void WritePointcloud()
{
Console.WriteLine("[{0:hh:mm:ss}] Generating water...", DateTime.Now);
List <XYZ> newPoints = new List <XYZ>();
foreach (var polygon in polygons)
{
var grid = polygon.GetGrid(1.0, x * 1000, y * 1000, (x + 1) * 1000, (y + 1) * 1000);
newPoints.AddRange(grid);
}
Console.WriteLine("[{0:hh:mm:ss}] Writing LAZ...", DateTime.Now);
lazReader.laszip_seek_point(0L);//read from the beginning again
lazWriter = new laszip_dll();
lazWriter.header = lazReader.header;
lazWriter.header.number_of_point_records += (uint)newPoints.Count;
lazWriter.laszip_open_writer(destPath, true);
var coordArray = new double[3];
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
lazWriter.point = lazReader.point;
//if (lazWriter.point.classification > 9) System.Diagnostics.Debugger.Break();
if (pointcloud.ContainsKey(pointIndex))
{
lazWriter.point.classification = WATER_CLASSIFICATION;
}
lazWriter.laszip_write_point();
}
Console.WriteLine("[{0:hh:mm:ss}] Adding water...", DateTime.Now);
foreach (var gridPoint in newPoints)
{
lazWriter.point.classification = 9;
lazWriter.point.point_source_ID = 1234;
coordArray[0] = gridPoint.x;
coordArray[1] = gridPoint.y;
coordArray[2] = gridPoint.z;
lazWriter.laszip_set_coordinates(coordArray);
lazWriter.laszip_write_point();
}
lazReader.laszip_close_reader();
lazWriter.laszip_close_writer();
}
//reads LAZ, builds KD tree, reads LAZ again and sets color & normal and writes
private void EnrichLazWithRGBSAndNormals(string chunk)
{
var lazReader = new laszip_dll();
var compressed = true;
var filePath = LidarFilesSavePath + tempfile2name(chunk);
lazReader.laszip_open_reader(filePath, ref compressed);
var numberOfPoints = lazReader.header.number_of_point_records;
var coordArray = new double[3];
var kdTree = new KDTree(3);
if (IncludeNormals)
{
Console.Write("[{0:hh:mm:ss}] Reading LAZ and building KD tree...", DateTime.Now);
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
kdTree.Add(coordArray);
}
Console.WriteLine("[DONE] ");
}
var img = GetOrthophotoImg();
Console.Write("[{0:hh:mm:ss}] Reading and writing LAZ...", DateTime.Now);
lazReader.laszip_seek_point(0L);//read from the beginning again
lazReader.laszip_open_reader(filePath, ref compressed);
var lazWriter = new laszip_dll();
lazWriter.header = lazReader.header;
lazWriter.laszip_open_writer(LidarFilesSavePath + current + ".laz", true);
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
lazWriter.point = lazReader.point;
int[] pxCoordinates = FindClosestPxCoordinates(coordArray[0], coordArray[1]);
int i = (pxCoordinates[0] - _bottomLeftX) * 2;
int j = img.Height - 1 - ((pxCoordinates[1] - _bottomLeftY) * 2); //j index of image goes from top to bottom
Color color = img.GetPixel(i, j); //binary int value
lazReader.point.rgb = new[] {
(ushort)(color.R << 8),
(ushort)(color.G << 8),
(ushort)(color.B << 8),
(ushort)0
};
if (IncludeNormals)
{
var kNeighbours = kdTree.ApproximateNearest(coordArray, 20, 1000);
var normal = GetNormal(coordArray, kNeighbours);
var xt = (float)normal[0];//xt in LAS is float
var yt = (float)normal[1];
var zt = (float)normal[2];
var xtBytes = BitConverter.GetBytes(xt);
var ytBytes = BitConverter.GetBytes(yt);
var ztBytes = BitConverter.GetBytes(zt);
var waveformPacket = lazWriter.point.wave_packet;
waveformPacket[17] = xtBytes[0];
waveformPacket[18] = xtBytes[1];
waveformPacket[19] = xtBytes[2];
waveformPacket[20] = xtBytes[3];
waveformPacket[21] = ytBytes[0];
waveformPacket[22] = ytBytes[1];
waveformPacket[23] = ytBytes[2];
waveformPacket[24] = ytBytes[3];
waveformPacket[25] = ztBytes[0];
waveformPacket[26] = ztBytes[1];
waveformPacket[27] = ztBytes[2];
waveformPacket[28] = ztBytes[3];
}
lazWriter.laszip_write_point();
