LasIO.cpp

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#include <iostream>
using std::cout;
using std::endl;
 
#include "lvr2/io/LasIO.hpp"
#include "lvr2/io/Timestamp.hpp"
 
#include <lasreader.hpp>
#include <laswriter.hpp>
 
namespace lvr2
{
 
ModelPtr LasIO::read(string filename )
{
 
    // Create Lasreader object
    LASreadOpener lasreadopener;
    lasreadopener.set_file_name(filename.c_str());
 
    if(lasreadopener.active())
    {
        LASreader* lasreader = lasreadopener.open();
 
        // Get number of points in file
        size_t num_points = lasreader->npoints;
 
        // Alloc coordinate array
        floatArr points ( new float[3 * num_points]);
        floatArr intensities ( new float[num_points]);
        ucharArr colors (new unsigned char[3 * num_points]);
 
        // Read point data
        for(size_t i = 0; i < num_points; i++)
        {
            size_t buf_pos = 3 * i;
            lasreader->read_point();
            points[buf_pos]     = lasreader->point.x;
            points[buf_pos + 1] = lasreader->point.y;
            points[buf_pos + 2] = lasreader->point.z;
 
            // Create fake colors from intensities
            colors[buf_pos] = lasreader->point.intensity;
            colors[buf_pos + 1] = lasreader->point.intensity;
            colors[buf_pos + 2] = lasreader->point.intensity;
 
            intensities[i] = lasreader->point.intensity;
 
        }
 
        // Create point buffer and model
        PointBufferPtr p_buffer( new PointBuffer);
        p_buffer->setPointArray(points, num_points);
        p_buffer->addFloatChannel(intensities, "intensities", num_points, 1);
        p_buffer->setColorArray(colors, num_points);
 
        ModelPtr m_ptr( new Model(p_buffer));
        m_model = m_ptr;
 
        delete lasreader;
 
        return m_ptr;
    }
    else
    {
        cout << timestamp << "LasIO::read(): Unable to open file " << filename << endl;
        return ModelPtr();
    }
}
 
 
void LasIO::save( string filename )
{
    std::cerr << "LASIO: Saving not yet implemented." << endl;
}
 
} /* namespace lvr2 */