ReaderImpl.cpp

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/*
 * Copyright (c) 2010 Stan Coleby (scoleby@intelisum.com)
 * Copyright (c) 2020 PTC Inc.
 *
 * Permission is hereby granted, free of charge, to any person or organization
 * obtaining a copy of the software and accompanying documentation covered by
 * this license (the "Software") to use, reproduce, display, distribute,
 * execute, and transmit the Software, and to prepare derivative works of the
 * Software, and to permit third-parties to whom the Software is furnished to
 * do so, all subject to the following:
 *
 * The copyright notices in the Software and this entire statement, including
 * the above license grant, this restriction and the following disclaimer,
 * must be included in all copies of the Software, in whole or in part, and
 * all derivative works of the Software, unless such copies or derivative
 * works are solely in the form of machine-executable object code generated by
 * a source language processor.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
 * SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
 * FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */
 
#include "ReaderImpl.h"
 
namespace e57
{
 
   ReaderImpl::ReaderImpl( const ustring &filePath ) :
      imf_( filePath, "r" ), root_( imf_.root() ), data3D_( root_.get( "/data3D" ) ),
      images2D_( root_.get( "/images2D" ) )
   {
   }
 
   ReaderImpl::~ReaderImpl()
   {
      if ( IsOpen() )
      {
         Close();
      }
   }
 
   // This function returns true if the file is open
   bool ReaderImpl::IsOpen() const
   {
      return imf_.isOpen();
   }
 
   // This function closes the file
   bool ReaderImpl::Close()
   {
      if ( !IsOpen() )
      {
         return false;
      }
 
      imf_.close();
      return true;
   }
 
   // This function returns the file header information
   bool ReaderImpl::GetE57Root( E57Root &fileHeader ) const
   {
      if ( !IsOpen() )
      {
         return false;
      }
 
      fileHeader = {};
 
      fileHeader.formatName = StringNode( root_.get( "formatName" ) ).value();
      fileHeader.versionMajor = (uint32_t)IntegerNode( root_.get( "versionMajor" ) ).value();
      fileHeader.versionMinor = (uint32_t)IntegerNode( root_.get( "versionMinor" ) ).value();
      fileHeader.guid = StringNode( root_.get( "guid" ) ).value();
      if ( root_.isDefined( "e57LibraryVersion" ) )
      {
         fileHeader.e57LibraryVersion = StringNode( root_.get( "e57LibraryVersion" ) ).value();
      }
 
      if ( root_.isDefined( "coordinateMetadata" ) )
      {
         fileHeader.coordinateMetadata = StringNode( root_.get( "coordinateMetadata" ) ).value();
      }
 
      if ( root_.isDefined( "creationDateTime" ) )
      {
         StructureNode creationDateTime( root_.get( "creationDateTime" ) );
         fileHeader.creationDateTime.dateTimeValue = FloatNode( creationDateTime.get( "dateTimeValue" ) ).value();
         fileHeader.creationDateTime.isAtomicClockReferenced =
            (int32_t)IntegerNode( creationDateTime.get( "isAtomicClockReferenced" ) ).value();
      }
 
      fileHeader.data3DSize = data3D_.childCount();
      fileHeader.images2DSize = images2D_.childCount();
 
      return true;
   }
 
   int64_t ReaderImpl::GetImage2DCount() const
   {
      return images2D_.childCount();
   }
 
   // This function returns the Image2Ds header and positions the cursor
   bool ReaderImpl::ReadImage2D( int64_t imageIndex, Image2D &image2DHeader ) const
   {
      if ( !IsOpen() )
      {
         return false;
      }
      if ( ( imageIndex < 0 ) || ( imageIndex >= images2D_.childCount() ) )
      {
         return false;
      }
 
      image2DHeader = {};
 