}
lazReader.laszip_close_reader();
lazWriter.laszip_close_writer();
Console.WriteLine("[DONE]");
}//end readwrite function
public void Start()
{
var lazReader = new laszip_dll();
var compressed = true;
var filePath = ResourceDirectoryPath + "/5-" + x + "-" + y + ".laz";
//var kdTree = new KDTree(3);
Bitmap img = null;
for (int i = 0; i < 4; i++)
{
try
{
img = GetOrthophotoImg();
break;
}
catch (Exception e) {
Console.WriteLine("[{0:hh:mm:ss}] Image download failed...", DateTime.Now);
Console.WriteLine("[{0:hh:mm:ss}] {1}", DateTime.Now, e.Message);
Console.WriteLine(e.StackTrace);
}
}
if (img == null)
{
throw new Exception();
}
lazReader.laszip_open_reader(filePath, ref compressed);
var numberOfPoints = lazReader.header.number_of_point_records;
Console.WriteLine("[{0:hh:mm:ss}] Reading and writing LAZ...", DateTime.Now);
lazReader.laszip_seek_point(0L);//read from the beginning again
lazReader.laszip_open_reader(filePath, ref compressed);
var lazWriter = new laszip_dll();
lazWriter.header = lazReader.header;
lazWriter.laszip_open_writer(ResourceDirectoryPath + "/6-" + x + "-" + y + ".laz", true);
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
var coordArray = new double[3];
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
lazWriter.point = lazReader.point;
int[] pxCoordinates = FindClosestPxCoordinates(coordArray[0], coordArray[1]);
int i = (pxCoordinates[0] - _bottomLeftX) * 2;
int j = img.Height - 1 - ((pxCoordinates[1] - _bottomLeftY) * 2);//j index of image goes from top to bottom
i = Math.Max(Math.Min(i, img.Width - 1), 0);
j = Math.Max(Math.Min(j, img.Height - 1), 0);
Color color = img.GetPixel(i, j); //binary int value
lazReader.point.rgb = new[] {
(ushort)(color.R << 8),
(ushort)(color.G << 8),
(ushort)(color.B << 8),
(ushort)0
};
lazWriter.laszip_write_point();
}
lazReader.laszip_close_reader();
lazWriter.laszip_close_writer();
}
//reads LAZ, builds KD tree, reads LAZ again and sets color & normal and writes
private void ReadWriteLaz()
{
var lazReader = new laszip_dll();
var compressed = true;
var filePath = ResourceDirectoryPath + id + "-laz13.laz";
lazReader.laszip_open_reader(filePath, ref compressed);
var numberOfPoints = lazReader.header.number_of_point_records;
//var kdTree = new KDTree(3);
var kdTree = new KdTree <double, object>(3, new KdTree.Math.DoubleMath(), AddDuplicateBehavior.Update);
if (IncludeNormals)
{
Console.WriteLine("[#{0} {1:hh:mm:ss}] Reading LAZ and building KD tree...", id, DateTime.Now);
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
var coordArray = new double[3];
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
//Thread.Sleep(1);
//kdTree.Add(coordArray);
kdTree.Add(coordArray, null);
//Console.WriteLine("Point {0} {1} {2}", coordArray[0], coordArray[1], coordArray[2]);
}
//Console.WriteLine("[DONE] ");
Console.WriteLine("[#{0} {1:hh:mm:ss}] Balancing KD tree...", id, DateTime.Now);
kdTree.Balance();
//Console.WriteLine("[DONE] ");
}
var img = GetOrthophotoImg();
Console.WriteLine("[#{0} {1:hh:mm:ss}] Reading and writing LAZ...", id, DateTime.Now);
lazReader.laszip_seek_point(0L);//read from the beginning again
lazReader.laszip_open_reader(filePath, ref compressed);
var lazWriter = new laszip_dll();
lazWriter.header = lazReader.header;
lazWriter.laszip_open_writer(ResourceDirectoryPath + "SloveniaLidarRGB" + id + ".laz", true);
stw = new Stopwatch();
stw.Restart();
for (var pointIndex = 0; pointIndex < numberOfPoints; pointIndex++)
{
if (pointIndex % 100000 == 0)
{
double elaspedHours = stw.Elapsed.TotalHours;
double finishedShare = (double)pointIndex / numberOfPoints;
double totalHours = elaspedHours / finishedShare;
double remainingHours = totalHours - elaspedHours;
