dimension::Id> GetLasdimidFromPcdFields(co
dim = layerout->assignDim(field.name, dimdatatype);
}
std::cout << "export: " << field.name << "->" << layerout->dimName(dim) << std::endl;
dict.emplace(std::make_pair(field.name, dim));
}
......@@ -210,7 +216,7 @@ namespace jfhd {
pdal::PointTable table;
auto layerout = table.layout();
std::unordered_map<std::string, pdal::Dimension::Id>
dict_pclfieldname_lasid = GetLasdimidFromPcdFields(pcloud.fields, table.layout());
dict_pclfieldname_lasid = GetLasdimidFromPcdFields(pcloud.fields, info, table.layout());
pdal::PointViewPtr view(new pdal::PointView(table));
std::uint64_t width = pcloud.width;
......
src/jfhdconvert/convertor.h
View file @ a667db63
#ifndef JF_HD_CONVERT_SWITH_H_
#define JF_HD_CONVERT_SWITH_H_
#include <string>
#include <set>
#include "export.h"
namespace jfhd {
......@@ -8,9 +9,13 @@ namespace jfhd {
struct CONVERT_API Pcd2LasInfo
{
// pcd x(y,z) + (offset x(y,z) = las x(y,z)
double offsetx = 0.0;
double offsety = 0.0;
double offsetz = 0.0;
// pcd 存在的fieldname 转换到las中, 为空时全部转换,不用指定x,y,z 字段, 区分大小写
std::set<std::string> fieldnames = {};
};
class CONVERT_API Convertor
......@@ -19,6 +24,15 @@ namespace jfhd {
Convertor();
~Convertor();
/**
* @brief pcd 转 las文件
* @param pcdfilepath 输入文件
* @param lasfilepath 输出文件
* @param info x,y,z
* @param fieldnames
* @param errormsg
* @return
*/
static bool Pcd2Las(const std::string& pcdfilepath, const std::string& lasfilepath, const Pcd2LasInfo& info, std::string* errormsg);
};
}
......
src/jfhdconvertor/main.cpp
View file @ a667db63
......@@ -18,13 +18,6 @@
#include <boost/format.hpp>
#include <boost/algorithm/string.hpp>
//void TestPcdreader();
//
//void TestPdalReadLas();
//
//void TestPdalWriteLas();
//
//void TestPcd2Las();
#include "3parts/cxxopts.hpp"
cxxopts::ParseResult parse(int argc, char* argv[]);
......@@ -66,10 +59,9 @@ int main(int argc, char* argv[])
//if (modes.count("pcd2las.stationfiles") > 0)
//{
std::cout << ">>>begin pcd2las.stationfiles--------------------------------------------------" << std::endl;
pcd2lasByStationFiles(res);
std::cout << ">>>end pcd2las.stationfiles--------------------------------------------------" << std::endl;
//}
std::cout << ">>>begin pcd2las.stationfiles--------------------------------------------------" << std::endl;
pcd2lasByStationFiles(res);
std::cout << ">>>end pcd2las.stationfiles--------------------------------------------------" << std::endl;
return true;
......@@ -119,48 +111,21 @@ cxxopts::ParseResult parse(int argc, char* argv[])
options
.allow_unrecognised_options()
.add_options()
//("m,mode", "pcd2las : must args --workdir; pcd2las.auto: must args --pcdfile,--lasfile; pcd2las.stationfiles : must args --pcdfile,--lasfile,--jf_station_file, --jd_station_file",
// cxxopts::value<std::string>()->default_value("pcd2las.stationfiles"))
("h,help", "Print help(VERSION: 1.1)")
//("h,help", "Print help(VERSION: 1.2)")
#ifdef CXXOPTS_USE_UNICODE
("unicode", u8"A help option with non-ascii: à. Here the size of the"
" string should be correct")
#endif
;
//options
// .allow_unrecognised_options()
// .add_options()
// ("m,mode", "test"
// "pcd2las : must args --workdir\n"
// "pcd2las.auto : must args --pcdfile,--lasfile\n"
