scaffolding for RDB

plugins/CMakeLists.txt

@@ -65,10 +65,15 @@ if(BUILD_PLUGIN_OPENSCENEGRAPH)
     add_subdirectory(openscenegraph)
 endif()
 
+if(BUILD_PLUGIN_RDBLIB)
+    add_subdirectory(rdb)
+endif(BUILD_PLUGIN_RDBLIB)
+
 if(BUILD_PLUGIN_RIVLIB)
     add_subdirectory(rxp)
 endif(BUILD_PLUGIN_RIVLIB)
 
+
 if(BUILD_PLUGIN_SQLITE)
     if (NOT PDAL_HAVE_LIBXML2)
         message(FATAL_ERROR "Can't build sqlite plugin without libxml2")

plugins/rdb/CMakeLists.txt

@@ -0,0 +1,30 @@
+
+find_package(rdb COMPONENTS REQUIRED)
+set_package_properties(rdb PROPERTIES
+    TYPE REQUIRED
+    PURPOSE "Read data from Riegl databases"
+    )
+
+PDAL_ADD_PLUGIN(libname reader rdb
+    FILES
+        io/RdbPointcloud.cpp
+        io/RdbReader.cpp
+    LINK_WITH
+    ${RDB_LIBRARY})
+target_include_directories(${libname} PUBLIC ${RDB_INCLUDE_DIR})
+
+set(RDB_TEST_NAME pdal_io_rxp_reader_test)
+option(BUILD_RDBLIB_TESTS "Build rdblib tests" ON)
+if (BUILD_RDBLIB_TESTS)
+    configure_file(
+        test/Config.hpp.in
+        "${CMAKE_CURRENT_BINARY_DIR}/test/Config.hpp"
+    )
+
+    PDAL_ADD_TEST(${RDB_TEST_NAME}
+        FILES test/RdbReaderTest.cpp
+        LINK_WITH ${libname})
+    target_include_directories(${RDB_TEST_NAME} PRIVATE
+        ${PROJECT_BINARY_DIR}/plugins/rdb/test
+        ${PROJECT_SOURCE_DIR}/plugins/rdb/io)
+endif()

