E57Filter.cpp File Reference

#include "E57Filter.h"
#include "FileIO.h"
#include "E57Header.h"
#include <E57Format.h>
#include <ecvCameraSensor.h>
#include <ecvColorScalesManager.h>
#include <ecvGBLSensor.h>
#include <ecvImage.h>
#include <ecvPointCloud.h>
#include <ecvProgressDialog.h>
#include <ecvScalarField.h>
#include <QApplication>
#include <QBuffer>
#include <QUuid>
#include <cassert>
#include <string>

Include dependency graph for E57Filter.cpp:

Go to the source code of this file.

Typedefs
using	colorFieldType = double

Functions
static void	SavePoseInformation (e57::StructureNode &parentNode, const e57::ImageFile &imf, const ccGLMatrixd &poseMat)
static bool	SaveScan (ccPointCloud *cloud, e57::StructureNode &scanNode, e57::ImageFile &imf, e57::VectorNode &data3D, QString &guidStr, ecvProgressDialog *progressDlg=nullptr)
void	SaveImage (const ccImage *image, const QString &scanGUID, e57::ImageFile &imf, e57::VectorNode &images2D)
static bool	NodeStructureToTree (ccHObject *currentTreeNode, const e57::Node &currentE57Node)
static void	NodeToConsole (const e57::Node &node)
static bool	ChildNodeToConsole (const e57::Node &node, const char *childName)
static void	DecodePrototype (const e57::StructureNode &scan, const e57::StructureNode &proto, E57ScanHeader &header)
static bool	GetPoseInformation (const e57::StructureNode &node, ccGLMatrixd &poseMat)
static ccHObject *	LoadScan (const e57::Node &node, QString &guidStr, ecvProgressDialog *progressDlg=nullptr)
static ccHObject *	LoadImage (const e57::Node &node, QString &associatedData3DGuid)

Typedef Documentation

colorFieldType

using colorFieldType = double

Definition at line 36 of file E57Filter.cpp.

Function Documentation

ChildNodeToConsole()

static bool ChildNodeToConsole ( const e57::Node &  node, const char *  childName  )

static

Definition at line 1017 of file E57Filter.cpp.

References e57::E57_STRUCTURE, e57::E57_VECTOR, e57::Node::elementName(), e57::StructureNode::get(), e57::VectorNode::get(), e57::StructureNode::isDefined(), e57::VectorNode::isDefined(), NodeToConsole(), e57::E57Exception::report(), e57::Node::type(), and CVLog::Warning().

Referenced by E57Filter::loadFile().

DecodePrototype()

static void DecodePrototype ( const e57::StructureNode &  scan, const e57::StructureNode &  proto, E57ScanHeader &  header  )

static

Definition at line 1057 of file E57Filter.cpp.

References PointStandardizedFieldsAvailable::angleMaximum, PointStandardizedFieldsAvailable::angleMinimum, PointStandardizedFieldsAvailable::angleScaledInteger, PointStandardizedFieldsAvailable::cartesianInvalidStateField, PointStandardizedFieldsAvailable::cartesianXField, PointStandardizedFieldsAvailable::cartesianYField, PointStandardizedFieldsAvailable::cartesianZField, PointStandardizedFieldsAvailable::colorBlueField, ColorLimits::colorBlueMaximum, ColorLimits::colorBlueMinimum, PointStandardizedFieldsAvailable::colorGreenField, ColorLimits::colorGreenMaximum, ColorLimits::colorGreenMinimum, E57ScanHeader::colorLimits, PointStandardizedFieldsAvailable::colorRedField, ColorLimits::colorRedMaximum, ColorLimits::colorRedMinimum, PointStandardizedFieldsAvailable::columnIndexField, PointStandardizedFieldsAvailable::columnIndexMaximum, e57::E57_FLOAT, e57::E57_INTEGER, e57::E57_SCALED_INTEGER, e57::StructureNode::get(), PointStandardizedFieldsAvailable::intensityField, E57ScanHeader::intensityLimits, IntensityLimits::intensityMaximum, IntensityLimits::intensityMinimum, PointStandardizedFieldsAvailable::intensityScaledInteger, PointStandardizedFieldsAvailable::isColorInvalidField, e57::StructureNode::isDefined(), PointStandardizedFieldsAvailable::isIntensityInvalidField, PointStandardizedFieldsAvailable::isTimeStampInvalidField, e57::IntegerNode::maximum(), e57::ScaledIntegerNode::maximum(), e57::FloatNode::maximum(), e57::IntegerNode::minimum(), e57::ScaledIntegerNode::minimum(), e57::FloatNode::minimum(), PointStandardizedFieldsAvailable::normRangeMaximum, PointStandardizedFieldsAvailable::normRangeMinimum, PointStandardizedFieldsAvailable::normRangeScaledInteger, PointStandardizedFieldsAvailable::normXField, PointStandardizedFieldsAvailable::normYField, PointStandardizedFieldsAvailable::normZField, offset, e57::ScaledIntegerNode::offset(), E57ScanHeader::pointFields, PointStandardizedFieldsAvailable::pointRangeMaximum, PointStandardizedFieldsAvailable::pointRangeMinimum, PointStandardizedFieldsAvailable::pointRangeScaledInteger, PointStandardizedFieldsAvailable::returnCountField, PointStandardizedFieldsAvailable::returnIndexField, PointStandardizedFieldsAvailable::returnMaximum, PointStandardizedFieldsAvailable::rowIndexField, PointStandardizedFieldsAvailable::rowIndexMaximum, e57::ScaledIntegerNode::scale(), e57::ScaledIntegerNode::scaledValue(), PointStandardizedFieldsAvailable::sphericalAzimuthField, PointStandardizedFieldsAvailable::sphericalElevationField, PointStandardizedFieldsAvailable::sphericalInvalidStateField, PointStandardizedFieldsAvailable::sphericalRangeField, PointStandardizedFieldsAvailable::timeMaximum, PointStandardizedFieldsAvailable::timeStampField, e57::Node::type(), e57::IntegerNode::value(), and e57::FloatNode::value().