// "pcd2las.stationfiles : must args --pcdfile,--lasfile,--jf_station_file, --jd_station_file\n",
// cxxopts::value<std::string>()->default_value("pcd2las.stationfiles"))
// ("h,help", "Print help")
// #ifdef CXXOPTS_USE_UNICODE
// ("unicode", u8"A help option with non-ascii: à. Here the size of the"
// " string should be correct")
// #endif
// ;
options.add_options("options")
//("workdir", "自动化的任务根目录", cxxopts::value<std::string>())
("pcdfile", "输入pcd文件路径", cxxopts::value<std::string>())
("lasfile", "输出las文件路径", cxxopts::value<std::string>())
//("offsetxyz", "A list of doubles", cxxopts::value<std::vector<double>>()->default_value("0.0,0.0,0.0"))
("f,pcdfile", "pcd 文件路径", cxxopts::value<std::string>())
("lasfile", "las 文件路径", cxxopts::value<std::string>())
("jf_station_file", "JF 站心定义文件,必须包含 E0_PROJECT:* N0_PROJECT:* H0_PROJECT:* 三对UTM 站心(偏移)信息", cxxopts::value<std::string>())
("jd_station_file", "JD 站心和校正,必须包含E0_UTM_JD:* N0_UTM_JD:* H0_UTM_JD:* 三对UTM 站心(偏移)信息, 可包含E_OFFSET:* N_OFFSET:* H_OFFSET:* 的校正信息", cxxopts::value<std::string>());
//options.add_options("pcd2las")
//("pcdfile", "输入pcd文件路径", cxxopts::value<std::string>())
//("lasfile", "输出las文件路径", cxxopts::value<std::string>())
//("offsetxyz", "A list of doubles", cxxopts::value<std::vector<double>>()->default_value("0.0,0.0,0.0"));
//options.add_options("pcd2las.stationfiles")
//("pcdfile", "输入pcd文件路径", cxxopts::value<std::string>())
//("lasfile", "输出las文件路径", cxxopts::value<std::string>())
//("jf_station_file", "JF 站心定义文件,必须包含 E0_PROJECT:* N0_PROJECT:* H0_PROJECT:* 三对UTM 站心(偏移)信息", cxxopts::value<std::string>())
//("jd_station_file", "JD 站心和校正,必须包含E0_UTM_JD:* N0_UTM_JD:* H0_UTM_JD:* 三对UTM 站心(偏移)信息, 可包含E_OFFSET:* N_OFFSET:* H_OFFSET:* 的校正信息", cxxopts::value<std::string>());
("jd_station_file", "JD 站心和校正,必须包含E0_UTM_JD:* N0_UTM_JD:* H0_UTM_JD:* 三对UTM 站心(偏移)信息, 可包含E_OFFSET:* N_OFFSET:* H_OFFSET:* 的校正信息", cxxopts::value<std::string>())
("fields", "转换到las的pcd的field名字过滤器数组,区分大小写", cxxopts::value< std::vector< std::string> >()->default_value("X,x,Y,y,Z,z,LABEL,Label,label,INTENSITY,Intensity,intensity"))
("h,help", "Print help(VERSION: 1.2)");
//("o,offsetxyz", "手动指定x,y,z的偏移值", cxxopts::value< std::vector< double> >()->default_value("0.0,0.0,0.0"));
auto result = options.parse(argc, argv);
......@@ -210,9 +175,18 @@ int pcd2las(const cxxopts::ParseResult& argsresult)
}
jfhd::convert::Pcd2LasInfo info;
if (argsresult.count("fields"))
{
const auto& v = argsresult["fields"].as<std::vector<std::string>>();
for (const auto& i : v)
{
info.fieldnames.insert(i);
}
}
if (argsresult.count("offsetxyz"))
{
const auto values = argsresult["offsetxyz"].as<std::vector<double>>();
const auto& values = argsresult["offsetxyz"].as<std::vector<double>>();
if (values.size() < 3)
{
std::cout << "offsetxyz 需要三个偏移值" << std::endl;
......@@ -487,7 +461,6 @@ bool ReadJdStationFile(const std::string& filepath, str_dict* jddict)
return true;
}
int pcd2lasByStationFiles(const cxxopts::ParseResult& argsresult)
{
using boost::filesystem::path;
......@@ -498,25 +471,14 @@ int pcd2lasByStationFiles(const cxxopts::ParseResult& argsresult)
constexpr const char* currentmode = "pcd2las.stationfiles";
//("pcdfile", "输入pcd文件路径", cxxopts::value<std::string>())
//("lasfile", "输出las文件路径", cxxopts::value<std::string>())