plugins/rdb/io/RdbPointCloud.cpp

@@ -0,0 +1,164 @@
+/******************************************************************************
+* Copyright (c) 2015, Peter J. Gadomski (pete.gadomski@gmail.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.
+*
+*
+* This software has not been developed by RIEGL, and RIEGL will not provide any
+* support for this driver. Please do not contact RIEGL with any questions or
+* issues regarding this driver. RIEGL is not responsible for damages or other
+* issues that arise from use of this driver. This driver has been tested
+* against RiVLib version 1.39 on a Ubuntu 14.04 using gcc43.
+ ****************************************************************************/
+
+#include "RdbPointcloud.hpp"
+
+
+namespace pdal
+{
+
+
+Dimension::Id getTimeDimensionId(bool syncToPps)
+{
+    return syncToPps ? Dimension::Id::GpsTime : Dimension::Id::InternalTime;
+}
+
+
+RdbPointcloud::RdbPointcloud(
+        const std::string& uri,
+        bool syncToPps,
+        bool minimal,
+        bool reflectanceAsIntensity,
+        float minReflectance,
+        float maxReflectance,
+        PointTableRef table)
+    :
+    , m_view(new PointView(table))
+    , m_idx(0)
+    , m_syncToPps(syncToPps)
+    , m_minimal(minimal)
+    , m_reflectanceAsIntensity(reflectanceAsIntensity)
+    , m_minReflectance(minReflectance)
+    , m_maxReflectance(maxReflectance)
+    , m_rc(scanlib::basic_rconnection::create(uri))
+    , m_dec(m_rc)
+{}
+
+
+RdbPointcloud::~RdbPointcloud()
+{
+    m_rc->close();
+}
+
+
+point_count_t RdbPointcloud::read(PointViewPtr view, point_count_t count)
+{
+    point_count_t numRead = 0;
+
+    if (m_idx < m_view->size())
+    {
+        numRead += writeSavedPoints(view, count);
+        if (numRead == count)
+            return numRead;
+    }
+
+    for (m_dec.get(m_rdbbuf); !m_dec.eoi(); m_dec.get(m_rdbbuf))
+    {
+        dispatch(m_rdbbuf.begin(), m_rdbbuf.end());
+        if (m_view->size() - m_idx + numRead >= count) break;
+    }
+
+    numRead += writeSavedPoints(view, count - numRead);
+
+    return numRead;
+}
+
+
+point_count_t RdbPointcloud::writeSavedPoints(PointViewPtr view, point_count_t count)
+{
+    point_count_t numRead = 0;
+    while (m_idx < m_view->size() && numRead < count)
+    {
+        view->appendPoint(*m_view, m_idx);
+        ++m_idx, ++numRead;
+    }
+    return numRead;
+};
+
+
+void RdbPointcloud::on_echo_transformed(echo_type echo)
+{
+    if (!(scanlib::pointcloud::single == echo || scanlib::pointcloud::last == echo))
+    {
+        // Come back later, when we've got all the echos
+        return;
+    }
+
+    using namespace Dimension;
+
+    point_count_t idx = m_view->size();
+    unsigned int returnNumber = 1;
+    Id timeId = getTimeDimensionId(m_syncToPps);
+    for (const auto& t : targets)
+    {
+        m_view->setField(Id::X, idx, t.vertex[0]);
+        m_view->setField(Id::Y, idx, t.vertex[1]);
+        m_view->setField(Id::Z, idx, t.vertex[2]);
+        m_view->setField(timeId, idx, t.time);
+        if (!m_minimal)
+        {
+            m_view->setField(Id::Amplitude, idx, t.amplitude);
+            m_view->setField(Id::Reflectance, idx, t.reflectance);
+            m_view->setField(Id::ReturnNumber, idx, returnNumber);
+            m_view->setField(Id::NumberOfReturns, idx, targets.size());
+            m_view->setField(Id::EchoRange, idx, t.echo_range);
+            m_view->setField(Id::Deviation, idx, t.deviation);
+            m_view->setField(Id::BackgroundRadiation, idx, t.background_radiation);
+            m_view->setField(Id::IsPpsLocked, idx, t.is_pps_locked);
+        }
+        if (m_reflectanceAsIntensity) {
+            uint16_t intensity;
+            if (t.reflectance > m_maxReflectance) {
+                intensity = std::numeric_limits<uint16_t>::max();
+            } else if (t.reflectance < m_minReflectance) {
+                intensity = 0;
+            } else {
+                intensity = uint16_t(std::roundf(double(std::numeric_limits<uint16_t>::max()) *
+                        (t.reflectance - m_minReflectance) / (m_maxReflectance - m_minReflectance)));
+            }
+            m_view->setField(Id::Intensity, idx, intensity);
+        }
+        ++idx, ++returnNumber;
+    }
+}
+
+
+}

plugins/rdb/io/RdbPointCloud.hpp

@@ -0,0 +1,94 @@
+/******************************************************************************
+* Copyright (c) 2015, Peter J. Gadomski (pete.gadomski@gmail.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.
+*
+*
+* This software has not been developed by RIEGL, and RIEGL will not provide any
+* support for this driver. Please do not contact RIEGL with any questions or
+* issues regarding this driver. RIEGL is not responsible for damages or other
+* issues that arise from use of this driver. This driver has been tested
+* against RiVLib version 1.39 on a Ubuntu 14.04 using gcc43.
+ ****************************************************************************/
+
+#pragma once
+
+#include <riegl/scanlib.hpp>
+
+#include <pdal/PointTable.hpp>
+#include <pdal/PointView.hpp>
+
+namespace pdal
+{
+
+
+Dimension::Id getTimeDimensionId(bool syncToPps);
+
+
+class PDAL_DLL RdbPointcloud
+{
+public:
+    RdbPointcloud(
+            const std::string& uri,
+            bool isSyncToPps,
+            bool m_minimal,
+            bool m_reflectanceAsIntensity,
+            float m_minReflectance,
+            float m_maxReflectance,
+            PointTableRef table);
+    virtual ~RdbPointcloud();
+
+    point_count_t read(PointViewPtr view, point_count_t count);
+
+    inline bool isSyncToPps() const
+    {
+        return m_syncToPps;
+    }
+
+protected:
+    void on_echo_transformed(echo_type echo);
+
+private:
+    virtual point_count_t writeSavedPoints(PointViewPtr view, point_count_t count);
+
+    PointViewPtr m_view;
+    point_count_t m_idx;
+    bool m_syncToPps;
+    bool m_minimal;
+    bool m_reflectanceAsIntensity;
+    float m_minReflectance;
+    float m_maxReflectance;
+//    std::shared_ptr<scanlib::basic_rconnection> m_rc;
+
+};
+
+
+} // namespace pdal