/* ////////////////////////////////////////////////////////////////////////// // // // This code is Copyright (c) 2008-2010 LizardTech, Inc, 1008 Western // // Avenue, Suite 200, Seattle, WA 98104. Unauthorized use or distribution // // prohibited. Access to and use of this code is permitted only under // // license from LizardTech, Inc. Portions of the code are protected by // // US and foreign patents and other filings. All Rights Reserved. // // // ////////////////////////////////////////////////////////////////////////// */ /* PUBLIC */ #ifndef __LIDAR_POINT_DATA_H__ #define __LIDAR_POINT_DATA_H__ #include "lidar/Base.h" LT_BEGIN_LIDAR_NAMESPACE class ChannelData; class PointData; /** * Channel data types * * This enum is used to repersent the data type of channel samples. */ enum DataType { // don't change the values they are serialized // all values must be less then 1 << 16 DATATYPE_INVALID = 0x0000, DATATYPE_UINT8 = 0x0100, DATATYPE_SINT8 = 0x0101, DATATYPE_UINT16 = 0x0200, DATATYPE_SINT16 = 0x0201, DATATYPE_UINT32 = 0x0400, DATATYPE_SINT32 = 0x0401, DATATYPE_UINT64 = 0x0800, DATATYPE_SINT64 = 0x0801, DATATYPE_FLOAT32 = 0x0403, DATATYPE_FLOAT64 = 0x0803 }; /** * Helper functions for interaction with the DataType enum. */ struct DataTypeUtils { /** * Determine if the datatype is signed. * * This function returns true if the data type is signed. * * \param dt the datatype value */ static inline bool isSigned(DataType dt) { return (dt & 0x1) == 0x1; } /** * Determine if the datatype is a floating point type. * * This function returns true if the data type is a floating point type. * * \param dt the datatype value */ static inline bool isFloat(DataType dt) { return (dt & 0x2) == 0x2; } /** * Get the data type size. * * This function returns the size of the data type in bytes. * * \param dt the datatype value * \return size of the data type in bytes */ static inline int byteWidth(DataType dt) { return (dt >> 8) & 0xFF; } /** * Get the string representation. * * This function returns the human readable representation of the data type. * * \param dt the datatype value * \return human readable string */ static const char *toString(DataType dt); static DataType toDataType(const char *str); }; /** * The canonical names of channels. */ #define CHANNEL_NAME_X "X" #define CHANNEL_NAME_Y "Y" #define CHANNEL_NAME_Z "Z" #define CHANNEL_NAME_Intensity "Intensity" #define CHANNEL_NAME_ReturnNum "ReturnNum" #define CHANNEL_NAME_NumReturns "NumReturns" #define CHANNEL_NAME_ScanDir "ScanDir" #define CHANNEL_NAME_EdgeFlightLine "EdgeFlightLine" #define CHANNEL_NAME_ScannerChannel "ScannerChannel" #define CHANNEL_NAME_ClassId "ClassId" #define CHANNEL_NAME_ClassFlags "ClassFlags" #define CHANNEL_NAME_ScanAngle "ScanAngle" #define CHANNEL_NAME_UserData "UserData" #define CHANNEL_NAME_SourceId "SourceId" #define CHANNEL_NAME_GPSTime_Week "GPSTime" #define CHANNEL_NAME_GPSTime_Adjusted "GPSTime_Adjusted" #define CHANNEL_NAME_Red "Red" #define CHANNEL_NAME_Green "Green" #define CHANNEL_NAME_Blue "Blue" #define CHANNEL_NAME_NearInfrared "NearInfrared" // Used with the TXTPointReader to skip a field #define CHANNEL_NAME_Skip "@Skip" /** * ChannelInfo stores the basic properties of a channel. * * ChannelInfo stores the basic properties of a channel; its name, datatype and * bits of precision. */ class ChannelInfo { SIMPLE_OBJECT(ChannelInfo); public: ~ChannelInfo(void); ChannelInfo(void); void init(const char *name, DataType datatype, int bits, double quantization = 0); void init(const ChannelInfo &info); /** * Get the name * * This method returns the channels name. */ const char *getName(void) const; /** * Get the data type * * This method returns the channels data type. */ DataType getDataType(void) const; /** * Get the bit precision * * This functon returns the number of bits used in the data type. For * floating point data types this value it the number of bits needed after * its been quantized. */ size_t getBits(void) const; /** * Get the quantization scale * * This functon returns the quantization scale factor for floating data. */ double getQuantization(void) const; void setQuantization(double value); bool operator==(const ChannelInfo &rhs) const; bool operator!