//("jf_station_file", "JF 站心定义文件,必须包含 E0_PROJECT:* N0_PROJECT:* H0_PROJECT:* 三对UTM 站心(偏移)信息", cxxopts::value<std::string>())
//("jd_station_file", "JD 站心和校正,必须包含E0_UTM_JD:* N0_UTM_JD:* H0_UTM_JD:* 三对UTM 站心(偏移)信息, 可包含E_OFFSET:* N_OFFSET:* H_OFFSET:* 的校正信息", cxxopts::value<std::string>());
boost::system::error_code sys_err_code;
if (argsresult.count("jf_station_file") < 1)
{
std::cout << "ERROR: " << currentmode << " 未指定觉非站心文件" << std::endl;
return -1;
return EXIT_FAILURE;
}
std::string temp = argsresult["jf_station_file"].as<std::string>();
// 查找station_jf.txt文件
//path testdir(initial_path());
// path testdir("D:/workspace/JF/repos/cc/fmt_converter/build/src/jfhdconvertor");
//workdir = system_complete(path(workdirpath, portable_name));
//testdir = system_complete(path(temp));
//workdir = system_complete(path(workdirpath));
path jf_stationfilepath(temp.begin(), temp.end());// = initial_path();
......@@ -525,41 +487,42 @@ int pcd2lasByStationFiles(const cxxopts::ParseResult& argsresult)
if (0 != sys_err_code.value() || !exists(jf_stationfilepath) || !is_regular_file(jf_stationfilepath))
{
std::cout << "ERROR:" << currentmode << " 找不到觉非站心文件：" << jf_stationfilepath.string() << " DETAIL:" << sys_err_code.message() << std::endl;
return -1;
return EXIT_FAILURE;
}
if (argsresult.count("jd_station_file") < 1)
{
std::cout << "ERROR: " << currentmode << " 未指定京东站心文件" << std::endl;
return -1;
return EXIT_FAILURE;
}
temp = argsresult["jd_station_file"].as<std::string>();
auto jd_stationfilepath = system_complete(path(temp), sys_err_code);
if (0 != sys_err_code.value() || !exists(jd_stationfilepath) || !is_regular_file(jd_stationfilepath))
{
std::cout << "ERROR:" << currentmode << " 找不到京东站心文件：" << jf_stationfilepath.string() << " DETAIL:" << sys_err_code.message() << std::endl;
return -1;
return EXIT_FAILURE;
}
temp = argsresult["pcdfile"].as<std::string>();
if (argsresult.count("pcdfile") < 1)
{
std::cout << "ERROR: " << currentmode << " 未指定输入pcd文件" << std::endl;
return -1;
return EXIT_FAILURE;
}
//path pcd_filepath(temp);
auto pcd_filepath = system_complete(path(temp), sys_err_code);
if (0 != sys_err_code.value() || !exists(pcd_filepath) || !is_regular_file(pcd_filepath))
{
std::cout << "ERROR:" << currentmode << " 指定pcd文件错误：" << jf_stationfilepath.string() << " DETAIL:" << sys_err_code.message() << std::endl;
return -1;
return EXIT_FAILURE;
}
temp = argsresult["lasfile"].as<std::string>();
if (argsresult.count("lasfile") < 1)
{
std::cout << "ERROR: " << currentmode << " 未指定输入las文件" << std::endl;
return -1;
return EXIT_FAILURE;
}
auto las_filepath = system_complete(path(temp), sys_err_code);
if (!sys_err_code && exists(las_filepath) && is_regular_file(las_filepath))
......@@ -577,19 +540,25 @@ int pcd2lasByStationFiles(const cxxopts::ParseResult& argsresult)
// 读取taskid_station_jf.txt,taskid_station_jd.txt
str_dict jf_station_dict, jd_station_dict;
if (!ReadJfStationFile(jf_stationfilepath.string(), &jf_station_dict))
return -1;
return EXIT_FAILURE;
if (!ReadJdStationFile(jd_stationfilepath.string(), &jd_station_dict))
return -1;
return EXIT_FAILURE;
jfhd::convert::Pcd2LasInfo convert_info;
if (!CalcConvertInfo(jf_station_dict, jd_station_dict, &convert_info))
return -1;
return EXIT_FAILURE;
