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LasWriter.cpp
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LasWriter.cpp
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/******************************************************************************
* Copyright (c) 2011, Michael P. Gerlek (mpg@flaxen.com)
*
* 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 Hobu, Inc. or Flaxen Geo Consulting 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 OWNER 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 <pdal/pdal_features.hpp>
#include <pdal/compression/LazPerfVlrCompression.hpp>
#ifdef PDAL_HAVE_LAZPERF
#pragma push_macro("min")
#pragma push_macro("max")
#ifdef min
#undef min
#endif
#ifdef max
#undef max
#endif
#include <laz-perf/factory.hpp>
#include <laz-perf/io.hpp>
#pragma pop_macro("max")
#pragma pop_macro("min")
#endif
#include "LasWriter.hpp"
#include <climits>
#include <iostream>
#include <vector>
#include <pdal/pdal_features.hpp>
#include <pdal/DimUtil.hpp>
#include <pdal/PDALUtils.hpp>
#include <pdal/PointView.hpp>
#include <pdal/util/Algorithm.hpp>
#include <pdal/util/FileUtils.hpp>
#include <pdal/util/Inserter.hpp>
#include <pdal/util/OStream.hpp>
#include <pdal/util/Utils.hpp>
#include <pdal/util/ProgramArgs.hpp>
#include "GeotiffSupport.hpp"
namespace pdal
{
static StaticPluginInfo const s_info
{
"writers.las",
"ASPRS LAS 1.0 - 1.4 writer. LASzip support is also \n" \
"available if enabled at compile-time. Note that LAZ \n" \
"does not provide LAS 1.4 support at this time.",
"http://pdal.io/stages/writers.las.html",
{ "las", "laz" }
};
CREATE_STATIC_STAGE(LasWriter, s_info)
std::string LasWriter::getName() const { return s_info.name; }
LasWriter::LasWriter() : m_compressor(nullptr), m_ostream(NULL),
m_compression(LasCompression::None), m_srsCnt(0)
{}
LasWriter::~LasWriter()
{
#ifdef PDAL_HAVE_LAZPERF
delete m_compressor;
#endif
}
void LasWriter::addArgs(ProgramArgs& args)
{
std::time_t now;
std::time(&now);
std::tm* ptm = std::gmtime(&now);
uint16_t year = ptm->tm_year + 1900;
uint16_t doy = ptm->tm_yday;
args.add("filename", "Output filename", m_filename).setPositional();
args.add("a_srs", "Spatial reference to use to write output", m_aSrs);
args.add("compression", "Compression to use for output ('LASZIP' or "
"'LAZPERF')", m_compression, LasCompression::None);
args.add("discard_high_return_numbers", "Discard points with out-of-spec "
"return numbers.", m_discardHighReturnNumbers);
args.add("extra_dims", "Dimensions to write above those in point format",
m_extraDimSpec);
args.add("forward", "Dimensions to forward from LAS reader", m_forwardSpec);
args.add("filesource_id", "File source ID number.", m_filesourceId);
args.add("major_version", "LAS major version", m_majorVersion,
decltype(m_majorVersion)(1));
args.add("minor_version", "LAS minor version", m_minorVersion,
decltype(m_minorVersion)(2));
args.add("dataformat_id", "Point format", m_dataformatId,
decltype(m_dataformatId)(3));
args.add("format", "Point format", m_dataformatId,
decltype(m_dataformatId)(3));
args.add("global_encoding", "Global encoding byte", m_globalEncoding,
decltype(m_globalEncoding)(0));
args.add("project_id", "Project ID", m_projectId);
args.add("system_id", "System ID", m_systemId,
decltype(m_systemId)(m_lasHeader.getSystemIdentifier()));
args.add("software_id", "Software ID", m_softwareId,
decltype(m_softwareId)(GetDefaultSoftwareId()));
args.add("creation_doy", "Creation day of year", m_creationDoy,
decltype(m_creationDoy)(doy));