Referenced by LoadScan().

GetPoseInformation()

static bool GetPoseInformation ( const e57::StructureNode &  node, ccGLMatrixd &  poseMat  )

static

Definition at line 1426 of file E57Filter.cpp.

References ccGLMatrixTpl< T >::data(), e57::StructureNode::get(), ccGLMatrixTpl< T >::getTranslation(), cloudViewer::SquareMatrixTpl< Scalar >::initFromQuaternion(), e57::StructureNode::isDefined(), cloudViewer::SquareMatrixTpl< Scalar >::toGlMatrix(), and e57::FloatNode::value().

Referenced by LoadImage(), and LoadScan().

LoadImage()

static ccHObject* LoadImage ( const e57::Node &  node, QString &  associatedData3DGuid  )

static

Definition at line 2024 of file E57Filter.cpp.

References ccHObject::addChild(), e57::BlobNode::byteCount(), ccCameraSensor::ComputeFovRadFromFocalMm(), ccCameraSensor::ConvertFocalMMToPix(), ccGLMatrixTpl< T >::data(), E57_CYLINDRICAL, E57_JPEG_IMAGE, E57_NO_IMAGE, E57_NO_PROJECTION, E57_PINHOLE, E57_PNG_IMAGE, E57_SPHERICAL, e57::E57_STRUCTURE, E57_VISUAL, e57::StructureNode::elementName(), PinholeRepresentation::focalLength, e57::StructureNode::get(), ccImage::getAspectRatio(), GetPoseInformation(), CameraRepresentation::getType(), VisualReferenceRepresentation::imageHeight, VisualReferenceRepresentation::imageMaskSize, VisualReferenceRepresentation::imageSize, VisualReferenceRepresentation::imageType, VisualReferenceRepresentation::imageWidth, e57::StructureNode::isDefined(), name, params, SphericalRepresentation::pixelHeight, SphericalRepresentation::pixelWidth, PinholeRepresentation::principalPointX, PinholeRepresentation::principalPointY, CylindricalRepresentation::principalPointY, CVLog::Print(), CylindricalRepresentation::radius, e57::BlobNode::read(), ccImage::setAspectRatio(), ccImage::setAssociatedSensor(), ccImage::setData(), ccObject::setEnabled(), ccObject::setName(), ccSensor::setRigidTransformation(), ccDrawableObject::setVisible(), e57::Node::type(), e57::IntegerNode::value(), e57::FloatNode::value(), e57::StringNode::value(), and CVLog::Warning().

Referenced by E57Filter::loadFile().

LoadScan()

static ccHObject* LoadScan ( const e57::Node &  node, QString &  guidStr, ecvProgressDialog *  progressDlg = nullptr  )

static

Definition at line 1460 of file E57Filter.cpp.