std::cout << "offsetx = " << convert_info.offsetx << std::endl;
std::cout << "offsety = " << convert_info.offsety << std::endl;
std::cout << "offsetz = " << convert_info.offsetz << std::endl;
const auto& v = argsresult["fields"].as<std::vector<std::string> >();
for (const auto& i : v)
{
convert_info.fieldnames.insert(i);
}
std::string errormsg;
if (!jfhd::convert::Convertor::Pcd2Las(pcd_filepath.string(), las_filepath.string(), convert_info, &errormsg))
{
......@@ -604,541 +573,6 @@ int pcd2lasByStationFiles(const cxxopts::ParseResult& argsresult)
std::cout << std::endl;
}
return 0;
return EXIT_SUCCESS;
}
//#include <corecrt_io.h>
//#include <pcl/io/pcd_io.h>
//#include <pcl/point_types.h>
//#include <pcl/PCLPointCloud2.h>
//
////typedef struct PointXYZIT {
//// PCL_ADD_POINT4D
////
//// float label;
//// float intensity;
//// EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
////} EIGEN_ALIGN16 PPoint;
//
//
////typedef struct PointXYZIT {
//// PCL_ADD_POINT4D
////
//// float label;
//// float intensity;
//// EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
////} EIGEN_ALIGN16 PPoint;
////
////POINT_CLOUD_REGISTER_POINT_STRUCT(
//// PointXYZIT, (float, x, x) (float, y, y)(float, z, z)(float, intensity, intensity)(float, label, label))
//
//
// //pdal::Dimension::Type GetLasDimDataType(const pcl::PCLPointField& field);
//#include <unordered_map>
//
//
//void TestPcd2Las()
//{
// std::string pcdfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add.pcd" };
//
// Eigen::Vector4f origin;
// Eigen::Quaternionf orientation;
// pcl::PCLPointCloud2 pcloud;
// pcl::io::loadPCDFile(pcdfilepath, pcloud, origin, orientation);
//
// //pcl::PointCloud<PointXYZIT>::Ptr cloud(new pcl::PointCloud<PointXYZIT>);
// //pcl::io::loadPCDFile(pcdfilepath, *cloud);
//
// // pcd field 变换到 las的dim
// std::unordered_map<std::string, pdal::Dimension::Id> dict_pclfieldname_lasid;
// pdal::PointTable table;
// auto layerout = table.layout();
// for (auto field : pcloud.fields)
// {
// if (0 == field.name.compare("_"))
// continue;
//
// auto dimdatatype = GetLasDimDataType(field);
// if (pdal::Dimension::Type::None == dimdatatype)
// {
// // TODO::
// continue;
// }
//
// pdal::Dimension::Id dim = pdal::Dimension::id(field.name);
// if (pdal::Dimension::Id::Unknown != dim)
// {
// layerout->registerDim(dim);
// }
// else
// {
// dim = layerout->assignDim(field.name, dimdatatype);
// }
//
// dict_pclfieldname_lasid.emplace(std::make_pair(field.name, dim));
// }
//
// pdal::PointViewPtr view(new pdal::PointView(table));
// std::uint64_t width = pcloud.width;
// std::uint64_t height = pcloud.height;
// std::uint64_t point_count = width * height;
// std::uint64_t point_step = pcloud.point_step;
//
// std::uint64_t ipoint = 0;
//
// for (std::uint64_t row = 0; row < height; ++row)
// {
// const std::uint8_t* row_data = &pcloud.data[row * pcloud.row_step];
// for (std::uint32_t col = 0; col < pcloud.width; ++col)
// {
// std::cout << ipoint << ":";
// const std::uint8_t* msg_data = row_data + col * point_step;
//
// for (const auto& item : pcloud.fields)
// {
// if (dict_pclfieldname_lasid.end() == dict_pclfieldname_lasid.find(item.name))
// continue;
//
// //constexpr pcl::PCLPointField::PointFieldTypes field_type = (pcl::PCLPointField::PointFieldTypes)item.datatype;