Console.WriteLine(
"[#{0} {1:hh:mm:ss}] Finished " + (pointIndex / 1000) + "k / " + (numberOfPoints / 1000) + "k | " + Math.Round(remainingHours, 2) + " hours remaining",
id, DateTime.Now);
}
var coordArray = new double[3];
lazReader.laszip_read_point();
lazReader.laszip_get_coordinates(coordArray);
lazWriter.point = lazReader.point;
int[] pxCoordinates = FindClosestPxCoordinates(coordArray[0], coordArray[1]);
int i = (pxCoordinates[0] - _bottomLeftX) * 2;
int j = img.Height - 1 - ((pxCoordinates[1] - _bottomLeftY) * 2); //j index of image goes from top to bottom
Color color = img.GetPixel(i, j); //binary int value
lazReader.point.rgb = new[] {
(ushort)(color.R << 8),
(ushort)(color.G << 8),
(ushort)(color.B << 8),
(ushort)0
};
if (IncludeNormals)
{
//var kNeighbours = kdTree.ApproximateNearest(coordArray, 20, 1000);
var kNeighbours = kdTree.GetNearestNeighbours(coordArray, 20);
var collection = new KDTreeNodeCollection <KDTreeNode>(20);
for (int k = 0; k < 20; k++)
{
collection.Add(new KDTreeNode {
Position = kNeighbours[k].Point
}, 0);
}
var normal = GetNormal(coordArray, collection);
lazReader.point.rgb[0] |= (byte)((normal[0] + 1.0) * 128.0);
lazReader.point.rgb[1] |= (byte)((normal[1] + 1.0) * 128.0);
lazReader.point.rgb[2] |= (byte)((normal[2] + 1.0) * 128.0);
/*var xt = (float)normal[0];//xt in LAS is float
* var yt = (float)normal[1];
* var zt = (float)normal[2];
*
* var xtBytes = BitConverter.GetBytes(xt);
* var ytBytes = BitConverter.GetBytes(yt);
* var ztBytes = BitConverter.GetBytes(zt);
*
* var waveformPacket = lazWriter.point.wave_packet;
* waveformPacket[17] = xtBytes[0];
* waveformPacket[18] = xtBytes[1];
* waveformPacket[19] = xtBytes[2];
* waveformPacket[20] = xtBytes[3];
*
* waveformPacket[21] = ytBytes[0];
* waveformPacket[22] = ytBytes[1];
* waveformPacket[23] = ytBytes[2];
* waveformPacket[24] = ytBytes[3];
*
* waveformPacket[25] = ztBytes[0];
* waveformPacket[26] = ztBytes[1];
* waveformPacket[27] = ztBytes[2];
* waveformPacket[28] = ztBytes[3];*/
}
lazWriter.laszip_write_point();
}
lazReader.laszip_close_reader();
lazWriter.laszip_close_writer();
//Console.WriteLine("[DONE]");
}//end readwrite function
private static void WriteLaz()
{
// --- Write Example
var point = new Point3D();
var points = new List <Point3D>();
point.X = 1000.0;
point.Y = 2000.0;
point.Z = 100.0;
points.Add(point);
point.X = 5000.0;
point.Y = 6000.0;
point.Z = 200.0;
points.Add(point);
var lazWriter = new laszip_dll();
var err = lazWriter.laszip_clean();
if (err == 0)
{
// Number of point records needs to be set
lazWriter.header.number_of_point_records = (uint)points.Count;
// Header Min/Max needs to be set to extents of points
lazWriter.header.min_x = points[0].X; // LL Point
lazWriter.header.min_y = points[0].Y;
lazWriter.header.min_z = points[0].Z;
lazWriter.header.max_x = points[1].X; // UR Point
lazWriter.header.max_y = points[1].Y;
lazWriter.header.max_z = points[1].Z;
// Open the writer and test for errors
err = lazWriter.laszip_open_writer(FileName, true);
if (err == 0)
{
double[] coordArray = new double[3];
foreach (var p in points)
{
coordArray[0] = p.X;
coordArray[1] = p.Y;
coordArray[2] = p.Z;
// Set the coordinates in the lazWriter object
lazWriter.laszip_set_coordinates(coordArray);
// Set the classification to ground
lazWriter.point.classification = 2;
// Write the point to the file
err = lazWriter.laszip_write_point();
if (err != 0)
{
break;
}
}
// Close the writer to release the file (OS lock)
err = lazWriter.laszip_close_writer();
lazWriter = null;
}
}
if (err != 0)
{
// Show last error that occurred
Debug.WriteLine(lazWriter.laszip_get_error());
}
// --- Upon completion, file should be 389 bytes
}