      StructureNode image( images2D_.get( imageIndex ) );
 
      image2DHeader.guid = StringNode( image.get( "guid" ) ).value();
 
      if ( image.isDefined( "name" ) )
      {
         image2DHeader.name = StringNode( image.get( "name" ) ).value();
      }
 
      if ( image.isDefined( "description" ) )
      {
         image2DHeader.description = StringNode( image.get( "description" ) ).value();
      }
 
      if ( image.isDefined( "sensorVendor" ) )
      {
         image2DHeader.sensorVendor = StringNode( image.get( "sensorVendor" ) ).value();
      }
      if ( image.isDefined( "sensorModel" ) )
      {
         image2DHeader.sensorModel = StringNode( image.get( "sensorModel" ) ).value();
      }
      if ( image.isDefined( "sensorSerialNumber" ) )
      {
         image2DHeader.sensorSerialNumber = StringNode( image.get( "sensorSerialNumber" ) ).value();
      }
 
      if ( image.isDefined( "associatedData3DGuid" ) )
      {
         image2DHeader.associatedData3DGuid = StringNode( image.get( "associatedData3DGuid" ) ).value();
      }
 
      if ( image.isDefined( "acquisitionDateTime" ) )
      {
         StructureNode acquisitionDateTime( image.get( "acquisitionDateTime" ) );
         image2DHeader.acquisitionDateTime.dateTimeValue =
            FloatNode( acquisitionDateTime.get( "dateTimeValue" ) ).value();
         image2DHeader.acquisitionDateTime.isAtomicClockReferenced =
            (int32_t)IntegerNode( acquisitionDateTime.get( "isAtomicClockReferenced" ) ).value();
      }
 
      // Get pose structure for scan.
      if ( image.isDefined( "pose" ) )
      {
         StructureNode pose( image.get( "pose" ) );
         if ( pose.isDefined( "rotation" ) )
         {
            StructureNode rotation( pose.get( "rotation" ) );
            image2DHeader.pose.rotation.w = FloatNode( rotation.get( "w" ) ).value();
            image2DHeader.pose.rotation.x = FloatNode( rotation.get( "x" ) ).value();
            image2DHeader.pose.rotation.y = FloatNode( rotation.get( "y" ) ).value();
            image2DHeader.pose.rotation.z = FloatNode( rotation.get( "z" ) ).value();
         }
         if ( pose.isDefined( "translation" ) )
         {
            StructureNode translation( pose.get( "translation" ) );
            image2DHeader.pose.translation.x = FloatNode( translation.get( "x" ) ).value();
            image2DHeader.pose.translation.y = FloatNode( translation.get( "y" ) ).value();
            image2DHeader.pose.translation.z = FloatNode( translation.get( "z" ) ).value();
         }
      }
 
      if ( image.isDefined( "visualReferenceRepresentation" ) )
      {
         StructureNode visualReferenceRepresentation( image.get( "visualReferenceRepresentation" ) );
 
         if ( visualReferenceRepresentation.isDefined( "jpegImage" ) )
         {
            image2DHeader.visualReferenceRepresentation.jpegImageSize =
               BlobNode( visualReferenceRepresentation.get( "jpegImage" ) ).byteCount();
         }
         if ( visualReferenceRepresentation.isDefined( "pngImage" ) )
         {
            image2DHeader.visualReferenceRepresentation.pngImageSize =
               BlobNode( visualReferenceRepresentation.get( "pngImage" ) ).byteCount();
         }
         if ( visualReferenceRepresentation.isDefined( "imageMask" ) )
         {
            image2DHeader.visualReferenceRepresentation.imageMaskSize =
               BlobNode( visualReferenceRepresentation.get( "imageMask" ) ).byteCount();
         }
 
         image2DHeader.visualReferenceRepresentation.imageHeight =
            (int32_t)IntegerNode( visualReferenceRepresentation.get( "imageHeight" ) ).value();
         image2DHeader.visualReferenceRepresentation.imageWidth =
            (int32_t)IntegerNode( visualReferenceRepresentation.get( "imageWidth" ) ).value();
      }
 