//
// switch (item.datatype) {
// case pcl::PCLPointField::INT8: {
// pcl::traits::asType<pcl::PCLPointField::INT8>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::INT8>::type));
// //GetValueFunctor<pcl::PCLPointField::INT8> funcotr;
// //funcotr(msg_data, item);
// }break;
// case pcl::PCLPointField::UINT8:
// {
// pcl::traits::asType<pcl::PCLPointField::UINT8>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::UINT8>::type));
// }break;
// case pcl::PCLPointField::INT16:
// {
// pcl::traits::asType<pcl::PCLPointField::INT16>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::INT16>::type));
// }break;
// case pcl::PCLPointField::UINT16:
// {
// pcl::traits::asType<pcl::PCLPointField::UINT16>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::UINT16>::type));
// }break;
// case pcl::PCLPointField::INT32:
// {
// pcl::traits::asType<pcl::PCLPointField::INT32>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::INT32>::type));
// }break;
// case pcl::PCLPointField::UINT32:
// {
// pcl::traits::asType<pcl::PCLPointField::UINT32>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::UINT32>::type));
// auto it = dict_pclfieldname_lasid.find(item.name);
// if (it != dict_pclfieldname_lasid.end())
// {
// view->setField(it->second, ipoint, val);
// }
// }break;
// case pcl::PCLPointField::FLOAT32:
// {
// pcl::traits::asType<pcl::PCLPointField::FLOAT32>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::FLOAT32>::type));
//
// auto it = dict_pclfieldname_lasid.find(item.name);
// if (it != dict_pclfieldname_lasid.end())
// {
// view->setField(it->second, ipoint, (double)val);
// }
// // TODO: 判断x，y，z 进行加减
// }break;
// case pcl::PCLPointField::FLOAT64:
// {
// pcl::traits::asType<pcl::PCLPointField::FLOAT64>::type val;
// memcpy(&val, msg_data + item.offset, sizeof(pcl::traits::asType<pcl::PCLPointField::FLOAT64>::type));
//
// auto it = dict_pclfieldname_lasid.find(item.name);
// if (it != dict_pclfieldname_lasid.end())
// {
// view->setField(it->second, ipoint, val);
// }
// }break;
// default:
// break;
// }
// }
// ++ipoint;
//
// std::cout << std::endl;
// }
// }
//
// std::string lasfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add_myself.las" };
// pdal::Options las_options;
// las_options.add("filename", lasfilepath);
// las_options.add("extra_dims", "all");
// las_options.add("scale_x", 1.0e-5);
// las_options.add("scale_y", 1.0e-5);
// las_options.add("scale_z", 1.0e-5);
// pdal::Uuid uuid;
// uuid.parse("C8DED732-F71F-44D7-A62E-24F7F8A43E69");
// las_options.add("project_id", uuid);
//
// pdal::BufferReader bufferreader;
// bufferreader.addView(view);
//
// pdal::StageFactory factory;
// pdal::Stage* writer = factory.createStage("writers.las");
// writer->setOptions(las_options);
// writer->setInput(bufferreader);
// writer->prepare(table);
// writer->execute(table);
//
// //las_options.add()
//
// //pdal::PointTable table;
// //auto layerout = table.layout();
// //pdal::PointLayout layerout;
// //layerout->registerDim(pdal::Dimension::Id::X);
// //layerout->registerDim(pdal::Dimension::Id::Y);
// //layerout->registerDim(pdal::Dimension::Id::Z);
//
// // ȱ�ٱ��� dim field ��Ӧ��ϵ
// //for (auto field : pcloud.fields)
// //{
// // if (0 == field.name.compare("_"))
