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rtabmap/corelib/src/PDALWriter.cpp
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Added pdal optional dependency (export to LAS, E57, ...)
2021-01-14 15:49:18 -05:00
/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/PDALWriter.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <pdal/io/BufferReader.hpp>
#include <pdal/StageFactory.hpp>
#include <pdal/PluginManager.hpp>
#ifdef RTABMAP_PDAL_16
#include <pdal/pdal_defines.h>
#else
#include <pdal/pdal_features.hpp>
#endif
namespace rtabmap {
std::string getPDALSupportedWriters()
{
std::string output;
// Force plugin loading.
#if PDAL_VERSION_MAJOR>1 || (PDAL_VERSION_MAJOR == 1 && PDAL_VERSION_MINOR > 7) || (PDAL_VERSION_MAJOR == 1 && PDAL_VERSION_MINOR == 7 && PDAL_VERSION_MINOR>=1)
pdal::StageFactory f;
pdal::PluginManager<pdal::Stage>::loadAll();
pdal::StringList stages = pdal::PluginManager<pdal::Stage>::names();
#else
pdal::StageFactory f(false);
pdal::StringList stages = pdal::PluginManager::names(PF_PluginType_Writer);
#endif
for(pdal::StringList::iterator iter=stages.begin(); iter!=stages.end(); ++iter)
{
if(!uStrContains(*iter, "writers"))
{
continue;
}
if(iter->compare("writers.null") == 0)
{
continue;
}
if(iter!=stages.begin())
{
output += " ";
}
output += UFile::getExtension(*iter);
}
return output;
}
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int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZ> & cloud,
const std::vector<int> & cameraIds,
bool binary)
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{
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UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
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pdal::PointTable table;
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if(!cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::PointSourceId});
}
else
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z});
}
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pdal::BufferReader bufferReader;
pdal::PointViewPtr view(new pdal::PointView(table));
for(size_t i=0; i<cloud.size(); ++i)
{
view->setField(pdal::Dimension::Id::X, i, cloud.at(i).x);
view->setField(pdal::Dimension::Id::Y, i, cloud.at(i).y);
view->setField(pdal::Dimension::Id::Z, i, cloud.at(i).z);
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if(!cameraIds.empty())
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
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}
bufferReader.addView(view);
pdal::StageFactory factory;
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std::string ext = UFile::getExtension(filePath);
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pdal::Stage *writer = factory.createStage("writers." + (ext.compare("laz")==0?"las":ext));
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if(writer)
{
pdal::Options writerOps;
writerOps.add("filename", filePath);
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if(ext.compare("ply")==0) writerOps.add("storage_mode", binary?"little endian":"ascii"); // PLY
if(ext.compare("pcd")==0) writerOps.add("compression", binary?"binary":"ascii"); // PCD
ExportClouds: added support for LAZ format from PDAL
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if(ext.compare("laz")==0) writerOps.add("compression", "lazperf");
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writer->setOptions(writerOps);
writer->setInput(bufferReader);
writer->prepare(table);
writer->execute(table);
}
else
{
UERROR("PDAL: cannot find writer for extension \"%s\". Available extensions: \"%s\"",
UFile::getExtension(filePath).c_str(),
getPDALSupportedWriters().c_str());
return 1;
}
return 0; //success
}
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int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<int> & cameraIds,
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bool binary,
const std::vector<float> & intensities)
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{
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UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
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UASSERT_MSG(intensities.empty() || intensities.size() == cloud.size(),
uFormat("intensities=%d cloud=%d", (int)intensities.size(), (int)cloud.size()).c_str());
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pdal::PointTable table;
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if(!intensities.empty() && !cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::PointSourceId,
pdal::Dimension::Id::Intensity});
}
else if(!intensities.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::Intensity});
}
else if(!cameraIds.empty())
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{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::PointSourceId});
}
else
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue});
}
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::BufferReader bufferReader;
pdal::PointViewPtr view(new pdal::PointView(table));
for(size_t i=0; i<cloud.size(); ++i)
{
view->setField(pdal::Dimension::Id::X, i, cloud.at(i).x);
view->setField(pdal::Dimension::Id::Y, i, cloud.at(i).y);
view->setField(pdal::Dimension::Id::Z, i, cloud.at(i).z);
view->setField(pdal::Dimension::Id::Red, i, cloud.at(i).r);
view->setField(pdal::Dimension::Id::Green, i, cloud.at(i).g);
view->setField(pdal::Dimension::Id::Blue, i, cloud.at(i).b);
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if(!cameraIds.empty())
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
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if(!intensities.empty())
{
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)intensities.at(i));
}
Added pdal optional dependency (export to LAS, E57, ...)