      if ( image.isDefined( "pinholeRepresentation" ) )
      {
         StructureNode pinholeRepresentation( image.get( "pinholeRepresentation" ) );
 
         if ( pinholeRepresentation.isDefined( "jpegImage" ) )
         {
            image2DHeader.pinholeRepresentation.jpegImageSize =
               BlobNode( pinholeRepresentation.get( "jpegImage" ) ).byteCount();
         }
         if ( pinholeRepresentation.isDefined( "pngImage" ) )
         {
            image2DHeader.pinholeRepresentation.pngImageSize =
               BlobNode( pinholeRepresentation.get( "pngImage" ) ).byteCount();
         }
         if ( pinholeRepresentation.isDefined( "imageMask" ) )
         {
            image2DHeader.pinholeRepresentation.imageMaskSize =
               BlobNode( pinholeRepresentation.get( "imageMask" ) ).byteCount();
         }
 
         image2DHeader.pinholeRepresentation.focalLength =
            FloatNode( pinholeRepresentation.get( "focalLength" ) ).value();
         image2DHeader.pinholeRepresentation.imageHeight =
            (int32_t)IntegerNode( pinholeRepresentation.get( "imageHeight" ) ).value();
         image2DHeader.pinholeRepresentation.imageWidth =
            (int32_t)IntegerNode( pinholeRepresentation.get( "imageWidth" ) ).value();
 
         image2DHeader.pinholeRepresentation.pixelHeight =
            FloatNode( pinholeRepresentation.get( "pixelHeight" ) ).value();
         image2DHeader.pinholeRepresentation.pixelWidth =
            FloatNode( pinholeRepresentation.get( "pixelWidth" ) ).value();
         image2DHeader.pinholeRepresentation.principalPointX =
            FloatNode( pinholeRepresentation.get( "principalPointX" ) ).value();
         image2DHeader.pinholeRepresentation.principalPointY =
            FloatNode( pinholeRepresentation.get( "principalPointY" ) ).value();
      }
      else if ( image.isDefined( "sphericalRepresentation" ) )
      {
         StructureNode sphericalRepresentation( image.get( "sphericalRepresentation" ) );
 
         if ( sphericalRepresentation.isDefined( "jpegImage" ) )
         {
            image2DHeader.sphericalRepresentation.jpegImageSize =
               BlobNode( sphericalRepresentation.get( "jpegImage" ) ).byteCount();
         }
         if ( sphericalRepresentation.isDefined( "pngImage" ) )
         {
            image2DHeader.sphericalRepresentation.pngImageSize =
               BlobNode( sphericalRepresentation.get( "pngImage" ) ).byteCount();
         }
         if ( sphericalRepresentation.isDefined( "imageMask" ) )
         {
            image2DHeader.sphericalRepresentation.imageMaskSize =
               BlobNode( sphericalRepresentation.get( "imageMask" ) ).byteCount();
         }
 
         image2DHeader.sphericalRepresentation.imageHeight =
            (int32_t)IntegerNode( sphericalRepresentation.get( "imageHeight" ) ).value();
         image2DHeader.sphericalRepresentation.imageWidth =
            (int32_t)IntegerNode( sphericalRepresentation.get( "imageWidth" ) ).value();
 
         image2DHeader.sphericalRepresentation.pixelHeight =
            FloatNode( sphericalRepresentation.get( "pixelHeight" ) ).value();
         image2DHeader.sphericalRepresentation.pixelWidth =
            FloatNode( sphericalRepresentation.get( "pixelWidth" ) ).value();
      }
      else if ( image.isDefined( "cylindricalRepresentation" ) )
      {
         StructureNode cylindricalRepresentation( image.get( "cylindricalRepresentation" ) );
 
