Add laz to ply converter

CMakeLists.txt

@@ -398,6 +398,7 @@ add_subdirectory(apps/mandeye_single_session_viewer)
 add_subdirectory(apps/livox_mid_360_intrinsic_calibration)
 add_subdirectory(apps/single_session_manual_coloring)
 add_subdirectory(apps/concatenate_multi_livox)
+add_subdirectory(apps/laz_to_ply)
 
 # CPack configuration
 set(CPACK_PACKAGE_NAME "hd_mapping")

apps/laz_to_ply/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.15.0)
+
+project(laz_to_ply)
+
+add_executable(laz_to_ply main.cpp)
+target_link_libraries(laz_to_ply PRIVATE ${PLATFORM_LASZIP_LIB})
+target_include_directories(laz_to_ply PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)

apps/laz_to_ply/main.cpp

@@ -0,0 +1,126 @@
+#include <laszip/laszip_api.h>
+
+#include <cstdio>
+#include <vector>
+#include <fstream>
+#include <filesystem>
+#include <cassert>
+
+bool check_path_ext(const char *path, const char *ext)
+{
+    return std::filesystem::path(path).extension() == ext;
+}
+
+bool convert_and_save(const char *from, const char *to)
+{
+    laszip_POINTER laszip_reader = nullptr;
+    if (laszip_create(&laszip_reader))
+    {
+        return false;
+    }
+
+    laszip_BOOL is_compressed = 0;
+    if (laszip_open_reader(laszip_reader, from, &is_compressed))
+    {
+        return false;
+    }
+
+    laszip_header *header = nullptr;
+    if (laszip_get_header_pointer(laszip_reader, &header))
+    {
+        return false;
+    }
+
+    laszip_point *point = nullptr;
+    if (laszip_get_point_pointer(header, &point))
+    {
+        return false;
+    }
+
+    laszip_I64 point_count = header->number_of_point_records ? header->number_of_point_records : header->extended_number_of_point_records;
+
+    std::vector<float> points(point_count * 3);
+
+    laszip_I64 point_read_count = 0;
+    while (point_read_count < point_count)
+    {
+        if (laszip_read_point(header))
+        {
+            return false;
+        }
+
+        points[point_read_count * 3 + 0] = header->x_offset + header->x_scale_factor * static_cast<double>(point->X);
+        points[point_read_count * 3 + 1] = header->y_offset + header->y_scale_factor * static_cast<double>(point->Y);
+        points[point_read_count * 3 + 2] = header->z_offset + header->z_scale_factor * static_cast<double>(point->Z);
+
+        point_read_count++;
+    }
+
+    if (std::ofstream to_file = std::ofstream(to, std::ios::out | std::ios::binary))
+    {
+        to_file << "ply\n";
+        to_file << "format binary_little_endian 1.0\n";
+        to_file << "element vertex " << point_count << "\n";
+        to_file << "property float x\n";
+        to_file << "property float y\n";
+        to_file << "property float z\n";
+        to_file << "end_header\n";
+
+        to_file.write((const char *)points.data(), points.size() * sizeof(float));
+    }
+    else
+    {
+        return false;
+    }
+
+    return true;
+}
+
+int main(const int argc, const char **argv)
+{
+    const int expected_argc = 3;
+
+    const char *expected_laz_extension = ".laz";
+    const char *expected_ply_extension = ".ply";
+
+    if (argc != expected_argc)
+    {
+        std::fprintf(stderr, "Invalid argument count. Got %d expected %d.\n", argc, expected_argc);
+        std::fprintf(stderr, "Usage : %s </PATH/FROM/POINT/CLOUD.laz> </PATH/TO/POINT/CLOUD.ply>\n", argv[0]);
+
+        return EXIT_FAILURE;
+    }
+
+    const char *from = argv[1];
+    const char *to = argv[2];
+
+    if (!check_path_ext(from, expected_laz_extension))
+    {
+        std::fprintf(stderr, "Invalid extension for input file %s - expected %s\n", from, expected_laz_extension);
+
+        return EXIT_FAILURE;
+    }
+
+    if (!check_path_ext(to, expected_ply_extension))
+    {
+        std::fprintf(stderr, "Invalid extension for output file %s - expected %s\n", from, expected_ply_extension);
+
+        return EXIT_FAILURE;
+    }
+
+    if (!std::filesystem::exists(from))
+    {
+        std::fprintf(stderr, "Input file %s - does not exist\n", from);
+
+        return EXIT_FAILURE;
+    }
+
+    if (!convert_and_save(from, to))
+    {
+        std::fprintf(stderr, "Conversion from %s to  %s failed\n", from, to);
+
+        return EXIT_FAILURE;
+    }
+
+    return EXIT_SUCCESS;
+}