WMReadLAS.cpp

//---------------------------------------------------------------------------
//
// Project: OpenWalnut ( http://www.openwalnut.org )
//
// Copyright 2009 OpenWalnut Community, BSV@Uni-Leipzig and CNCF@MPI-CBS
// For more information see http://www.openwalnut.org/copying
//
// This file is part of OpenWalnut.
//
// OpenWalnut is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// OpenWalnut is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
//
//---------------------------------------------------------------------------
 
#include <fstream>
#include <memory>
#include <string>
#include <vector>
 
#include <liblas/liblas.hpp>    // NOLINT: this is not a C system header as brainlint thinks
#include <liblas/point.hpp>    // NOLINT: this is not a C system header as brainlint thinks
#include <liblas/reader.hpp>    // NOLINT: this is not a C system header as brainlint thinks
 
#include "WMReadLAS.h"
#include "core/common/WPathHelper.h"
#include "core/common/WStringUtils.h"
#include "core/kernel/WDataModuleInputFile.h"
#include "core/kernel/WDataModuleInputFilterFile.h"
#include "core/kernel/WKernel.h"
 
// This line is needed by the module loader to actually find your module. You need to add this to your module too. Do NOT add a ";" here.
W_LOADABLE_MODULE( WMReadLAS )
 
WMReadLAS::WMReadLAS():
    WDataModule(),
    m_reload( false )
{
    // Init
}
 
WMReadLAS::~WMReadLAS()
{
    // Cleanup!
}
 
std::shared_ptr< WModule > WMReadLAS::factory() const
{
    return std::shared_ptr< WModule >( new WMReadLAS() );
}
 
const std::string WMReadLAS::getName() const
{
    // Specify your module name here. This name must be UNIQUE!
    return "Read LAS";
}
 
const std::string WMReadLAS::getDescription() const
{
    // Specify your module description here. Be detailed. This text is read by the user.
    return "This module reads LAS files containing LiDAR point data.";
}
 
void WMReadLAS::connectors()
{
    m_output = WModuleOutputData < WDataSetPoints  >::createAndAdd( shared_from_this(), "out", "The loaded dataset" );
 
    // call WModule's initialization
    WModule::connectors();
}
 
void WMReadLAS::properties()
{
    WModule::properties();
}
 
void WMReadLAS::moduleMain()
{
    m_moduleState.setResetable( true, true );
 
    // Signal ready state. Now your module can be connected by the container, which owns the module.
    ready();
    waitRestored();
 
    // main loop
    while( !m_shutdownFlag() )
    {
        m_moduleState.wait();
 
        // woke up since the module is requested to finish
        if( m_shutdownFlag() )
        {
            break;
        }
 
        if( m_reload )
        {
            load();
        }
    }
}
 
std::vector< WDataModuleInputFilter::ConstSPtr > WMReadLAS::getInputFilter() const
{
    std::vector< WDataModuleInputFilter::ConstSPtr > filters;
 
    // NOTE: plain extension. No wildcards or prefixing "."!
    filters.push_back( WDataModuleInputFilter::ConstSPtr( new WDataModuleInputFilterFile( "las", "LAS point cloud files" ) ) );
 
    return filters;
}
 
void WMReadLAS::handleInputChange()
{
    // notify the module only
    m_reload = true;
    m_moduleState.notify();
}
 
void WMReadLAS::load()
{
    m_reload = false;
 
    // open file
    WDataModuleInputFile::SPtr inputFile = getInputAs< WDataModuleInputFile >();
    if( !inputFile )
    {
        // No input? Reset output too.
        m_output->updateData( WDataSetPoints::SPtr() );
        return;
    }
    boost::filesystem::path p = inputFile->getFilename();
 
    std::ifstream ifs;
    ifs.open( p.string().c_str(), std::ios::in | std::ios::binary );
    if( !ifs || ifs.bad() )
    {
        errorLog() << "Could not open file \"" << p.string() << "\".";
        return;
    }
 
    liblas::ReaderFactory factory;
    liblas::Reader reader = factory.CreateWithStream( ifs );
 
    size_t numPoints = reader.GetHeader().GetPointRecordsCount();
 
    infoLog() << "LAS Header: Point Count = " << numPoints;
    infoLog() << "LAS Header: Compressed = " << reader.GetHeader().Compressed();
    infoLog() << "LAS Header: File Signature = " << reader.GetHeader().GetFileSignature();
 
    std::shared_ptr< WProgress > progress1( new WProgress( "Loading" ) );
    m_progress->addSubProgress( progress1 );
 
    // target memory
    WDataSetPoints::VertexArray vertices( new WDataSetPoints::VertexArray::element_type() );
    WDataSetPoints::ColorArray colors( new WDataSetPoints::ColorArray::element_type() );
    WBoundingBox bb;
 
    infoLog() << "Start Loading ...";
 
    // interpret file
    size_t realNumPoints = 0;
    while( reader.ReadNextPoint() )
    {
        realNumPoints++;
        liblas::Point const& coord = reader.GetPoint();
 
        vertices->push_back( coord.GetX() );
        vertices->push_back( coord.GetY() );
        vertices->push_back( coord.GetZ() );
        colors->push_back( 1.0 );
        colors->push_back( 1.0 );
        colors->push_back( 1.0 );
 
        bb.expandBy( WVector3f( coord.GetX(), coord.GetY(), coord.GetZ() ) );
        ++( *progress1 );
    }
 
    infoLog() << "Loaded " << realNumPoints << " points from file. Done." << bb;
 
    // finally provide output data
    std::shared_ptr< WDataSetPoints> newOutput( new WDataSetPoints( vertices, colors, bb ) );
    m_output->updateData( newOutput );
 
    // done. close file and report finish
    progress1->finish();
    ifs.close();
}