         if ( cylindricalRepresentation.isDefined( "jpegImage" ) )
         {
            image2DHeader.cylindricalRepresentation.jpegImageSize =
               BlobNode( cylindricalRepresentation.get( "jpegImage" ) ).byteCount();
         }
         if ( cylindricalRepresentation.isDefined( "pngImage" ) )
         {
            image2DHeader.cylindricalRepresentation.pngImageSize =
               BlobNode( cylindricalRepresentation.get( "pngImage" ) ).byteCount();
         }
         if ( cylindricalRepresentation.isDefined( "imageMask" ) )
         {
            image2DHeader.cylindricalRepresentation.imageMaskSize =
               BlobNode( cylindricalRepresentation.get( "imageMask" ) ).byteCount();
         }
 
         image2DHeader.cylindricalRepresentation.imageHeight =
            (int32_t)IntegerNode( cylindricalRepresentation.get( "imageHeight" ) ).value();
         image2DHeader.cylindricalRepresentation.imageWidth =
            (int32_t)IntegerNode( cylindricalRepresentation.get( "imageWidth" ) ).value();
 
         image2DHeader.cylindricalRepresentation.pixelHeight =
            FloatNode( cylindricalRepresentation.get( "pixelHeight" ) ).value();
         image2DHeader.cylindricalRepresentation.pixelWidth =
            FloatNode( cylindricalRepresentation.get( "pixelWidth" ) ).value();
         image2DHeader.cylindricalRepresentation.principalPointY =
            FloatNode( cylindricalRepresentation.get( "principalPointY" ) ).value();
         image2DHeader.cylindricalRepresentation.radius =
            FloatNode( cylindricalRepresentation.get( "radius" ) ).value();
      }
 
      return true;
   }
 
   // This function reads one of the image blobs
   int64_t ReaderImpl::ReadImage2DNode( StructureNode image, Image2DType imageType, void *pBuffer, int64_t start,
                                        int64_t count ) const
   {
      int64_t transferred = 0;
      switch ( imageType )
      {
         case E57_NO_IMAGE:
         {
            return 0;
         }
         case E57_JPEG_IMAGE:
         {
            if ( image.isDefined( "jpegImage" ) )
            {
               BlobNode jpegImage( image.get( "jpegImage" ) );
               jpegImage.read( (uint8_t *)pBuffer, start, (size_t)count );
               transferred = count;
            }
            break;
         }
         case E57_PNG_IMAGE:
         {
            if ( image.isDefined( "pngImage" ) )
            {
               BlobNode pngImage( image.get( "pngImage" ) );
               pngImage.read( (uint8_t *)pBuffer, start, (size_t)count );
               transferred = count;
            }
            break;
         }
         case E57_PNG_IMAGE_MASK:
         {
            if ( image.isDefined( "imageMask" ) )
            {
               BlobNode imageMask( image.get( "imageMask" ) );
               imageMask.read( (uint8_t *)pBuffer, start, (size_t)count );
               transferred = count;
            }
            break;
         }
      }
      return transferred;
   }
 
   // This function reads one of the image blobs
   bool ReaderImpl::GetImage2DNodeSizes( StructureNode image, Image2DType &imageType, int64_t &imageWidth,
                                         int64_t &imageHeight, int64_t &imageSize, Image2DType &imageMaskType ) const
   {
      imageWidth = 0;
      imageHeight = 0;
      imageSize = 0;
      imageType = E57_NO_IMAGE;
      imageMaskType = E57_NO_IMAGE;
 
      if ( image.isDefined( "imageWidth" ) )
      {
         imageWidth = IntegerNode( image.get( "imageWidth" ) ).value();
      }
      else
      {
         return false;
      }
 
      if ( image.isDefined( "imageHeight" ) )
      {
         imageHeight = IntegerNode( image.get( "imageHeight" ) ).value();
      }
      else
      {
         return false;
      }
 
      if ( image.isDefined( "jpegImage" ) )
      {
         imageSize = BlobNode( image.get( "jpegImage" ) ).byteCount();
         imageType = E57_JPEG_IMAGE;
      }
      else if ( image.isDefined( "pngImage" ) )
      {
         imageSize = BlobNode( image.get( "pngImage" ) ).byteCount();
         imageType = E57_PNG_IMAGE;
      }
 
      if ( image.isDefined( "imageMask" ) )
      {
         if ( imageType == E57_NO_IMAGE )
         {
            imageSize = BlobNode( image.get( "imageMask" ) ).byteCount();
            imageType = E57_PNG_IMAGE_MASK;
         }
         imageMaskType = E57_PNG_IMAGE_MASK;
      }
      return true;
   }
 