args.add("creation_year", "Creation year", m_creationYear,
decltype(m_creationYear)(year));
args.add("pdal_metadata", "Write PDAL metadata as VLR?",
m_writePDALMetadata, decltype(m_writePDALMetadata)(false));
args.add("scale_x", "X scale factor", m_scaleX, decltype(m_scaleX)(".01"));
args.add("scale_y", "Y scale factor", m_scaleY, decltype(m_scaleY)(".01"));
args.add("scale_z", "Z scale factor", m_scaleZ, decltype(m_scaleZ)(".01"));
args.add("offset_x", "X offset", m_offsetX);
args.add("offset_y", "Y offset", m_offsetY);
args.add("offset_z", "Z offset", m_offsetZ);
args.add("vlrs", "List of VLRs to set", m_userVLRs);
}
void LasWriter::initialize()
{
std::string ext = FileUtils::extension(m_filename);
ext = Utils::tolower(ext);
if ((ext == ".laz") && (m_compression == LasCompression::None))
{
#if defined(PDAL_HAVE_LASZIP)
m_compression = LasCompression::LasZip;
#elif defined(PDAL_HAVE_LAZPERF)
m_compression = LasCompression::LazPerf;
#endif
}
if (!m_aSrs.empty())
setSpatialReference(m_aSrs);
if (m_compression != LasCompression::None)
m_lasHeader.setCompressed(true);
#if !defined(PDAL_HAVE_LASZIP) && !defined(PDAL_HAVE_LAZPERF)
if (m_compression != LasCompression::None)
throwError("Can't write LAZ output. PDAL not built with "
"LASzip or LAZperf.");
#endif
try
{
m_extraDims = LasUtils::parse(m_extraDimSpec, true);
}
catch (const LasUtils::error& err)
{
throwError(err.what());
}
fillForwardList();
}
void LasWriter::spatialReferenceChanged(const SpatialReference&)
{
if (++m_srsCnt > 1 && m_aSrs.empty())
log()->get(LogLevel::Error) << getName() <<
": Attempting to write '" << m_filename << "' with multiple "
"point spatial references." << std::endl;
}
void LasWriter::prepared(PointTableRef table)
{
FlexWriter::validateFilename(table);
PointLayoutPtr layout = table.layout();
// Make sure the dataformatID is set so that we can get the proper
// dimensions being written as part of the standard LAS record.
fillHeader();
// If we've asked for all dimensions, add to extraDims all dimensions
// in the layout that aren't already destined for LAS output.
if (m_extraDims.size() == 1 && m_extraDims[0].m_name == "all")
{
m_extraDims.clear();
Dimension::IdList ids = m_lasHeader.usedDims();
DimTypeList dimTypes = layout->dimTypes();
for (auto& dt : dimTypes)
{
if (!Utils::contains(ids, dt.m_id))
m_extraDims.push_back(
ExtraDim(layout->dimName(dt.m_id), dt.m_type));
}
}
m_extraByteLen = 0;
for (auto& dim : m_extraDims)
{
dim.m_dimType.m_id = table.layout()->findDim(dim.m_name);
if (dim.m_dimType.m_id == Dimension::Id::Unknown)
throwError("Dimension '" + dim.m_name + "' specified in "
"'extra_dim' option not found.");
m_extraByteLen += Dimension::size(dim.m_dimType.m_type);
log()->get(LogLevel::Info) << getName() << ": Writing dimension " <<
dim.m_name <<
"(" << Dimension::interpretationName(dim.m_dimType.m_type) <<
") " << " to LAS extra bytes." << std::endl;
}
}
// Capture user-specified VLRs
void LasWriter::addUserVlrs()
{
for (const auto& v : m_userVLRs)
addVlr(v);
}
// Get header info from options and store in map for processing with
// metadata.
void LasWriter::fillForwardList()
{
static const StringList header = {
"dataformat_id", "major_version", "minor_version", "filesource_id",
"global_encoding", "project_id", "system_id", "software_id",
"creation_doy", "creation_year"
};
static const StringList scale = { "scale_x", "scale_y", "scale_z" };
static const StringList offset = { "offset_x", "offset_y", "offset_z" };
// Build the forward list, replacing special keywords with the proper
// field names.