References ccColorScalesManager::ABS_NORM_GREY, ccHObject::addChild(), ccPointCloud::addNorm(), cloudViewer::PointCloudTpl< T >::addPoint(), ccPointCloud::addRGBColor(), ccPointCloud::addScalarField(), ccHObject::applyGLTransformation_recursive(), ecvColor::RgbTpl< Type >::b, PointStandardizedFieldsAvailable::cartesianInvalidStateField, PointStandardizedFieldsAvailable::cartesianXField, PointStandardizedFieldsAvailable::cartesianYField, PointStandardizedFieldsAvailable::cartesianZField, e57::CompressedVectorReader::close(), PointStandardizedFieldsAvailable::colorBlueField, ColorLimits::colorBlueMaximum, ColorLimits::colorBlueMinimum, PointStandardizedFieldsAvailable::colorGreenField, ColorLimits::colorGreenMaximum, ColorLimits::colorGreenMinimum, E57ScanHeader::colorLimits, PointStandardizedFieldsAvailable::colorRedField, ColorLimits::colorRedMaximum, ColorLimits::colorRedMinimum, ccScalarField::computeMinAndMax(), ccGLMatrixTpl< T >::data(), DecodePrototype(), e57::Node::destImageFile(), e57::E57_SCALED_INTEGER, e57::E57_STRING, e57::E57_STRUCTURE, e57::StructureNode::elementName(), CVLog::Error(), cloudViewer::ScalarField::flagValueAsInvalid(), Vector3Tpl< PointCoordinateType >::fromArray(), ecvColor::RgbTpl< Type >::g, e57::StructureNode::get(), ccColorScalesManager::GetDefaultScale(), cloudViewer::BoundingBoxTpl< T >::getDiagNorm(), cloudViewer::ScalarField::getMax(), cloudViewer::ScalarField::getMin(), cloudViewer::ScalarField::getName(), ccGenericPointCloud::getOwnBB(), GetPoseInformation(), cloudViewer::PointCloudTpl< T >::getScalarFieldIndexByName(), ccGLMatrixTpl< T >::getTranslationAsVec3D(), ccColorScalesManager::GREY, FileIOFilter::HandleGlobalShift(), PointStandardizedFieldsAvailable::intensityField, e57::StructureNode::isDefined(), PointStandardizedFieldsAvailable::isIntensityInvalidField, Vector3Tpl< Type >::normalize(), PointStandardizedFieldsAvailable::normXField, PointStandardizedFieldsAvailable::normYField, PointStandardizedFieldsAvailable::normZField, cloudViewer::NormalizedProgress::oneStep(), E57ScanHeader::pointFields, points, CVLog::Print(), ecvColor::RgbTpl< Type >::r, e57::CompressedVectorReader::read(), CCShareable::release(), ccPointCloud::reserve(), ccPointCloud::reserveTheNormsTable(), ccPointCloud::reserveTheRGBTable(), ccHObject::resetGLTransformationHistory_recursive(), ccPointCloud::resize(), cloudViewer::ScalarField::resizeSafe(), PointStandardizedFieldsAvailable::returnIndexField, PointStandardizedFieldsAvailable::returnMaximum, ccScalarField::setColorScale(), ccPointCloud::setCurrentDisplayedScalarField(), ccObject::setEnabled(), ccShiftedObject::setGlobalShift(), ccSensor::setGraphicScale(), ccObject::setMetaData(), ccObject::setName(), ccSensor::setRigidTransformation(), ccGLMatrixTpl< T >::setTranslation(), cloudViewer::ScalarField::setValue(), ccDrawableObject::setVisible(), ccDrawableObject::showColors(), ccDrawableObject::showNormals(), ccDrawableObject::showSF(), size, PointStandardizedFieldsAvailable::sphericalAzimuthField, PointStandardizedFieldsAvailable::sphericalElevationField, PointStandardizedFieldsAvailable::sphericalInvalidStateField, PointStandardizedFieldsAvailable::sphericalRangeField, ccGLMatrixTpl< T >::toString(), e57::Node::type(), e57::StringNode::value(), CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by E57Filter::loadFile().

NodeStructureToTree()

static bool NodeStructureToTree ( ccHObject *  currentTreeNode, const e57::Node &  currentE57Node  )

static

Definition at line 908 of file E57Filter.cpp.

References ccHObject::addChild(), e57::BlobNode::byteCount(), e57::StructureNode::childCount(), e57::VectorNode::childCount(), e57::CompressedVectorNode::childCount(), e57::E57_BLOB, e57::E57_COMPRESSED_VECTOR, e57::E57_FLOAT, e57::E57_INTEGER, e57::E57_SCALED_INTEGER, e57::E57_STRING, e57::E57_STRUCTURE, e57::E57_VECTOR, e57::Node::elementName(), e57::StructureNode::get(), e57::VectorNode::get(), name, e57::ScaledIntegerNode::scaledValue(), ccObject::setName(), e57::Node::type(), e57::IntegerNode::value(), e57::FloatNode::value(), and e57::StringNode::value().