   // This function returns the image sizes
   bool ReaderImpl::GetImage2DSizes( int64_t imageIndex, Image2DProjection &imageProjection, Image2DType &imageType,
                                     int64_t &imageWidth, int64_t &imageHeight, int64_t &imageSize,
                                     Image2DType &imageMaskType, Image2DType &imageVisualType ) const
   {
      if ( ( imageIndex < 0 ) || ( imageIndex >= images2D_.childCount() ) )
      {
         return 0;
      }
 
      imageProjection = E57_NO_PROJECTION;
      imageType = E57_NO_IMAGE;
      imageMaskType = E57_NO_IMAGE;
      imageVisualType = E57_NO_IMAGE;
 
      bool ret = false;
      StructureNode image( images2D_.get( imageIndex ) );
 
      if ( image.isDefined( "visualReferenceRepresentation" ) )
      {
         imageProjection = E57_VISUAL;
         StructureNode visualReferenceRepresentation( image.get( "visualReferenceRepresentation" ) );
         ret = GetImage2DNodeSizes( visualReferenceRepresentation, imageType, imageWidth, imageHeight, imageSize,
                                    imageMaskType );
         imageVisualType = imageType;
      }
 
      if ( image.isDefined( "pinholeRepresentation" ) )
      {
         imageProjection = E57_PINHOLE;
         StructureNode pinholeRepresentation( image.get( "pinholeRepresentation" ) );
         ret =
            GetImage2DNodeSizes( pinholeRepresentation, imageType, imageWidth, imageHeight, imageSize, imageMaskType );
      }
      else if ( image.isDefined( "sphericalRepresentation" ) )
      {
         imageProjection = E57_SPHERICAL;
         StructureNode sphericalRepresentation( image.get( "sphericalRepresentation" ) );
         ret = GetImage2DNodeSizes( sphericalRepresentation, imageType, imageWidth, imageHeight, imageSize,
                                    imageMaskType );
      }
      else if ( image.isDefined( "cylindricalRepresentation" ) )
      {
         imageProjection = E57_CYLINDRICAL;
         StructureNode cylindricalRepresentation( image.get( "cylindricalRepresentation" ) );
         ret = GetImage2DNodeSizes( cylindricalRepresentation, imageType, imageWidth, imageHeight, imageSize,
                                    imageMaskType );
      }
 
      return ret;
   }
 
   // This function reads the block
   int64_t ReaderImpl::ReadImage2DData( int64_t imageIndex, Image2DProjection imageProjection, Image2DType imageType,
                                        void *pBuffer, int64_t start, int64_t count ) const
   {
      if ( ( imageIndex < 0 ) || ( imageIndex >= images2D_.childCount() ) )
      {
         return 0;
      }
 
      int64_t transferred = 0;
      StructureNode image( images2D_.get( imageIndex ) );
 
      switch ( imageProjection )
      {
         case E57_NO_PROJECTION:
            return 0;
         case E57_VISUAL:
            if ( image.isDefined( "visualReferenceRepresentation" ) )
            {
               StructureNode visualReferenceRepresentation( image.get( "visualReferenceRepresentation" ) );
               transferred = ReadImage2DNode( visualReferenceRepresentation, imageType, pBuffer, start, count );
            }
            break;
 
         case E57_PINHOLE:
            if ( image.isDefined( "pinholeRepresentation" ) )
            {
               StructureNode pinholeRepresentation( image.get( "pinholeRepresentation" ) );
               transferred = ReadImage2DNode( pinholeRepresentation, imageType, pBuffer, start, count );
            }
            break;
 