for (auto& name : m_forwardSpec)
{
if (name == "all")
{
m_forwards.insert(header.begin(), header.end());
m_forwards.insert(scale.begin(), scale.end());
m_forwards.insert(offset.begin(), offset.end());
m_forwardVlrs = true;
}
else if (name == "header")
m_forwards.insert(header.begin(), header.end());
else if (name == "scale")
m_forwards.insert(scale.begin(), scale.end());
else if (name == "offset")
m_forwards.insert(offset.begin(), offset.end());
else if (name == "format")
m_forwards.insert("dataformat_id");
else if (name == "vlr")
m_forwardVlrs = true;
else if (
Utils::contains(header, name) ||
Utils::contains(scale, name) ||
Utils::contains(offset, name)
)
m_forwards.insert(name);
else
throwError("Error in 'forward' option. Unknown field for "
"forwarding: '" + name + "'.");
}
}
void LasWriter::readyTable(PointTableRef table)
{
m_firstPoint = true;
m_forwardMetadata = table.privateMetadata("lasforward");
if(m_writePDALMetadata)
{
MetadataNode m = table.metadata();
addMetadataVlr(m);
addPipelineVlr();
}
addExtraBytesVlr();
addUserVlrs();
addForwardVlrs();
}
void LasWriter::readyFile(const std::string& filename,
const SpatialReference& srs)
{
std::ostream *out = Utils::createFile(filename, true);
if (!out)
throwError("Couldn't open file '" + filename + "' for output.");
m_curFilename = filename;
Utils::writeProgress(m_progressFd, "READYFILE", filename);
prepOutput(out, srs);
}
void LasWriter::prepOutput(std::ostream *outStream, const SpatialReference& srs)
{
// Use stage SRS if provided.
m_srs = getSpatialReference().empty() ? srs : getSpatialReference();
handleHeaderForwards(m_forwardMetadata);
// Filling the header here gives the VLR functions below easy access to
// the version information and so on.
fillHeader();
// Spatial reference can potentially change for multiple output files.
addSpatialRefVlrs();
m_summaryData.reset(new LasSummaryData());
m_ostream = outStream;
if (m_lasHeader.compressed())
readyCompression();
// Compression should cause the last of the VLRs to get filled. We now
// have a valid count, so fill the header again.
fillHeader();
// Write the header.
OLeStream out(m_ostream);
out << m_lasHeader;
m_lasHeader.setVlrOffset(m_vlrs.size() ? (uint32_t)m_ostream->tellp() : 0);
for (auto vi = m_vlrs.begin(); vi != m_vlrs.end(); ++vi)
{
LasVLR& vlr = *vi;
vlr.write(out, m_lasHeader.versionEquals(1, 0) ? 0xAABB : 0);
}
// Write the point data start signature for version 1.0.
if (m_lasHeader.versionEquals(1, 0))
out << (uint16_t)0xCCDD;
m_lasHeader.setPointOffset((uint32_t)m_ostream->tellp());
if (m_compression == LasCompression::LasZip)
openCompression();
// Set the point buffer size here in case we're using the streaming
// interface.
m_pointBuf.resize(m_lasHeader.pointLen());
}
/// Search for metadata associated with the provided recordId and userId.
/// \param node - Top-level node to use for metadata search.
/// \param recordId - Record ID to match.
/// \param userId - User ID to match.
MetadataNode LasWriter::findVlrMetadata(MetadataNode node,
uint16_t recordId, const std::string& userId)
{
std::string sRecordId = std::to_string(recordId);
// Find a node whose name starts with vlr and that has child nodes
// with the name and recordId we're looking for.
auto pred = [sRecordId,userId](MetadataNode n)
{
auto recPred = [sRecordId](MetadataNode n)
{
return n.name() == "record_id" &&
n.value() == sRecordId;
};
auto userPred = [userId](MetadataNode n)
{
return n.name() == "user_id" &&
n.value() == userId;
};
return (Utils::startsWith(n.name(), "vlr") &&
!n.findChild(recPred).empty() &&
!n.findChild(userPred).empty());
};
return node.find(pred);
}
void LasWriter::addMetadataVlr(MetadataNode& forward)
{
std::string json = Utils::toJSON(forward);
if ((json.size() > LasVLR::MAX_DATA_SIZE) &&
!m_lasHeader.versionAtLeast(1, 4))
{
log()->get(LogLevel::Debug) << "pdal metadata VLR too large "
"to write in VLR for files < LAS 1.4";
} else
{
std::vector<uint8_t> data(json.begin(), json.end());
addVlr(PDAL_USER_ID, PDAL_METADATA_RECORD_ID, "PDAL metadata", data);
}
}
void LasWriter::addPipelineVlr()
{
// Write a VLR with the PDAL pipeline.