// // continue;
//
// // auto dim = pdal::Dimension::id(field.name);
// // if (pdal::Dimension::Id::Unknown != dim)
// // {
// // layerout->registerDim(dim);
// // continue;
// // }
//
// // auto dimdatatype = GetLasDimDataType(field);
// // if (pdal::Dimension::Type::None == dimdatatype)
// // {
// // // TODO::
// // continue;
// // }
//
// // auto customdim = layerout->assignDim(field.name, dimdatatype);
// //}
//
//
//}
//
//pdal::Dimension::Type GetLasDimDataType(const pcl::PCLPointField& field)
//{
// switch (field.datatype)
// {
// case pcl::PCLPointField::INT8:
// {
// return pdal::Dimension::Type::Signed8;
// }break;
// case pcl::PCLPointField::UINT8:
// {
// return pdal::Dimension::Type::Unsigned8;
// }break;
// case pcl::PCLPointField::INT16:
// {
// return pdal::Dimension::Type::Signed16;
//
// }break;
// case pcl::PCLPointField::UINT16:
// {
// return pdal::Dimension::Type::Unsigned16;
// }break;
// case pcl::PCLPointField::INT32:
// {
// return pdal::Dimension::Type::Signed32;
// }break;
// case pcl::PCLPointField::UINT32:
// {
// return pdal::Dimension::Type::Unsigned32;
// }break;
// case pcl::PCLPointField::FLOAT32:
// {
// return pdal::Dimension::Type::Float;
// }break;
// case pcl::PCLPointField::FLOAT64:
// {
// return pdal::Dimension::Type::Double;
// }break;
// default:
// return pdal::Dimension::Type::None;
// }
//}
//
//void TestPcdreader()
//{
// std::string pcdfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add.pcd" };
//
// pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
// //pcl::PointCloud<PPoint>::Ptr cloud(new pcl::PointCloud<PPoint>);
//// pcl::io::loadPCDFile(pcdfilepath, *cloud);
//
//
//
//
// //pcl::PCDReader p;
//
//
// pcl::PCLPointCloud2 pcd2;
// Eigen::Vector4f origin;
// Eigen::Quaternionf orientation;
// int res = pcl::io::loadPCDFile(pcdfilepath, pcd2, origin, orientation);
//
// //for (auto i : pcd2->points)
// //{
// // std::cout << "x=" << i.x;
// // std::cout << " y=" << i.y;
// // std::cout << " z=" << i.z << std::endl;
// // break;
// //}
//
// std::cout << "end" << std::endl;
//}
//
//#include <pdal/io/LasReader.hpp>
//#include <pdal/io/LasHeader.hpp>
//#include <pdal/io/LasVLR.hpp>
//#include <pdal/io/LasUtils.hpp>
//#include <pdal/Dimension.hpp>
//#include <vector>
//
//using DT = pdal::Dimension::Type;
//const pdal::Dimension::Type lastypes[] = {
// DT::None, DT::Unsigned8, DT::Signed8, DT::Unsigned16, DT::Signed16,
// DT::Unsigned32, DT::Signed32, DT::Unsigned64, DT::Signed64,
// DT::Float, DT::Double
//};
//
//void pdal::ExtraBytesIf::setType(uint8_t lastype)
//{
// m_fieldCnt = 1;
// while (lastype > 10)
// {
// m_fieldCnt++;
// lastype -= 10;
// }
//
// m_type = lastypes[lastype];
// if (m_type == Dimension::Type::None)
// m_fieldCnt = 0;
//}
//
//
//void pdal::ExtraBytesIf::readFrom(const char *buf)
//{
// LeExtractor extractor(buf, sizeof(ExtraBytesSpec));
// uint16_t dummy16;
// uint32_t dummy32;
// uint64_t dummy64;
// double dummyd;
// uint8_t options;
// uint8_t type;
//
// uint8_t SCALE_MASK = 1 << 3;
// uint8_t OFFSET_MASK = 1 << 4;
//
// extractor >> dummy16 >> type >> options;
// extractor.get(m_name, 32);
// extractor >> dummy32;
// for (size_t i = 0; i < 3; ++i)
// extractor >> dummy64; // No data field.
