kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
de80696426
commit
9346eef114
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@ -26,6 +26,14 @@ set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)
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include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
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include_directories(${EIGEN_ROOT})
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# PDAL and jsoncpp
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find_package(PDAL REQUIRED CONFIG)
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message(${PDAL_INCLUDE_DIRS})
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include_directories(${PDAL_INCLUDE_DIRS})
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include_directories("${PROJECT_SOURCE_DIR}/../../SuperBuild/src/pdal/vendor/jsoncpp/dist")
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link_directories(${PDAL_LIBRARY_DIRS})
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add_definitions(${PDAL_DEFINITIONS})
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# Add source directory
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aux_source_directory("./src" SRC_LIST)
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@ -33,4 +41,4 @@ aux_source_directory("./src" SRC_LIST)
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add_executable(${PROJECT_NAME} ${SRC_LIST})
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# Link
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target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${PROJ4_LIBRARY} ${OpenCV_LIBS})
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target_link_libraries(${PROJECT_NAME} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${PROJ4_LIBRARY} ${OpenCV_LIBS} jsoncpp ${PDAL_LIBRARIES})
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@ -13,8 +13,6 @@ using namespace std;
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// This
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#include "Georef.hpp"
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#define IS_BIG_ENDIAN (*(uint16_t *)"\0\xff" < 0x100)
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std::ostream& operator<<(std::ostream &os, const GeorefSystem &geo)
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{
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return os << setiosflags(ios::fixed) << setprecision(7) << geo.system_ << "\n" << geo.eastingOffset_ << " " << geo.northingOffset_;
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@ -413,6 +411,16 @@ void Georef::parseArguments(int argc, char *argv[])
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log_ << "Reading point cloud from: " << inputPointCloudFilename_ << "\n";
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georeferencePointCloud_ = true;
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}
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else if(argument == "-outputPointCloudSrs" && argIndex < argc)
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{
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argIndex++;
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if (argIndex >= argc)
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{
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throw GeorefException("Argument '" + argument + "' expects 1 more input following it, but no more inputs were provided.");
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}
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outputPointCloudSrs_ = std::string(argv[argIndex]);
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log_ << "Using SRS for point cloud: " << outputPointCloudSrs_ << "\n";
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}
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else if(argument == "-gcpFile" && argIndex < argc)
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{
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argIndex++;
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@ -590,10 +598,13 @@ void Georef::printHelp()
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// log_ << "The resized resolution used in bundler.\n\n";
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log_ << "\"-outputFile <path>\" (optional, default <inputFile>_geo)" << "\n";
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log_ << "\"Output obj file that will contain the georeferenced texture mesh.\n\n";
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log_ << "Output obj file that will contain the georeferenced texture mesh.\n\n";
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log_ << "\"-outputPointCloudFile <path>\" (mandatory if georeferencing a point cloud)" << "\n";
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log_ << "\"Output ply file that will contain the georeferenced point cloud.\n\n";
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log_ << "Output las/laz file that will contain the georeferenced point cloud.\n\n";
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log_ << "\"-outputPointCloudSrs <srs>\" (recommended if georeferencing a point cloud)" << "\n";
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log_ << "Output spatial reference system to use for output point cloud.\n\n";
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log_.setIsPrintingInCout(printInCoutPop);
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}
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@ -1406,72 +1417,43 @@ void Georef::performFinalTransform(Mat4 &transMat, pcl::TextureMesh &mesh, pcl::
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template <typename Scalar>
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void Georef::transformPointCloud(const char *inputFile, const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform, const char *outputFile){
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try{
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pcl::PointCloud<pcl::PointXYZRGBNormal> pointCloud;
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if(pcl::io::loadPLYFile<pcl::PointXYZRGBNormal> (inputFile, pointCloud) == -1) {
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throw GeorefException("Error when reading point cloud:\n" + std::string(inputFile) + "\n");
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}
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else
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{
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log_ << "Successfully loaded " << pointCloud.size() << " points with corresponding normals from file.\n";
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}
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log_ << "Writing transformed point cloud to " << outputFile << "...\n";
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log_ << "Transforming point cloud...\n";
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// We don't use PCL's built-in functions
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// because PCL does not support double coordinates
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// precision
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std::ofstream f (outputFile);
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f << "ply" << std::endl;
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// PDAL pipeline: ply reader --> matrix transform --> las writer.