std::ostringstream ostr;
PipelineWriter::writePipeline(this, ostr);
std::string json = ostr.str();
if (json.size() > LasVLR::MAX_DATA_SIZE &&
!m_lasHeader.versionAtLeast(1, 4))
{
log()->get(LogLevel::Debug) << "pdal pipeline VLR too large "
"to write in VLR for files < LAS 1.4";
} else
{
std::vector<uint8_t> data(json.begin(), json.end());
addVlr(PDAL_USER_ID, PDAL_PIPELINE_RECORD_ID, "PDAL pipeline", data);
}
}
/// Add VLRs forwarded from the input.
void LasWriter::addForwardVlrs()
{
std::vector<uint8_t> data;
if (!m_forwardVlrs)
return;
auto pred = [](MetadataNode n)
{ return Utils::startsWith(n.name(), "vlr_"); };
MetadataNodeList nodes = m_forwardMetadata.findChildren(pred);
for (auto& n : nodes)
{
const MetadataNode& userIdNode = n.findChild("user_id");
const MetadataNode& recordIdNode = n.findChild("record_id");
if (recordIdNode.valid() && userIdNode.valid())
{
const MetadataNode& dataNode = n.findChild("data");
data = Utils::base64_decode(dataNode.value());
uint16_t recordId = (uint16_t)std::stoi(recordIdNode.value());
addVlr(userIdNode.value(), recordId, n.description(), data);
}
}
}
/// Set VLRs from the active spatial reference.
/// \param srs - Active spatial reference.
void LasWriter::addSpatialRefVlrs()
{
// Delete any existing spatial ref VLRs. This can be an issue if we're
// using the reader to write multiple output files via a filename template.
deleteVlr(TRANSFORM_USER_ID, GEOTIFF_DIRECTORY_RECORD_ID);
deleteVlr(TRANSFORM_USER_ID, GEOTIFF_DOUBLES_RECORD_ID);
deleteVlr(TRANSFORM_USER_ID, GEOTIFF_ASCII_RECORD_ID);
deleteVlr(TRANSFORM_USER_ID, WKT_RECORD_ID);
deleteVlr(LIBLAS_USER_ID, WKT_RECORD_ID);
if (m_lasHeader.versionAtLeast(1, 4))
addWktVlr();
else
addGeotiffVlrs();
}
void LasWriter::addGeotiffVlrs()
{
if (m_srs.empty())
return;
try
{
GeotiffTags tags(m_srs);
if (tags.directoryData().empty())
throwError("Invalid spatial reference for writing GeoTiff VLR.");
addVlr(TRANSFORM_USER_ID, GEOTIFF_DIRECTORY_RECORD_ID,
"GeoTiff GeoKeyDirectoryTag", tags.directoryData());
if (tags.doublesData().size())
addVlr(TRANSFORM_USER_ID, GEOTIFF_DOUBLES_RECORD_ID,
"GeoTiff GeoDoubleParamsTag", tags.doublesData());
if (tags.asciiData().size())
addVlr(TRANSFORM_USER_ID, GEOTIFF_ASCII_RECORD_ID,
"GeoTiff GeoAsciiParamsTag", tags.asciiData());
}
catch (Geotiff::error& err)
{
throwError(err.what());
}
}
/// Add a Well-known Text VLR associated with the spatial reference.
/// \return Whether the VLR was added.
bool LasWriter::addWktVlr()
{
// LAS 1.4 requires WKTv1
std::string wkt = m_srs.getWKT1();
if (wkt.empty())
return false;
std::vector<uint8_t> wktBytes(wkt.begin(), wkt.end());
// This tacks a NULL to the end of the data, which is required by the spec.
wktBytes.resize(wktBytes.size() + 1, 0);
addVlr(TRANSFORM_USER_ID, WKT_RECORD_ID, "OGC Transformation Record",
wktBytes);
// The data in the vector gets moved to the VLR, so we have to recreate it.