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}
bufferReader.addView(view);
pdal::StageFactory factory;
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std::string ext = UFile::getExtension(filePath);
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pdal::Stage *writer = factory.createStage("writers." + (ext.compare("laz")==0?"las":ext));
Added pdal optional dependency (export to LAS, E57, ...)
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if(writer)
{
pdal::Options writerOps;
writerOps.add("filename", filePath);
Coloring scan (camera projection on point cloud) (#693)
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if(ext.compare("ply")==0) writerOps.add("storage_mode", binary?"little endian":"ascii"); // PLY
if(ext.compare("pcd")==0) writerOps.add("compression", binary?"binary":"ascii"); // PCD
ExportClouds: added support for LAZ format from PDAL
2025-03-29 19:08:32 -07:00
if(ext.compare("laz")==0) writerOps.add("compression", "lazperf");
Added pdal optional dependency (export to LAS, E57, ...)
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writer->setOptions(writerOps);
writer->setInput(bufferReader);
writer->prepare(table);
writer->execute(table);
}
else
{
UERROR("PDAL: cannot find writer for extension \"%s\". Available extensions: \"%s\"",
UFile::getExtension(filePath).c_str(),
getPDALSupportedWriters().c_str());
return 1;
}
return 0; //success
}
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int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<int> & cameraIds,
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
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bool binary,
const std::vector<float> & intensities)
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{
Coloring scan (camera projection on point cloud) (#693)
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UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
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UASSERT_MSG(intensities.empty() || intensities.size() == cloud.size(),
uFormat("intensities=%d cloud=%d", (int)intensities.size(), (int)cloud.size()).c_str());
Coloring scan (camera projection on point cloud) (#693)
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Added pdal optional dependency (export to LAS, E57, ...)
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pdal::PointTable table;
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
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if(!intensities.empty() && !cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::PointSourceId,
pdal::Dimension::Id::Intensity});
}
else if(!intensities.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::Intensity});
}
else if(!cameraIds.empty())
Coloring scan (camera projection on point cloud) (#693)
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{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::PointSourceId});
}
else
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Red,
pdal::Dimension::Id::Green,
pdal::Dimension::Id::Blue,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ});
}
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::BufferReader bufferReader;
pdal::PointViewPtr view(new pdal::PointView(table));
for(size_t i=0; i<cloud.size(); ++i)
{
view->setField(pdal::Dimension::Id::X, i, cloud.at(i).x);
view->setField(pdal::Dimension::Id::Y, i, cloud.at(i).y);
view->setField(pdal::Dimension::Id::Z, i, cloud.at(i).z);
view->setField(pdal::Dimension::Id::Red, i, cloud.at(i).r);
view->setField(pdal::Dimension::Id::Green, i, cloud.at(i).g);
view->setField(pdal::Dimension::Id::Blue, i, cloud.at(i).b);
view->setField(pdal::Dimension::Id::NormalX, i, cloud.at(i).normal_x);
view->setField(pdal::Dimension::Id::NormalY, i, cloud.at(i).normal_y);
view->setField(pdal::Dimension::Id::NormalZ, i, cloud.at(i).normal_z);
Coloring scan (camera projection on point cloud) (#693)
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if(!cameraIds.empty())
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
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if(!intensities.empty())
{
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)intensities.at(i));
}
Added pdal optional dependency (export to LAS, E57, ...)