// for (size_t i = 0; i < 3; ++i)
// extractor >> dummyd; // Min.
// for (size_t i = 0; i < 3; ++i)
// extractor >> dummyd; // Max.
// for (size_t i = 0; i < 3; ++i)
// extractor >> m_scale[i];
// for (size_t i = 0; i < 3; ++i)
// extractor >> m_offset[i];
// extractor.get(m_description, 32);
//
// setType(type);
// if (m_type == Dimension::Type::None)
// m_size = options;
// if (!(options & SCALE_MASK))
// for (size_t i = 0; i < 3; ++i)
// m_scale[i] = 1.0;
// if (!(options & OFFSET_MASK))
// for (size_t i = 0; i < 3; ++i)
// m_offset[i] = 0.0;
//}
//
//std::vector<pdal::ExtraDim> pdal::ExtraBytesIf::toExtraDims()
//{
// std::vector<ExtraDim> eds;
//
// if (m_type == Dimension::Type::None)
// {
// ExtraDim ed(m_name, Dimension::Type::None);
// ed.m_size = m_size;
// eds.push_back(ed);
// }
// else if (m_fieldCnt == 1)
// {
// ExtraDim ed(m_name, m_type, m_scale[0], m_offset[0]);
// eds.push_back(ed);
// }
// else
// {
// for (size_t i = 0; i < m_fieldCnt; ++i)
// {
// ExtraDim ed(m_name + std::to_string(i), m_type,
// m_scale[i], m_offset[i]);
// eds.push_back(ed);
// }
// }
// return eds;
//}
//
//static bool ReadExtraBytesVlr(pdal::LasHeader& header, std::vector<pdal::ExtraDim>& extraDims)
//{
// using namespace pdal;
//
// const LasVLR *vlr = header.findVlr(SPEC_USER_ID, EXTRA_BYTES_RECORD_ID);
// if (!vlr)
// {
// return false;
// }
//
// size_t size = vlr->dataLen();
// if (size % sizeof(ExtraBytesSpec) != 0)
// {
// //ccLog::Warning("[LAS] Bad size for extra bytes VLR. Ignoring.");
// return false;
// }
// size_t count = size / sizeof(ExtraBytesSpec);
// //ccLog::PrintDebug("[LAS] VLR count: " + QString::number(count));
//
// try
// {
// const char* pos = vlr->data();
// for (size_t i = 0; i < count; ++i)
// {
// ExtraBytesIf eb;
// eb.readFrom(pos);
// pos += sizeof(ExtraBytesSpec);
//
// std::vector<ExtraDim> eds = eb.toExtraDims();
// for (const ExtraDim& ed : eds)
// {
// // ccLog::PrintDebug(QString("[LAS] VLR #%1: %2").arg(i + 1).arg(QString::fromStdString(ed.m_name)));
// extraDims.push_back(ed);
// }
// }
// }
// catch (const std::bad_alloc&)
// {
// //ccLog::Warning("[LAS] Not enough memory to retrieve the extra bytes fields.");
// return false;
// }
//
// return true;
//}
//
//void TestPdalReadLas()
//{
// using namespace pdal;
//
// std::string lasfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add_cc.las" };
// pdal::PointTable table;
// pdal::LasReader las_reader;
//
// pdal::Options las_opts;
// las_opts.add(pdal::Option("filename", lasfilepath));
// las_reader.setOptions(las_opts);
// las_reader.prepare(table);
// auto las_header = las_reader.header();
//
// std::vector<pdal::ExtraDim> extradims;
// ReadExtraBytesVlr(las_header, extradims);
//
// //las_opts.add(pdal::Option("extra_dims", "label=float"));
//
// StringList extraNamesToLoad;
// std::string extraDimsArg;