std::vector<uint8_t> wktBytes2(wkt.begin(), wkt.end());
wktBytes2.resize(wktBytes2.size() + 1, 0);
addVlr(LIBLAS_USER_ID, WKT_RECORD_ID,
"OGR variant of OpenGIS WKT SRS", wktBytes2);
return true;
}
void LasWriter::addExtraBytesVlr()
{
if (m_extraDims.empty())
return;
std::vector<uint8_t> ebBytes;
for (auto& dim : m_extraDims)
{
ExtraBytesIf eb(dim.m_name, dim.m_dimType.m_type,
Dimension::description(dim.m_dimType.m_id));
eb.appendTo(ebBytes);
}
addVlr(SPEC_USER_ID, EXTRA_BYTES_RECORD_ID, "Extra Bytes Record", ebBytes);
}
/// Add a standard or variable-length VLR depending on the data size.
/// \param userId - VLR user ID
/// \param recordId - VLR record ID
/// \param description - VLR description
/// \param data - Raw VLR data
void LasWriter::addVlr(const std::string& userId, uint16_t recordId,
const std::string& description, std::vector<uint8_t>& data)
{
addVlr(ExtLasVLR(userId, recordId, description, data));
}
/// Add a standard or variable-length VLR depending on the data size.
/// \param evlr VLR to add.
void LasWriter::addVlr(const ExtLasVLR& evlr)
{
if (evlr.dataLen() > LasVLR::MAX_DATA_SIZE)
{
if (m_lasHeader.versionAtLeast(1, 4))
m_eVlrs.push_back(std::move(evlr));
else
throwError("Can't write VLR with user ID/record ID = " +
evlr.userId() + "/" + std::to_string(evlr.recordId()) +
". The data size exceeds the maximum supported.");
}
else
m_vlrs.push_back(std::move(evlr));
}
/// Delete a VLR from the vlr list.
///
void LasWriter::deleteVlr(const std::string& userId, uint16_t recordId)
{
auto matches = [&userId, recordId](const LasVLR& vlr)
{
return vlr.matches(userId, recordId);
};
Utils::remove_if(m_vlrs, matches);
Utils::remove_if(m_eVlrs, matches);
}
template <typename T>
void LasWriter::handleHeaderForward(const std::string& s, T& headerVal,
const MetadataNode& base)
{
if (Utils::contains(m_forwards, s) && !headerVal.valSet())
{
MetadataNode invalid = base.findChild(s + "INVALID");
MetadataNode m = base.findChild(s);
if (!invalid.valid() && m.valid())
headerVal.setVal(m.value<typename T::type>());
}
}
void LasWriter::handleHeaderForwards(MetadataNode& forward)
{
handleHeaderForward("major_version", m_majorVersion, forward);
handleHeaderForward("minor_version", m_minorVersion, forward);
handleHeaderForward("dataformat_id", m_dataformatId, forward);
handleHeaderForward("filesource_id", m_filesourceId, forward);
handleHeaderForward("global_encoding", m_globalEncoding, forward);
handleHeaderForward("project_id", m_projectId, forward);
handleHeaderForward("system_id", m_systemId, forward);
handleHeaderForward("software_id", m_softwareId, forward);
handleHeaderForward("creation_doy", m_creationDoy, forward);
handleHeaderForward("creation_year", m_creationYear, forward);
handleHeaderForward("scale_x", m_scaleX, forward);
handleHeaderForward("scale_y", m_scaleY, forward);
handleHeaderForward("scale_z", m_scaleZ, forward);
handleHeaderForward("offset_x", m_offsetX, forward);
handleHeaderForward("offset_y", m_offsetY, forward);
handleHeaderForward("offset_z", m_offsetZ, forward);
m_scaling.m_xXform.m_scale.set(m_scaleX.val());
m_scaling.m_yXform.m_scale.set(m_scaleY.val());
m_scaling.m_zXform.m_scale.set(m_scaleZ.val());
m_scaling.m_xXform.m_offset.set(m_offsetX.val());
m_scaling.m_yXform.m_offset.set(m_offsetY.val());
m_scaling.m_zXform.m_offset.set(m_offsetZ.val());
}
/// Fill the LAS header with values as provided in options or forwarded
/// metadata.