Referenced by E57Filter::loadFile().

NodeToConsole()

static void NodeToConsole ( const e57::Node &  node )

static

Definition at line 971 of file E57Filter.cpp.

References e57::BlobNode::byteCount(), e57::StructureNode::childCount(), e57::VectorNode::childCount(), e57::CompressedVectorNode::childCount(), e57::E57_BLOB, e57::E57_COMPRESSED_VECTOR, e57::E57_FLOAT, e57::E57_INTEGER, e57::E57_SCALED_INTEGER, e57::E57_STRING, e57::E57_STRUCTURE, e57::E57_VECTOR, e57::Node::elementName(), CVLog::Print(), e57::ScaledIntegerNode::scaledValue(), e57::Node::type(), e57::IntegerNode::value(), e57::FloatNode::value(), and e57::StringNode::value().

Referenced by ChildNodeToConsole().

SaveImage()

void SaveImage	(	const ccImage *	image,
		const QString &	scanGUID,
		e57::ImageFile &	imf,
		e57::VectorNode &	images2D
	)

Definition at line 607 of file E57Filter.cpp.

References e57::VectorNode::append(), CV_TYPES::CALIBRATED_IMAGE, ccGLMatrixTpl< T >::data(), ccSensor::getActiveAbsoluteTransformation(), image, SavePoseInformation(), e57::StructureNode::set(), and e57::BlobNode::write().

Referenced by E57Filter::saveToFile().

SavePoseInformation()

static void SavePoseInformation ( e57::StructureNode &  parentNode, const e57::ImageFile &  imf, const ccGLMatrixd &  poseMat  )

static

Definition at line 101 of file E57Filter.cpp.

References ccGLMatrixTpl< T >::data(), ccGLMatrixTpl< T >::getTranslation(), e57::StructureNode::set(), and cloudViewer::SquareMatrixTpl< Scalar >::toQuaternion().

Referenced by SaveImage(), and SaveScan().

SaveScan()

static bool SaveScan ( ccPointCloud *  cloud, e57::StructureNode &  scanNode, e57::ImageFile &  imf, e57::VectorNode &  data3D, QString &  guidStr, ecvProgressDialog *  progressDlg = nullptr  )

static

This prototype will be used in creating the points CompressedVector.

If this vector is empty, it is assumed that all fields will use the BitPack codec.

We use the prototype and empty codecs tree from above.

Definition at line 128 of file E57Filter.cpp.

References e57::VectorNode::append(), ecvColor::RgbTpl< Type >::b, e57::CompressedVectorWriter::close(), FileIO::createdBy(), cloudViewer::ScalarField::currentSize(), ccGLMatrixTpl< T >::data(), e57::E57_DOUBLE, e57::E57_SINGLE, CVLog::Error(), Vector3Tpl< double >::fromArray(), ccGLMatrixTpl< double >::FromString(), ecvColor::RgbTpl< Type >::g, ccPointCloud::getCurrentDisplayedScalarFieldIndex(), ccShiftedObject::getGlobalScale(), ccShiftedObject::getGlobalShift(), ccHObject::getGLTransformationHistory(), cloudViewer::ScalarField::getMax(), ccObject::getMetaData(), cloudViewer::ScalarField::getMin(), ccObject::getName(), ccShiftedObject::getOwnGlobalBB(), ccPointCloud::getPointColor(), ccPointCloud::getPointNormal(), cloudViewer::PointCloudTpl< T >::getPointPersistentPtr(), cloudViewer::PointCloudTpl< T >::getScalarField(), cloudViewer::PointCloudTpl< T >::getScalarFieldIndexByName(), cloudViewer::PointCloudTpl< T >::getScalarFieldName(), ccGLMatrixTpl< T >::getTranslationAsVec3D(), cloudViewer::ScalarField::getValue(), ccPointCloud::hasColors(), ccPointCloud::hasNormals(), ccGLMatrixTpl< T >::inverse(), max(), min(), Vector3Tpl< Type >::norm2d(), cloudViewer::NormalizedProgress::oneStep(), points, CVLog::Print(), ecvColor::RgbTpl< Type >::r, SavePoseInformation(), e57::StructureNode::set(), ccGLMatrixTpl< T >::setTranslation(), cloudViewer::PointCloudTpl< T >::size(), Tuple3Tpl< Type >::u, cloudViewer::ScalarField::ValidValue(), CVLog::Warning(), e57::CompressedVectorWriter::write(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by E57Filter::saveToFile().