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

src/jfhdconvert/convertor.cpp

@@ -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

 #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

@@ -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);
-//}