void LasWriter::fillHeader()
{
const uint16_t WKT_MASK = (1 << 4);
try
{
m_lasHeader.setScaling(m_scaling);
}
catch (const LasHeader::error& err)
{
throwError(err.what());
}
m_lasHeader.setVlrCount(m_vlrs.size());
m_lasHeader.setEVlrCount(m_eVlrs.size());
m_lasHeader.setPointFormat(m_dataformatId.val());
m_lasHeader.setPointLen(m_lasHeader.basePointLen() + m_extraByteLen);
m_lasHeader.setVersionMinor(m_minorVersion.val());
m_lasHeader.setCreationYear(m_creationYear.val());
m_lasHeader.setCreationDOY(m_creationDoy.val());
m_lasHeader.setSoftwareId(m_softwareId.val());
m_lasHeader.setSystemId(m_systemId.val());
m_lasHeader.setProjectId(m_projectId.val());
m_lasHeader.setFileSourceId(m_filesourceId.val());
// We always write a WKT VLR for version 1.4 and later.
uint16_t globalEncoding = m_globalEncoding.val();
if (m_lasHeader.versionAtLeast(1, 4))
globalEncoding |= WKT_MASK;
m_lasHeader.setGlobalEncoding(globalEncoding);
if (!m_lasHeader.pointFormatSupported())
throwError("Unsupported LAS output point format: " +
Utils::toString((int)m_lasHeader.pointFormat()) + ".");
}
void LasWriter::readyCompression()
{
deleteVlr(LASZIP_USER_ID, LASZIP_RECORD_ID);
if (m_compression == LasCompression::LasZip)
readyLasZipCompression();
else if (m_compression == LasCompression::LazPerf)
readyLazPerfCompression();
}
void LasWriter::handleLaszip(int result)
{
#ifdef PDAL_HAVE_LASZIP
if (result)
{
char *buf;
laszip_get_error(m_laszip, &buf);
throwError(buf);
}
#endif
}
void LasWriter::readyLasZipCompression()
{
#ifdef PDAL_HAVE_LASZIP
handleLaszip(laszip_create(&m_laszip));
handleLaszip(laszip_set_point_type_and_size(m_laszip,
m_lasHeader.pointFormat(), m_lasHeader.pointLen()));
laszip_U8* data;
laszip_U32 size;
handleLaszip(laszip_create_laszip_vlr(m_laszip, &data, &size));
// A VLR has 54 header bytes that we skip in order to get to the payload.
std::vector<laszip_U8> vlrData(data + 54, data + size);
addVlr(LASZIP_USER_ID, LASZIP_RECORD_ID, "http://laszip.org", vlrData);
#endif
}
void LasWriter::readyLazPerfCompression()
{
#ifdef PDAL_HAVE_LAZPERF
if (m_lasHeader.versionAtLeast(1, 4))
throwError("Can't write version 1.4 output with LAZperf.");
laszip::factory::record_schema schema;
schema.push(laszip::factory::record_item::POINT10);
if (m_lasHeader.hasTime())
schema.push(laszip::factory::record_item::GPSTIME);
if (m_lasHeader.hasColor())
schema.push(laszip::factory::record_item::RGB12);
laszip::io::laz_vlr zipvlr = laszip::io::laz_vlr::from_schema(schema);
std::vector<uint8_t> data(zipvlr.size());
zipvlr.extract((char *)data.data());
addVlr(LASZIP_USER_ID, LASZIP_RECORD_ID, "http://laszip.org", data);
delete m_compressor;
m_compressor = new LazPerfVlrCompressor(*m_ostream, schema,
zipvlr.chunk_size);
#endif
}
/// Prepare the compressor to write points.
