LAS v1.4 (#40)

* Added implementation of Las14SyncFileWriter

Class to allow the writting of las/laz files following the ASPRS LAS Specification 1.4 - R14

* Added writing of extended point fields

* Added LAS version selector through --las10 flag

* Added SyncFileWriterFactory class to create the proper file writer based on input flags. Typos.

* Added classification labels to match the LAS v1.4 r15 specification.

Also, now the links point to the documents of that specification version.

* Added function to choose the type of the writer to be created.

* Fixed TRANSMISSION_TOWER class label.

* Removed warning when using --lasOutput and --zipOutput at the same time.
They are not mutually exclusive.

* Set Global Encoding to match GPS Week time

Co-authored-by: Miguel Yermo <[email protected]>
Co-authored-by: Lukas Winiwarter <[email protected]>

Author: 3 people

src/LidarSim.cpp

@@ -62,9 +62,10 @@ void printHelp(){
         << "\n\t\t\tYYYY-mm-DD HH::MM::SS\n"
         << "\t\t\t\tBy default: a random seed is generated\n\n"
         << "\t\t--lasOutput : Use this flag to generate the output point cloud "
-		   "in LAS format (v 1.0)\n\n"
-		<< "\t\t--zipOutput : Use this flag to generate compressed output\n\n"
-		<< "\t\t--lasScale : Specify the decimal scale factor for LAS output"
+		   "in LAS format (v 1.4)\n\n"
+        << "\t\t--las10: Use this flag to write in LAS format (v 1.0)\n\n"
+        << "\t\t--zipOutput : Use this flag to generate compressed output\n\n"
+        << "\t\t--lasScale : Specify the decimal scale factor for LAS output"
         << "\n\n"
         << "\t\t-j or --njobs or --nthreads <integer> : Specify the number of"
         << "\n\t\t\tjobs to be used to compute the simulation\n"
@@ -166,6 +167,7 @@ int main(int argc, char** argv) {
             ap.parseDisableLegNoise(),
             ap.parseRebuildScene(),
             ap.parseLasOutput(),
+            ap.parseLas10(),
             ap.parseZipOutput(),
             ap.parseFixedIncidenceAngle(),
             ap.parseLasScale()
@@ -187,6 +189,7 @@ void LidarSim::init(
     bool legNoiseDisabled,
     bool rebuildScene,
     bool lasOutput,
+    bool las10,
     bool zipOutput,
     bool fixedIncidenceAngle,
     double lasScale
@@ -196,13 +199,14 @@ void LidarSim::init(
 	    << "assetsPath: \"" << assetsPath << "\"\n"
 	    << "outputPath: \"" << outputPath << "\"\n"
 	    << "writeWaveform: " << writeWaveform << "\n"
-        << "calcEchowidth: " << calcEchowidth << "\n"
+            << "calcEchowidth: " << calcEchowidth << "\n"
 	    << "fullWaveNoise: " << fullWaveNoise << "\n"
 	    << "njobs: " << njobs << "\n"
 	    << "platformNoiseDisabled: " << platformNoiseDisabled << "\n"
 	    << "legNoiseDisabled: " << legNoiseDisabled << "\n"
 	    << "rebuildScene: " << rebuildScene << "\n"
 	    << "lasOutput: " << lasOutput << "\n"
+            << "las10: " << las10 << "\n"
 	    << "fixedIncidenceAngle: " << fixedIncidenceAngle << std::endl;
     logging::INFO(ss.str());
 
@@ -220,6 +224,7 @@ void LidarSim::init(
 	survey->scanner->setPlatformNoiseDisabled(platformNoiseDisabled);
 	survey->scanner->setFixedIncidenceAngle(fixedIncidenceAngle);
 	survey->scanner->detector->lasOutput = lasOutput;
+        survey->scanner->detector->las10 = las10;
 	survey->scanner->detector->zipOutput = zipOutput;
 	survey->scanner->detector->lasScale = lasScale;
 	if (survey == nullptr) {

src/LidarSim.h

@@ -49,6 +49,7 @@ class LidarSim {
         bool legNoiseDisabled = false,
         bool rebuildScene = false,
         bool lasOutput = false,
+        bool las10 = false,
         bool zipOutput = false,
         bool fixedIncidenceAngle = false,
         double lasScale = 0.0001

src/scanner/detector/AbstractDetector.cpp

@@ -5,8 +5,8 @@
 #include <iostream>
 using namespace std;
 
-#include <logging.hpp>
 #include <boost/filesystem.hpp>
+#include <logging.hpp>
 namespace fs = boost::filesystem;
 