// for (unsigned i = 0; i < extradims.size(); ++i)
// {
// //if (s_lasOpenDlg->doLoadEVLR(i))
// //{
// extraDimsArg += extradims[i].m_name + "=" + pdal::Dimension::interpretationName(extradims[i].m_dimType.m_type) + ",";
// extraNamesToLoad.push_back(extradims[i].m_name);
// //}
// }
// pdal::Options las_opts2;
// las_opts2.add(pdal::Option("extra_dims", extraDimsArg));
// las_reader.addOptions(las_opts2);
// las_reader.prepare(table);
//
// pdal::PointViewSet point_view_set = las_reader.execute(table);
//
// pdal::PointViewPtr point_view = *point_view_set.begin();
// pdal::Dimension::IdList dims = point_view->dims();
// auto layout = point_view->layout();
//
// //ͷ�ļ���Ϣ
// unsigned int PointCount = las_header.pointCount();
// //char* projstr = table.spatialRef().getWKT(pdal::SpatialReference::e
//}
//
//void TestPdalWriteLas()
//{
// std::string lasfilepath{ "E:/data/jd/task1-2/1106/JF_PCD/12_ground_utm_add1.las" };
//
// pdal::Options las_options;
// las_options.add("filename", lasfilepath);
// las_options.add("extra_dims", "all");
// las_options.add("scale_x", 0.01);
// las_options.add("scale_y", 0.01);
// las_options.add("scale_z", 0.01);
// las_options.add("offset_x", 0.0);
// las_options.add("offset_y", 0.0);
// las_options.add("offset_z", 0.0);
// pdal::Uuid uuid;
// uuid.parse("C8DED732-F71F-44D7-A62E-24F7F8A43E69");
// las_options.add("project_id", uuid);
//
// //las_options.add()
//
// pdal::PointTable table;
// auto layerout = table.layout();
// //pdal::PointLayout layerout;
// layerout->registerDim(pdal::Dimension::Id::X);
// layerout->registerDim(pdal::Dimension::Id::Y);
// layerout->registerDim(pdal::Dimension::Id::Z);
// //layerout.registerDim(pdal::Dimension::Id::lay)
// auto labelid = layerout->assignDim("label", pdal::Dimension::Type::Double);
//
// pdal::PointViewPtr view(new pdal::PointView(table));
// for (int i = 0; i < 100; ++i)
// {
// view->setField(pdal::Dimension::Id::X, i, i * 10.0);
// view->setField(pdal::Dimension::Id::Y, i, i * 10.0);
// view->setField(pdal::Dimension::Id::Z, i, i * 10.0);
// view->setField(labelid, i, i);
// }
//
// pdal::BufferReader bufferreader;
// bufferreader.addView(view);
//
// pdal::StageFactory factory;
// pdal::Stage* writer = factory.createStage("writers.las");
// writer->setOptions(las_options);
// writer->setInput(bufferreader);
// writer->prepare(table);
// writer->execute(table);
//}
//
//#include <pcl/io/pcd_io.h>
//
////POINT_CLOUD_REGISTER_POINT_STRUCT(
//// PointXYZIT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity))
// typedef pcl::PointCloud<PPoint> PPointCloud;
//void TestPCLRead()
//{
// PPointCloud* pcld = new PPointCloud();
// std::string filepath = "E:/gdata/gjd/task1-2/1106/JF_PCD/12_ground_utm_add.pcd";
// pcl::io::loadPCDFile(filepath, *pcld);
//}
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