/// \param pointFormat - Formt of points we're writing.
void LasWriter::openCompression()
{
#ifdef PDAL_HAVE_LASZIP
handleLaszip(laszip_open_writer_stream(m_laszip, *m_ostream, true, true));
#endif
}
// This is only called in stream mode.
bool LasWriter::processOne(PointRef& point)
{
if (m_firstPoint)
{
auto doScale = [this](const XForm::XFormComponent& scale,
const std::string& name)
{
if (scale.m_auto)
log()->get(LogLevel::Warning) << "Auto scale for " << name <<
"requested in stream mode. Using value of 1.0." << std::endl;
};
doScale(m_scaling.m_xXform.m_scale, "X");
doScale(m_scaling.m_yXform.m_scale, "Y");
doScale(m_scaling.m_zXform.m_scale, "Z");
auto doOffset = [this](XForm::XFormComponent& offset, double val,
const std::string name)
{
if (offset.m_auto)
{
offset.m_val = val;
log()->get(LogLevel::Warning) << "Auto offset for " << name <<
"requested in stream mode. Using value of " <<
offset.m_val << "." << std::endl;
}
};
doOffset(m_scaling.m_xXform.m_offset,
point.getFieldAs<double>(Dimension::Id::X), "X");
doOffset(m_scaling.m_yXform.m_offset,
point.getFieldAs<double>(Dimension::Id::Y), "Y");
doOffset(m_scaling.m_zXform.m_offset,
point.getFieldAs<double>(Dimension::Id::Z), "Z");
m_firstPoint = false;
}
return processPoint(point);
}
// This is separated from processOne so that we're sure when processOne is
// called we know we're in stream mode.
bool LasWriter::processPoint(PointRef& point)
{
if (m_compression == LasCompression::LasZip)
{
if (!writeLasZipBuf(point))
return false;
}
else if (m_compression == LasCompression::LazPerf)
{
LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
if (!fillPointBuf(point, ostream))
return false;
writeLazPerfBuf(m_pointBuf.data(), m_lasHeader.pointLen(), 1);
}
else
{
LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
if (!fillPointBuf(point, ostream))
return false;
m_ostream->write(m_pointBuf.data(), m_lasHeader.pointLen());
}
return true;
}
void LasWriter::prerunFile(const PointViewSet& pvSet)
{
m_scaling.setAutoXForm(pvSet);
}
void LasWriter::writeView(const PointViewPtr view)
{
Utils::writeProgress(m_progressFd, "READYVIEW",
std::to_string(view->size()));
point_count_t pointLen = m_lasHeader.pointLen();
// Since we use the LASzip API, we can't benefit from building
// a buffer of multiple points, so loop.
if (m_compression == LasCompression::LasZip)
{
PointRef point(*view, 0);
for (PointId idx = 0; idx < view->size(); ++idx)
{
point.setPointId(idx);
processPoint(point);
}
}
else
{
// Make a buffer of at most a meg.
m_pointBuf.resize((std::min)((point_count_t)1000000,
pointLen * view->size()));
const PointView& viewRef(*view.get());
point_count_t remaining = view->size();
PointId idx = 0;
while (remaining)
{
point_count_t filled = fillWriteBuf(viewRef, idx, m_pointBuf);
idx += filled;
remaining -= filled;
if (m_compression == LasCompression::LazPerf)
writeLazPerfBuf(m_pointBuf.data(), pointLen, filled);
else
m_ostream->write(m_pointBuf.data(), filled * pointLen);
}
}
Utils::writeProgress(m_progressFd, "DONEVIEW",
std::to_string(view->size()));
}
bool LasWriter::writeLasZipBuf(PointRef& point)
{
#ifdef PDAL_HAVE_LASZIP
const bool has14Format = m_lasHeader.has14Format();
const size_t maxReturnCount = m_lasHeader.maxReturnCount();
// we always write the base fields
using namespace Dimension;
uint8_t returnNumber(1);
uint8_t numberOfReturns(1);
if (point.hasDim(Id::ReturnNumber))
returnNumber = point.getFieldAs<uint8_t>(Id::ReturnNumber);
if (point.hasDim(Id::NumberOfReturns))
numberOfReturns = point.getFieldAs<uint8_t>(Id::NumberOfReturns);
if (numberOfReturns > maxReturnCount)
{
if (m_discardHighReturnNumbers)
{
// If this return number is too high, pitch the point.