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}
bufferReader.addView(view);
pdal::StageFactory factory;
Coloring scan (camera projection on point cloud) (#693)
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std::string ext = UFile::getExtension(filePath);
ExportClouds: added support for LAZ format from PDAL
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pdal::Stage *writer = factory.createStage("writers." + (ext.compare("laz")==0?"las":ext));
Added pdal optional dependency (export to LAS, E57, ...)
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if(writer)
{
pdal::Options writerOps;
writerOps.add("filename", filePath);
Coloring scan (camera projection on point cloud) (#693)
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if(ext.compare("ply")==0) writerOps.add("storage_mode", binary?"little endian":"ascii"); // PLY
if(ext.compare("pcd")==0) writerOps.add("compression", binary?"binary":"ascii"); // PCD
ExportClouds: added support for LAZ format from PDAL
2025-03-29 19:08:32 -07:00
if(ext.compare("laz")==0) writerOps.add("compression", "lazperf");
Added pdal optional dependency (export to LAS, E57, ...)
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writer->setOptions(writerOps);
writer->setInput(bufferReader);
writer->prepare(table);
writer->execute(table);
}
else
{
UERROR("PDAL: cannot find writer for extension \"%s\". Available extensions: \"%s\"",
UFile::getExtension(filePath).c_str(),
getPDALSupportedWriters().c_str());
return 1;
}
return 0; //success
}
Coloring scan (camera projection on point cloud) (#693)
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int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZI> & cloud,
const std::vector<int> & cameraIds,
bool binary)
Added pdal optional dependency (export to LAS, E57, ...)
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{
Coloring scan (camera projection on point cloud) (#693)
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UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::PointTable table;
Coloring scan (camera projection on point cloud) (#693)
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if(!cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Intensity,
pdal::Dimension::Id::PointSourceId});
}
else
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Intensity});
}
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::BufferReader bufferReader;
pdal::PointViewPtr view(new pdal::PointView(table));
for(size_t i=0; i<cloud.size(); ++i)
{
view->setField(pdal::Dimension::Id::X, i, cloud.at(i).x);
view->setField(pdal::Dimension::Id::Y, i, cloud.at(i).y);
view->setField(pdal::Dimension::Id::Z, i, cloud.at(i).z);
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)cloud.at(i).intensity);
Coloring scan (camera projection on point cloud) (#693)
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if(!cameraIds.empty())
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
Added pdal optional dependency (export to LAS, E57, ...)
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}
bufferReader.addView(view);
pdal::StageFactory factory;
Coloring scan (camera projection on point cloud) (#693)
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std::string ext = UFile::getExtension(filePath);
ExportClouds: added support for LAZ format from PDAL
2025-03-29 19:08:32 -07:00
pdal::Stage *writer = factory.createStage("writers." + (ext.compare("laz")==0?"las":ext));
Added pdal optional dependency (export to LAS, E57, ...)
2021-01-14 15:49:18 -05:00
if(writer)
{
pdal::Options writerOps;
writerOps.add("filename", filePath);
Coloring scan (camera projection on point cloud) (#693)
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if(ext.compare("ply")==0) writerOps.add("storage_mode", binary?"little endian":"ascii"); // PLY
if(ext.compare("pcd")==0) writerOps.add("compression", binary?"binary":"ascii"); // PCD
ExportClouds: added support for LAZ format from PDAL
2025-03-29 19:08:32 -07:00
if(ext.compare("laz")==0) writerOps.add("compression", "lazperf");
Added pdal optional dependency (export to LAS, E57, ...)