 // ***  CONSTRUCTION / DESTRUCTION  *** //
@@ -22,37 +22,43 @@ void AbstractDetector::_clone(std::shared_ptr<AbstractDetector> ad){
     ad->outputFileLineFormatString = outputFileLineFormatString;
     ad->outputFilePath = outputFilePath;
     ad->lasOutput = lasOutput;
+    ad->las10     = las10;
     ad->zipOutput = zipOutput;
 }
 
 // ***  M E T H O D S  *** //
 // *********************** //
-// ATTENTION: This method needs to be synchronized since multiple threads are writing to the output file!
+WriterType AbstractDetector::chooseWriterType() {
+  // Get the type of writer to be created
+  WriterType wt;
+  if (lasOutput) wt = las10 ? las10Type : las14Type;
+  else if (zipOutput) wt = zipType;
+  else wt = simpleType;
+
+  return wt;
+}
+// ATTENTION: This method needs to be synchronized since multiple threads are
+// writing to the output file!
 void AbstractDetector::setOutputFilePath(string path) {
-	this->outputFilePath = path;
-	logging::WARN("outputFilePath="+path);
-	try {
-        fs::create_directories(outputFilePath.parent_path());
-        if (lasOutput) {
-            sfw = std::make_shared<LasSyncFileWriter>(
-                path,                                   // Output path
-                zipOutput,                              // Zip flag
-                lasScale,                               // Scale factor
-                scanner->platform->scene->getShift(),   // Offset
-                0.0,                                    // Min intensity
-                1000000.0                               // Delta intensity
-            );
-        }
-        else if (zipOutput) {
-            sfw = std::make_shared<ZipSyncFileWriter>(path);
-        }
-        else {
-            sfw = std::make_shared<SimpleSyncFileWriter>(path);
-        }
-	}
-	catch (std::exception &e) {
-	    logging::WARN(e.what());
-	}
+  this->outputFilePath = path;
+  logging::WARN("outputFilePath=" + path);
+  try {
+    fs::create_directories(outputFilePath.parent_path());
+
+    WriterType wt = chooseWriterType();
+    // Create the Writer
+    sfw = SyncFileWriterFactory::makeWriter(
+        wt,
+        path,                                   // Output path
+        zipOutput,                              // Zip flag
+        lasScale,                               // Scale factor
+        scanner->platform->scene->getShift(),   // Offset
+        0.0,                                    // Min intensity
+        1000000.0                               // Delta intensity
+    );
+  } catch (std::exception &e) {
+    logging::WARN(e.what());
+  }
 }
 
 void AbstractDetector::shutdown() {

src/scanner/detector/AbstractDetector.h

@@ -12,7 +12,9 @@ namespace fs = boost::filesystem;
 #include "MeasurementsBuffer.h"
 #include "SimpleSyncFileWriter.h"
 #include "LasSyncFileWriter.h"
+#include "Las14SyncFileWriter.h"
 #include "ZipSyncFileWriter.h"
+#include "SyncFileWriterFactory.h"
 
 /**
  * @brief Base abstract class for detectors
@@ -50,6 +52,11 @@ class AbstractDetector {
 	 * @see AbstractDetector::lasScale
 	 */
 	bool lasOutput;
+        /**
+         * @brief Flag specifying if detect output must be writing in LAS 1.0
+         * (LAS 1.4 is written by default)
+         */
+        bool las10;
 	/**
 	 * @brief Flag specifying if detector output must be zipped (true)
 	 * or not (false)
@@ -90,11 +97,12 @@ class AbstractDetector {
 	    double rangeMin_m
     ){
 	    this->lasOutput = false;
+            this->las10     = false;
 	    this->zipOutput = false;
 	    this->lasScale = 0.0001;
-		this->cfg_device_accuracy_m = accuracy_m;
-		this->cfg_device_rangeMin_m = rangeMin_m;
-		this->scanner = std::move(scanner);
+            this->cfg_device_accuracy_m = accuracy_m;
+            this->cfg_device_rangeMin_m = rangeMin_m;
+            this->scanner = std::move(scanner);
 	}
 	virtual ~AbstractDetector() {}
 	virtual std::shared_ptr<AbstractDetector> clone() = 0;
@@ -115,11 +123,16 @@ class AbstractDetector {
 	 * @brief Write a list of measurements
 	 * @param m List of measurements to be written
 	 */
-    void writeMeasurements(std::list<Measurement*> & m);
-    /**
-     * @brief Apply scanner settings to the detector
-     * @param settings Settings to be applied to de detector
-     */
+        void writeMeasurements(std::list<Measurement*> & m);
+        /**
+         * @brief Choose a type of file writer based on input flags
+         * @return Type of writer to be created
+         */
+        WriterType chooseWriterType();
+        /**
+         * @brief Apply scanner settings to the detector
+         * @param settings Settings to be applied to de detector
+         */
 	virtual void applySettings(std::shared_ptr<ScannerSettings> & settings) {};
 