if (returnNumber > maxReturnCount)
return false;
numberOfReturns = maxReturnCount;
}
}
auto converter = [this](double d, Dimension::Id dim) -> int32_t
{
int32_t i(0);
if (!Utils::numericCast(d, i))
throwError("Unable to convert scaled value (" +
Utils::toString(d) + ") to "
"int32 for dimension '" + Dimension::name(dim) +
"' when writing LAS/LAZ file " + m_curFilename + ".");
return i;
};
double xOrig = point.getFieldAs<double>(Id::X);
double yOrig = point.getFieldAs<double>(Id::Y);
double zOrig = point.getFieldAs<double>(Id::Z);
double x = m_scaling.m_xXform.toScaled(xOrig);
double y = m_scaling.m_yXform.toScaled(yOrig);
double z = m_scaling.m_zXform.toScaled(zOrig);
uint8_t scanChannel = point.getFieldAs<uint8_t>(Id::ScanChannel);
uint8_t scanDirectionFlag =
point.getFieldAs<uint8_t>(Id::ScanDirectionFlag);
uint8_t edgeOfFlightLine =
point.getFieldAs<uint8_t>(Id::EdgeOfFlightLine);
uint8_t classification = point.getFieldAs<uint8_t>(Id::Classification);
uint8_t classFlags = 0;
if (point.hasDim(Id::ClassFlags))
classFlags = point.getFieldAs<uint8_t>(Id::ClassFlags);
else
classFlags = classification >> 5;
laszip_point_struct p;
p.X = converter(x, Id::X);
p.Y = converter(y, Id::Y);
p.Z = converter(z, Id::Z);
p.intensity = point.getFieldAs<uint16_t>(Id::Intensity);
p.scan_direction_flag = scanDirectionFlag;
p.edge_of_flight_line = edgeOfFlightLine;
p.synthetic_flag = classFlags & 0x1;
p.keypoint_flag = (classFlags >> 1) & 0x1;
p.withheld_flag = (classFlags >> 2) & 0x1;
p.user_data = point.getFieldAs<uint8_t>(Id::UserData);
p.point_source_ID = point.getFieldAs<uint16_t>(Id::PointSourceId);
if (has14Format)
{
p.classification = (classification & 0x1F) | (classFlags << 5);
p.scan_angle_rank = point.getFieldAs<int8_t>(Id::ScanAngleRank);
p.number_of_returns = (std::min)((uint8_t)7, numberOfReturns);
p.return_number = (std::min)((uint8_t)7, returnNumber);
// This should always work if ScanAngleRank isn't wonky.
p.extended_scan_angle = static_cast<laszip_I16>(
std::round(point.getFieldAs<float>(Id::ScanAngleRank) / .006f));
p.extended_point_type = 1;
p.extended_scanner_channel = scanChannel;
p.extended_classification_flags = classFlags;
p.extended_classification = classification;
p.extended_return_number = returnNumber;
p.extended_number_of_returns = numberOfReturns;
}
else
{
p.return_number = returnNumber;
p.number_of_returns = numberOfReturns;
p.scan_angle_rank = point.getFieldAs<int8_t>(Id::ScanAngleRank);
p.classification = classification;
p.extended_point_type = 0;
}
if (m_lasHeader.hasTime())
p.gps_time = point.getFieldAs<double>(Id::GpsTime);
if (m_lasHeader.hasColor())
{
p.rgb[0] = point.getFieldAs<uint16_t>(Id::Red);
p.rgb[1] = point.getFieldAs<uint16_t>(Id::Green);
p.rgb[2] = point.getFieldAs<uint16_t>(Id::Blue);
}
if (m_lasHeader.hasInfrared())
p.rgb[3] = point.getFieldAs<uint16_t>(Id::Infrared);
if (m_extraDims.size())
{
LeInserter ostream(m_pointBuf.data(), m_pointBuf.size());
Everything e;
for (auto& dim : m_extraDims)
{
point.getField((char *)&e, dim.m_dimType.m_id,
dim.m_dimType.m_type);
Utils::insertDim(ostream, dim.m_dimType.m_type, e);
}
assert(m_extraByteLen == ostream.position());
}
p.extra_bytes = (laszip_U8 *)m_pointBuf.data();
p.num_extra_bytes = m_extraByteLen;
m_summaryData->addPoint(xOrig, yOrig, zOrig, returnNumber);
handleLaszip(laszip_set_point(m_laszip, &p));
handleLaszip(laszip_write_point(m_laszip));
#endif
return true;
}
void LasWriter::writeLazPerfBuf(char *pos, size_t pointLen,
point_count_t numPts)
{