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@kylemann16
kylemann16 committed Sep 20, 2018
1 parent e438d84 commit 1778873
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Showing 2 changed files with 61 additions and 33 deletions.
4 changes: 0 additions & 4 deletions plugins/i3s/io/i3sPointLayout.hpp
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90 changes: 61 additions & 29 deletions plugins/i3s/io/i3sReceiver.cpp
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Original file line number Diff line number Diff line change
@@ -1,39 +1,71 @@
//i3sRecevier.cpp
/******************************************************************************
* Copyright (c) 2018, Kyle Mann (kyle@hobu.co)
*
* 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 "i3sReceiver.hpp"

namespace pdal
{
std::vector<lepcc::Point3D> decompressXYZ(std::vector<char>* compData)
{
unsigned char* c = new unsigned char [compData->size()];

std::copy(compData->begin(), compData->end(), c);

const unsigned char* compressed = c;
int nInfo = lepcc_getBlobInfoSize();
lepcc_ContextHdl ctx(nullptr);
ctx = lepcc_createContext();
ctx = lepcc_createContext();
lepcc_blobType bt;
lepcc::uint32 blobSize = 0;


lepcc::Byte vec;

lepcc::Byte vec;
lepcc_status stat;
std::vector<lepcc::Point3D> decVec;
lepcc::uint32 xyzPts = 0;

lepcc::ErrCode errCode =
lepcc::ErrCode errCode =
(lepcc::ErrCode)lepcc_getBlobInfo(
ctx, compressed, nInfo, &bt, &blobSize);
ctx, compressed, nInfo, &bt, &blobSize);

const lepcc::Byte* pByte = &compressed[0];
int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
const lepcc::Byte* pByte = &compressed[0];
int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
if (nBytes > 0)
{
stat = lepcc_getPointCount(ctx, pByte, nBytes, &xyzPts);
stat = lepcc_getPointCount(ctx, pByte, nBytes, &xyzPts);
if(stat != (lepcc_status) lepcc::ErrCode::Ok)
{
std::cout << "lepcc_getPointCount() failed. \n";
std::cout << "lepcc_getPointCount() failed. \n";
return decVec;//TODO throw error here
}
decVec.resize(xyzPts);
Expand All @@ -52,33 +84,33 @@ namespace pdal
std::vector<lepcc::RGB_t> decompressRGB(std::vector<char>* compData)
{
unsigned char* c = new unsigned char [compData->size()];

std::copy(compData->begin(), compData->end(), c);

const unsigned char* compressed = c;
int nInfo = lepcc_getBlobInfoSize();
lepcc_ContextHdl ctx(nullptr);
ctx = lepcc_createContext();
ctx = lepcc_createContext();
lepcc_blobType bt;
lepcc::uint32 blobSize = 0;

lepcc_status stat;
std::vector<lepcc::RGB_t> rgbVec;

lepcc::uint32 nPts = 0;
lepcc::ErrCode errCode =
lepcc::ErrCode errCode =
(lepcc::ErrCode)lepcc_getBlobInfo(
ctx, compressed, nInfo, &bt, &blobSize);
ctx, compressed, nInfo, &bt, &blobSize);

int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
const lepcc::Byte* pByte = &compressed[0];
int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
const lepcc::Byte* pByte = &compressed[0];
if (nBytes > 0)
{
stat = lepcc_getRGBCount(ctx, pByte, nBytes, &nPts);
stat = lepcc_getRGBCount(ctx, pByte, nBytes, &nPts);
if(stat != (lepcc_status) lepcc::ErrCode::Ok)
{
std::cout << stat << std::endl;
std::cout << "lepcc_getPointRGB() failed. \n";
std::cout << "lepcc_getPointRGB() failed. \n";
//TODO throw error here
}
rgbVec.resize(nPts);
Expand All @@ -96,34 +128,34 @@ namespace pdal

std::vector<uint16_t> decompressIntensity(std::vector<char>* compData)
{

unsigned char* c = new unsigned char [compData->size()];

std::copy(compData->begin(), compData->end(), c);

const unsigned char* compressed = c;
int nInfo = lepcc_getBlobInfoSize();
lepcc_ContextHdl ctx(nullptr);
ctx = lepcc_createContext();
ctx = lepcc_createContext();
lepcc_blobType bt;
lepcc::uint32 blobSize = 0;

lepcc_status stat;
lepcc::uint32 nPts = 0;
lepcc::ErrCode errCode =
lepcc::ErrCode errCode =
(lepcc::ErrCode)lepcc_getBlobInfo(
ctx, compressed, nInfo, &bt, &blobSize);
ctx, compressed, nInfo, &bt, &blobSize);

int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
const lepcc::Byte* pByte = &compressed[0];
int nBytes = (errCode == lepcc::ErrCode::Ok) ? (int)blobSize : -1;
const lepcc::Byte* pByte = &compressed[0];
std::vector<uint16_t> intVec;
if (nBytes > 0)
{
stat = lepcc_getIntensityCount(ctx, pByte, nBytes, &nPts);
stat = lepcc_getIntensityCount(ctx, pByte, nBytes, &nPts);
if(stat != (lepcc_status) lepcc::ErrCode::Ok)
{
std::cout << stat << std::endl;
std::cout << "lepcc_getPointRGB() failed. \n";
std::cout << "lepcc_getPointRGB() failed. \n";
//TODO throw error here
}
intVec.resize(nPts);
Expand All @@ -134,7 +166,7 @@ namespace pdal
std::cout << "lepcc_decodergb() failed. \n";
return intVec;//TODO throw error here
}

return intVec;
}
return intVec;
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