2021-01-14 15:49:18 -05:00
writer->setOptions(writerOps);
writer->setInput(bufferReader);
writer->prepare(table);
writer->execute(table);
}
else
{
UERROR("PDAL: cannot find writer for extension \"%s\". Available extensions: \"%s\"",
UFile::getExtension(filePath).c_str(),
getPDALSupportedWriters().c_str());
return 1;
}
return 0; //success
}
Coloring scan (camera projection on point cloud) (#693)
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int savePDALFile(const std::string & filePath,
const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
const std::vector<int> & cameraIds,
bool binary)
Added pdal optional dependency (export to LAS, E57, ...)
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{
Coloring scan (camera projection on point cloud) (#693)
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UASSERT_MSG(cameraIds.empty() || cameraIds.size() == cloud.size(),
uFormat("cameraIds=%d cloud=%d", (int)cameraIds.size(), (int)cloud.size()).c_str());
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::PointTable table;
Coloring scan (camera projection on point cloud) (#693)
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if(!cameraIds.empty())
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Intensity,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ,
pdal::Dimension::Id::PointSourceId});
}
else
{
table.layout()->registerDims({
pdal::Dimension::Id::X,
pdal::Dimension::Id::Y,
pdal::Dimension::Id::Z,
pdal::Dimension::Id::Intensity,
pdal::Dimension::Id::NormalX,
pdal::Dimension::Id::NormalY,
pdal::Dimension::Id::NormalZ});
}
Added pdal optional dependency (export to LAS, E57, ...)
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pdal::BufferReader bufferReader;
pdal::PointViewPtr view(new pdal::PointView(table));
for(size_t i=0; i<cloud.size(); ++i)
{
view->setField(pdal::Dimension::Id::X, i, cloud.at(i).x);
view->setField(pdal::Dimension::Id::Y, i, cloud.at(i).y);
view->setField(pdal::Dimension::Id::Z, i, cloud.at(i).z);
view->setField(pdal::Dimension::Id::Intensity, i, (unsigned short)cloud.at(i).intensity);
view->setField(pdal::Dimension::Id::NormalX, i, cloud.at(i).normal_x);
view->setField(pdal::Dimension::Id::NormalY, i, cloud.at(i).normal_y);
view->setField(pdal::Dimension::Id::NormalZ, i, cloud.at(i).normal_z);
Coloring scan (camera projection on point cloud) (#693)
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if(!cameraIds.empty())
{
view->setField(pdal::Dimension::Id::PointSourceId, i, cameraIds.at(i));
}
Added pdal optional dependency (export to LAS, E57, ...)
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}
bufferReader.addView(view);
pdal::StageFactory factory;
Coloring scan (camera projection on point cloud) (#693)
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std::string ext = UFile::getExtension(filePath);
ExportClouds: added support for LAZ format from PDAL
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pdal::Stage *writer = factory.createStage("writers." + (ext.compare("laz")==0?"las":ext));
Added pdal optional dependency (export to LAS, E57, ...)
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if(writer)
{
pdal::Options writerOps;
writerOps.add("filename", filePath);
Coloring scan (camera projection on point cloud) (#693)
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if(ext.compare("ply")==0) writerOps.add("storage_mode", binary?"little endian":"ascii"); // PLY
if(ext.compare("pcd")==0) writerOps.add("compression", binary?"binary":"ascii"); // PCD
ExportClouds: added support for LAZ format from PDAL
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if(ext.compare("laz")==0) writerOps.add("compression", "lazperf");
Added pdal optional dependency (export to LAS, E57, ...)
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writer->setOptions(writerOps);
writer->setInput(bufferReader);
writer->prepare(table);
writer->execute(table);
}
else
{
UERROR("PDAL: cannot find writer for extension \"%s\". Available extensions: \"%s\"",
UFile::getExtension(filePath).c_str(),
getPDALSupportedWriters().c_str());
return 1;
}
return 0; //success
}
}
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