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if (IS_BIG_ENDIAN){
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f << "format binary_big_endian 1.0" << std::endl;
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pdal::Options inPlyOpts;
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inPlyOpts.add("filename", inputFile);
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pdal::PointTable table;
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pdal::PlyReader plyReader;
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plyReader.setOptions(inPlyOpts);
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pdal::MatrixTransformFilter<double> transformFilter(transform);
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transformFilter.setInput(plyReader);
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pdal::Options outLasOpts;
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outLasOpts.add("filename", outputFile);
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std::string s(outputFile);
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if (s.substr(s.find_last_of(".") + 1) == "laz"){
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outLasOpts.add("compression", "laszip");
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}
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outLasOpts.add("offset_x", georefSystem_.eastingOffset_);
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outLasOpts.add("offset_y", georefSystem_.northingOffset_);
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outLasOpts.add("offset_z", 0);
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if (!outputPointCloudSrs_.empty()){
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outLasOpts.add("a_srs", outputPointCloudSrs_);
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}else{
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f << "format binary_little_endian 1.0" << std::endl;
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log_ << "WARNING! A point cloud will be generated without a SRS, because -outputPointCloudSrs was not specified!\n";
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}
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const char *type = "double";
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if (sizeof(Scalar) == sizeof(float)){
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type = "float";
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}
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f << "element vertex " << pointCloud.size() << std::endl
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<< "property " << type << " x" << std::endl
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<< "property " << type << " y" << std::endl
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<< "property " << type << " z" << std::endl
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<< "property uchar red" << std::endl
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<< "property uchar green" << std::endl
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<< "property uchar blue" << std::endl
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<< "end_header" << std::endl;
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struct PlyPoint{
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Scalar x;
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Scalar y;
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Scalar z;
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uint8_t r;
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uint8_t g;
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uint8_t b;
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} p;
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size_t psize = sizeof(Scalar) * 3 + sizeof(uint8_t) * 3;
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// Transform
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for (unsigned int i = 0; i < pointCloud.size(); i++){
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Scalar x = static_cast<Scalar>(pointCloud[i].x);
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Scalar y = static_cast<Scalar>(pointCloud[i].y);
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Scalar z = static_cast<Scalar>(pointCloud[i].z);
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p.r = pointCloud[i].r;
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p.g = pointCloud[i].g;
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p.b = pointCloud[i].b;
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p.x = static_cast<Scalar> (transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
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p.y = static_cast<Scalar> (transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
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p.z = static_cast<Scalar> (transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
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f.write(reinterpret_cast<char*>(&p), psize);
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// TODO: normals can be computed using the inverse transpose
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// https://paroj.github.io/gltut/Illumination/Tut09%20Normal%20Transformation.html
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}
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f.close();
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pdal::LasWriter lasWriter;
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lasWriter.setOptions(outLasOpts);
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lasWriter.setInput(transformFilter);
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lasWriter.prepare(table);
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lasWriter.execute(table);
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log_ << "Point cloud file saved.\n";
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}
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@ -18,6 +18,9 @@
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// Transformation
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#include "FindTransform.hpp"
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// PDAL matrix transform filter
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#include "MatrixTransformFilter.hpp"
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/*!
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* \brief The GeorefSystem struct is used to store information about a georeference system.
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*/
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@ -275,7 +278,8 @@ private:
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std::string outputObjFilename_; /**< The path to the output mesh obj file. **/
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std::string inputPointCloudFilename_; /**< The path to the input point cloud file. **/
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std::string outputPointCloudFilename_; /**< The path to the output point cloud file. **/
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std::string georefFilename_; /**< The path to the output offset file. **/
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std::string georefFilename_; /**< The path to the output offset file. **/
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std::string outputPointCloudSrs_; /**< The spatial reference system of the point cloud file to be written. Can be an EPSG string (e.g. “EPSG:26910”) or a WKT string. **/
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bool georeferencePointCloud_;
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bool exportCoordinateFile_;
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@ -0,0 +1,2 @@
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#include "MatrixTransformFilter.hpp"
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@ -0,0 +1,38 @@
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#pragma once
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#include <pcl/common/eigen.h>
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#include <pdal/PointTable.hpp>
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#include <pdal/PointView.hpp>
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#include <pdal/io/PlyReader.hpp>
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#include <pdal/io/LasWriter.hpp>
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#include <pdal/Options.hpp>
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#include <pdal/Filter.hpp>
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namespace pdal{
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template <typename Scalar>
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class MatrixTransformFilter : public Filter{
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Eigen::Transform<Scalar, 3, Eigen::Affine> transform;
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public:
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MatrixTransformFilter(const Eigen::Transform<Scalar, 3, Eigen::Affine> &transform)
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: transform(transform){};
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std::string getName() const { return "MatrixTransformFilter"; }
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virtual void filter(PointView &view)
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{
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for (PointId id = 0; id < view.size(); ++id)
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{
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Scalar x = view.getFieldAs<Scalar>(Dimension::Id::X, id);
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Scalar y = view.getFieldAs<Scalar>(Dimension::Id::Y, id);
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Scalar z = view.getFieldAs<Scalar>(Dimension::Id::Z, id);
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view.setField(pdal::Dimension::Id::X, id, transform (0, 0) * x + transform (0, 1) * y + transform (0, 2) * z + transform (0, 3));
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view.setField(pdal::Dimension::Id::Y, id, transform (1, 0) * x + transform (1, 1) * y + transform (1, 2) * z + transform (1, 3));
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view.setField(pdal::Dimension::Id::Z, id, transform (2, 0) * x + transform (2, 1) * y + transform (2, 2) * z + transform (2, 3));
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}
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}
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// TODO: implement streaming mode
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};
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}
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