LoadPointSet.cpp

/***********************************************************************
LoadPointSet - Helper function to load a 2D point set into LiDAR Viewer
by elevating the points to the implicit LiDAR point cloud surface.
Copyright (c) 2010-2011 Oliver Kreylos

This file is part of the LiDAR processing and analysis package.

The LiDAR processing and analysis package is free software; you can
redistribute it and/or modify it under the terms of the GNU General
Public License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.

The LiDAR processing and analysis package is distributed in the hope
that it will be useful, but WITHOUT ANY WARRANTY; without even the
implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.  See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along
with the LiDAR processing and analysis package; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
02111-1307 USA
***********************************************************************/

#include "LoadPointSet.h"

#include <string>
#include <IO/OpenFile.h>
#include <IO/ValueSource.h>
#include <SceneGraph/ColorNode.h>
#include <SceneGraph/CoordinateNode.h>
#include <SceneGraph/PointSetNode.h>
#include <SceneGraph/ShapeNode.h>

#include "LidarProcessOctree.h"
#include "LidarElevationSampler.h"
#include "SceneGraph.h"

void loadPointSet(const char* lidarFileName,unsigned int memCacheSize,IO::FilePtr pointFile,Scalar filterRadius,int numLobes,const Vector& pointOffset)
	{
	/* Create a color and coordinate node to receive points: */
	SceneGraph::ColorNode* color=new SceneGraph::ColorNode;
	SceneGraph::CoordinateNode* coord=new SceneGraph::CoordinateNode;
	
	/* Create the point set node: */
	SceneGraph::PointSetNode* pointSet=new SceneGraph::PointSetNode;
	pointSet->color.setValue(color);
	pointSet->coord.setValue(coord);
	pointSet->pointSize.setValue(5);
	pointSet->update();
	SceneGraph::ShapeNode* shape=new SceneGraph::ShapeNode;
	shape->geometry.setValue(pointSet);
	shape->update();
	getSceneGraphRoot().children.appendValue(shape);
	getSceneGraphRoot().update();
	
	/* Create a temporary LiDAR processing octree to calculate point elevations: */
	LidarProcessOctree lpo(lidarFileName,size_t(memCacheSize)*size_t(1024*1024));
	
	/* Attach a value source to the point file: */
	IO::ValueSource pointSource(pointFile);
	pointSource.setWhitespace("");
	pointSource.setPunctuation(",\n");
	pointSource.setQuotes("\"");
	
	/* Read the header line: */
	int valueCol=-1;
	int posCol[2]={-1,-1};
	for(int col=0;!pointSource.eof()&&pointSource.peekc()!='\n';++col)
		{
		std::string columnHeader=pointSource.readString();
		if(columnHeader=="DamageID1")
			valueCol=col;
		else if(columnHeader=="POINT_X")
			posCol[0]=col;
		else if(columnHeader=="POINT_Y")
			posCol[1]=col;
		if(pointSource.peekc()==',')
			pointSource.skipString();
		}
	
	/* Go to the next line: */
	pointSource.skipString();
	
	/* Read all points: */
	while(!pointSource.eof())
		{
		/* Read the current line: */
		double value=0.0;
		double pos[2]={0.0,0.0};
		for(int col=0;!pointSource.eof()&&pointSource.peekc()!='\n';++col)
			{
			if(col==valueCol)
				value=pointSource.readNumber();
			else if(col==posCol[0])
				pos[0]=pointSource.readNumber();
			else if(col==posCol[1])
				pos[1]=pointSource.readNumber();
			else
				pointSource.skipString();
			if(pointSource.peekc()==',')
				pointSource.skipString();
			}
		
		/* Calculate the current point's elevation: */
		LidarRadialElevationSampler les(pos,filterRadius,numLobes);
		lpo.processPointsInBox(les.getBox(),les);
		if(les.getAbsWeightSum()>0.0)
			{
			/* Add the point to the coordinate node: */
			SceneGraph::Point p;
			for(int i=0;i<2;++i)
				p[i]=SceneGraph::Scalar(pos[i]-double(pointOffset[i]));
			p[2]=SceneGraph::Scalar(les.getValue()-double(pointOffset[2]));
			coord->point.appendValue(p);
			
			if(value<2.5)
				color->color.appendValue(SceneGraph::Color(1.0f,0.0f,0.0f));
			else if(value<3.5)
				color->color.appendValue(SceneGraph::Color(1.0f,0.5f,0.0f));
			else if(value<4.5)
				color->color.appendValue(SceneGraph::Color(0.5f,1.0f,0.0f));
			else if(value<5.5)
				color->color.appendValue(SceneGraph::Color(0.0f,1.0f,0.0f));
			else
				color->color.appendValue(SceneGraph::Color(0.0f,1.0f,0.0f));
			}
		
		/* Go to the next line: */
		pointSource.skipString();
		}
	
	color->update();
	coord->update();
	}