 	/**

src/util/ArgumentsParser.cpp

@@ -120,6 +120,10 @@ bool ArgumentsParser::parseLasOutput(){
     return findIndexOfArgument("--lasOutput") >= 0;
 }
 
+bool ArgumentsParser::parseLas10(){
+    return findIndexOfArgument("--las10") >= 0;
+}
+
 bool ArgumentsParser::parseZipOutput(){
     return findIndexOfArgument("--zipOutput") >= 0;
 }

src/util/ArgumentsParser.h

@@ -109,6 +109,11 @@ class ArgumentsParser {
      * @return True if LAS output was requested, False otherwise.
      */
     bool parseLasOutput();
+    /**
+     * @brief Parse the LAS version output specification
+     * @return True if LAS v1.0 was requested, False otherwise.
+     */
+    bool parseLas10();
     /**
      * @brief Parse the ZIP output specification
      * @return True if ZIP output was requested, False otherwise.

src/util/Las14SyncFileWriter.h

@@ -0,0 +1,70 @@
+#pragma once
+
+// Includes
+#include "LasSyncFileWriter.h"
+
+
+
+/**
+ * @author Miguel Yermo García
+ * @version 1.0
+ * @brief LasSyncFileWriter implementation for LAS v1.4 format
+ */
+class Las14SyncFileWriter : public LasSyncFileWriter
+{
+public:
+
+  Las14SyncFileWriter();
+
+  explicit Las14SyncFileWriter(
+      const std::string &path_,
+      bool compress_ = false,
+      double scaleFactor_ = 0.0001,
+      glm::dvec3 offset_ = glm::dvec3(0, 0, 0),
+      double minIntensity_ = 0.0,
+      double deltaIntensity_ = 1000000.0
+  ) :
+      LasSyncFileWriter() {
+              path = path_;
+              scaleFactor = scaleFactor_;
+              offset = offset_;
+              minIntensity = minIntensity_;
+              deltaIntensity = deltaIntensity_;
+              finished = false;
+
+              // Craft header and point format
+              craft();
+
+              // Add extra attributes
+              addExtraAttributes();
+
+              // Create LASWriter
+              createLasWriter(path, compress_);
+          };
+
+  // *** CRAFTING *** //
+  /**
+   * Crafting of header of the LAS file for version 1.4
+   */
+  void craft()
+  {
+    // Craft version of LasSyncWriter LAS 1.0
+    LasSyncFileWriter::craft();
+
+    // Update Header to 1.4 specification
+    lwHeader.version_minor = U8(4);
+
+    // Update Point Data Format to support new return number / classes
+    lwHeader.point_data_format = 6;
+    lwHeader.point_data_record_length = 30;
+
+    // Adds the byte difference between LAS 1.4 and LAS 1.0 (350 - 227)
+    lwHeader.header_size += 148;
+
+    // Adds the byte difference to the data point offset
+    lwHeader.offset_to_point_data += 148;
+
+  }
+
+
+};

src/util/LasSpecification.h

@@ -2,13 +2,16 @@
 
 /**
  * @brief Class representing LAS specification
+ * Classes from 0 to 63 are defined by the specification
+ * Classes from 64 to 255 are user definable.
  *
  * For more information visit:
- *  https://www.asprs.org/a/society/committees/standards/LAS_1_4_r13.pdf
+ *  http://www.asprs.org/wp-content/uploads/2019/07/LAS_1_4_r15.pdf
  */
 class LasSpecification {
-	
-	// See https://www.asprs.org/a/society/committees/standards/LAS_1_4_r13.pdf
+
+
+  // See http://www.asprs.org/wp-content/uploads/2019/07/LAS_1_4_r15.pdf
 public:
     // ***  CONSTANTS  *** //
     // ******************* //
@@ -67,9 +70,32 @@ class LasSpecification {
 	/**
 	 * @brief Transmission tower class integer
 	 */
-	static const int TRANSMISSION_TOWER = 14;
+	static const int TRANSMISSION_TOWER = 15;
 	/**
 	 * @brief Wire structure class integer
 	 */
 	static const int WIRE_STRUCTURE = 16;
+        /**
+         * @brief Bridge Deck class integer
+         */
+        static const int BRIDGE_DECK = 17;
+        /**
+         * @brief High Noise class integer
+         */
+        static const int HIGH_NOISE = 18;
+        /**
+         * @brief Overhead Structure class integer
+         * E.g. conveyors, mining equipment, traffic lights
+         */
+        static const int OVERHEAD_STRUCTURE = 19;
+        /**
+         * @brief Ignored ground class integer
+         * E.g. breakline proximity
+         */
+        static const int IGNORED_GROUND = 20;
+        /**
+         * @brief Snow class integer
+         */
+        static const int SNOW = 21;
+
 };