=(const ChannelInfo &rhs) const { return !operator==(rhs); } protected: char *m_name; DataType m_datatype; int m_bits; double m_quantization; }; /** * PointInfo is a group of ChannelInfo objects. * * PointInfo is a group of ChannelInfo objects for specifying channels. * * \see See examples/src/UserTutorial.cpp for examples on setting up and using * PointInfo. */ class PointInfo { SIMPLE_OBJECT(PointInfo); public: ~PointInfo(void); PointInfo(void); void init(size_t numChannels); void init(const PointInfo &pointInfo); void init(const PointData &pointData); void init(const PointInfo &pointInfo, const char * const *channels, size_t numChannels); void init(const PointData &pointData, const char * const *channels, size_t numChannels); void init(const PointInfo &pointInfo, const size_t *channels, size_t numChannels); void init(const PointData &pointData, const size_t *channels, size_t numChannels); /** * Get the number of channels. * * This method returns the number of channels. */ size_t getNumChannels(void) const; /** * Access the channel info. * * This method returns the ChannelInfo for a given index. * * \param idx the index of the wanted channel * \return the channel info for the given channel */ const ChannelInfo &getChannel(size_t idx) const; /** * Access the channel info. * * This method returns the ChannelInfo for a given index. * * \param idx the index of the wanted channel * \return the channel info for the given channel */ ChannelInfo &getChannel(size_t idx); /** * Determine if there is a channel with a given name. * * The method determines if this object has a channel with the given name. * * \param name the channel name * \return true if the channel was found */ bool hasChannel(const char *name) const; /** * Access the channel data. * * This method returns the ChannelInfo for a given name. * * \param name the name of the wanted channel * \return the channel data for the given channel */ const ChannelInfo *getChannel(const char *name) const; /** * Access the channel data. * * This method returns the ChannelInfo for a given name. * * \param name the name of the wanted channel * \return the channel data for the given channel */ ChannelInfo *getChannel(const char *name); /** * Get the index for a given channel. * * This method returns index of the given channel name. * * \param name the name of the wanted channel * \return the index for the given channel */ size_t getChannelIndex(const char *name) const; /** * Make sure the PointInfo has X, Y, and Z channels. * * This function checks the PointInfo object for X, Y, and Z channels * and that their data type is DATATYPE_FLOAT64 */ bool hasValidXYZ(void) const; bool operator==(const PointInfo &rhs) const; bool operator!=(const PointInfo &rhs) const { return !operator==(rhs); } protected: size_t m_numChannels; ChannelInfo *m_channel; }; /** * ChannelData adds sample values to the ChannelInfo class. */ class ChannelData : public ChannelInfo { DISABLE_COPY(ChannelData); public: ~ChannelData(void); ChannelData(void); void init(const ChannelInfo &info, size_t numSamples); /** * Get the number of samples. * * This method returns the maximum number of samples that can be stored * in the object. */ size_t getNumSamples(void) const; /** * Get the data buffer. * * This method returns the data buffer. The caller must cast it to the * appropriate datatype. * * \see getDataType() */ const void *getData(void) const; /** * Get the data buffer. * * This method returns the data buffer. The caller must cast it to the * appropriate datatype. * * \see getDataType() */ void *getData(void); /** * Copy samples between channels. * * \param dst the destination channel * \param dstOffset the first sample to overwrite * \param src the source channel * \param srcOffset the fisrt sample to copy * \param length the number of samples to copy * * \note The source and destination data types must be the same. The * source and destination may be the same object and sample * ranges may overlap. */ static void copy(ChannelData &dst, size_t dstOffset, const ChannelData &src, size_t srcOffset, size_t length); /** * Copy and convert the data type of samples between channel. * * This function does a datatype convertion as it copies the source samples * into the destination channel. This function does not support changing * between integral and floating point types. * * \param dst the destination channel * \param dstOffset the first sample to overwrite * \param src the source channel * \param srcOffset the fisrt sample to copy * \param length the number of samples to copy * * \note The source and destination may not be the same object. */ static void convert(ChannelData &dst, size_t dstOffset, const ChannelData &src, size_t srcOffset, size_t length); /** * Copy and convert the data type of samples between channel. * * This function does a datatype convertion as it copies the source samples * into the destination channel. This function does support changing * between integral and floating point types. * * \param dst the destination channel * \param dstOffset the first sample to overwrite * \param src the source channel * \param srcOffset the fisrt sample to copy * \param offset the quantization offset * \param scale the quantization scale * \param length the number of samples to copy * * \note The source and destination may not be the same object. * \note When converting integer to float: dst = scale * src + offset. * \note When converting float to integer: dst = floor((src - offset) / scale + 0.5) */ static void convert(ChannelData &dst, size_t dstOffset, const ChannelData &src, size_t srcOffset, double offset, double scale, size_t length); /** * Channge the data type on the fly. * * This method is used to change the data type on the fly. Use with * care and it should only be used went the new data type is smaller than * the old data type. * * \note internal LizardTech use only. */ void setDataType(DataType datatype); /** * Resize the data buffer. * * This method change the size of the data buffer. * \param newNumSamples the new size of the buffer */ void resize(size_t newNumSamples); /** dirty hack -- only use this if you're the buffer onwer */ void setOffset(size_t offset); /** change the buffer */ void setData(void *data, bool deleteData); protected: size_t m_numSamples; size_t m_offset; void *m_data; bool m_deleteData; }; /** * PointData is a group of ChannelData objects. * * PointData is a group of ChannelData objects for extracting the point cloud. * * \see See examples/src/UserTutorial.cpp for examples on setting up and using * PointData. */ class PointData { SIMPLE_OBJECT(PointData); public: ~PointData(void); PointData(void); void init(const PointInfo &pointInfo, size_t numSamples); /** * Get the number of channels. * * This method returns the number of channels. */ size_t getNumChannels(void) const; /** * Get the number of samples. * * This method returns the maximum number of samples that can be stored * in the object. */ size_t getNumSamples(void) const; /** * Access the channel data. * * This method returns the ChannelData for a given index. * * \param idx the index of the channel wanted * \return the channel data for the given channel */ const ChannelData &getChannel(size_t idx) const; /** * Access the channel data. * * This method returns the ChannelData for a given index. * * \param idx the index of the channel wanted * \return the channel data for the given channel */ ChannelData &getChannel(size_t idx); /** * Determine if there is a channel with a given name. * * The method determines if this object has a channel with the given name. * * \param name the channel name * \return true if the channel was found */ bool hasChannel(const char *name) const; /** * Access the channel data. * * This method returns the ChannelData for a given name. * * \param name the name of the channel wanted * \return the channel data for the given channel */ const ChannelData *getChannel(const char *name) const; /** * Access the channel data. * * This method returns the ChannelData for a given name. * * \param name the name of the channel wanted * \return the channel data for the given channel */ ChannelData *getChannel(const char *name); /** * Get the X values. * * This method returns a pointer to the X channel samples. */ const double *getX(void) const; /** * Get the X values. * * This method returns a pointer to the X channel samples. */ double *getX(void); /** * Get the Y values. * * This method returns a pointer to the Y channel samples. */ const double *getY(void) const; /** * Get the Y values. * * This method returns a pointer to the Y channel samples. */ double *getY(void); /** * Get the Z values. * * This method returns a pointer to the Z channel samples. */ const double *getZ(void) const; /** * Get the Z values. * * This method returns a pointer to the Z channel samples. */ double *getZ(void); /** * Copy samples between buffers. * * \param dst the destination buffer * \param dstOffset the first sample to overwrite * \param src the source buffer * \param srcOffset the fisrt sample to copy * \param length the number of samples to copy * * \note The source and destination data types must be the same. The * source and destination may be the same object and sample * ranges may overlap. */ static void copy(PointData &dst, size_t dstOffset, const PointData &src, size_t srcOffset, size_t length); /** * Merge points. * * This function merges the the source buffer into the destination buffer * in a manner the destination becomes a uniform sampling of both buffers. * * \param dst the destination buffer * \param dstNumPoint the number of point the destination buffer represents * (it may be large than the buffer size) * \param src the source buffer * \param srcNumPoint the number of point the source buffer represents * (it may be large than the buffer size) */ static void merge(PointData &dst, size_t dstNumPoints, const PointData &src, size_t srcNumPoints); /** * Resize the data buffer. * * This method change the size of the data buffer. * \param newNumSamples the new size of the buffer */ void resize(size_t newNumSamples); /** dirty hack -- only use this if you're the buffer onwer */ void setOffset(size_t offset); protected: size_t m_numChannels; ChannelData *m_channel; size_t m_numSamples; size_t m_offset; // just pointers into m_channel[] double *m_x; double *m_y; double *m_z; }; LT_END_LIDAR_NAMESPACE #endif /* __LIDAR_POINT_DATA_H__ */