         case E57_SPHERICAL:
            if ( image.isDefined( "sphericalRepresentation" ) )
            {
               StructureNode sphericalRepresentation( image.get( "sphericalRepresentation" ) );
               transferred = ReadImage2DNode( sphericalRepresentation, imageType, pBuffer, start, count );
            }
            break;
 
         case E57_CYLINDRICAL:
            if ( image.isDefined( "cylindricalRepresentation" ) )
            {
               StructureNode cylindricalRepresentation( image.get( "cylindricalRepresentation" ) );
               transferred = ReadImage2DNode( cylindricalRepresentation, imageType, pBuffer, start, count );
            }
            break;
      }
 
      return transferred;
   }
 
   int64_t ReaderImpl::GetData3DCount() const
   {
      return data3D_.childCount();
   }
 
   StructureNode ReaderImpl::GetRawE57Root() const
   {
      return root_;
   }
 
   VectorNode ReaderImpl::GetRawData3D() const
   {
      return data3D_;
   }
 
   VectorNode ReaderImpl::GetRawImages2D() const
   {
      return images2D_;
   }
 
   ImageFile ReaderImpl::GetRawIMF() const
   {
      return imf_;
   }
 
   bool ReaderImpl::ReadData3D( int64_t dataIndex, Data3D &data3DHeader ) const
   {
      if ( !IsOpen() )
      {
         return false;
      }
      if ( ( dataIndex < 0 ) || ( dataIndex >= data3D_.childCount() ) )
      {
         return false;
      }
 
      data3DHeader = {};
 
      StructureNode scan( data3D_.get( dataIndex ) );
      CompressedVectorNode points( scan.get( "points" ) );
 
      data3DHeader.pointsSize = points.childCount();
      StructureNode proto( points.prototype() );
 
      data3DHeader.guid = StringNode( scan.get( "guid" ) ).value();
 
      if ( scan.isDefined( "name" ) )
      {
         data3DHeader.name = StringNode( scan.get( "name" ) ).value();
      }
      if ( scan.isDefined( "description" ) )
      {
         data3DHeader.description = StringNode( scan.get( "description" ) ).value();
      }
 
      if ( scan.isDefined( "originalGuids" ) )
      {
         VectorNode originalGuids( scan.get( "originalGuids" ) );
         if ( originalGuids.childCount() > 0 )
         {
            data3DHeader.originalGuids.clear();
            int i;
            for ( i = 0; i < originalGuids.childCount(); i++ )
            {
               ustring str = StringNode( originalGuids.get( i ) ).value();
               data3DHeader.originalGuids.push_back( str );
            }
         }
      }
 
      // Get various sensor and version strings to scan.
      if ( scan.isDefined( "sensorVendor" ) )
      {
         data3DHeader.sensorVendor = StringNode( scan.get( "sensorVendor" ) ).value();
      }
      if ( scan.isDefined( "sensorModel" ) )
      {
         data3DHeader.sensorModel = StringNode( scan.get( "sensorModel" ) ).value();
      }
      if ( scan.isDefined( "sensorSerialNumber" ) )
      {
         data3DHeader.sensorSerialNumber = StringNode( scan.get( "sensorSerialNumber" ) ).value();
      }
      if ( scan.isDefined( "sensorHardwareVersion" ) )
      {
         data3DHeader.sensorHardwareVersion = StringNode( scan.get( "sensorHardwareVersion" ) ).value();
      }
      if ( scan.isDefined( "sensorSoftwareVersion" ) )
      {
         data3DHeader.sensorSoftwareVersion = StringNode( scan.get( "sensorSoftwareVersion" ) ).value();
      }
      if ( scan.isDefined( "sensorFirmwareVersion" ) )
      {
         data3DHeader.sensorFirmwareVersion = StringNode( scan.get( "sensorFirmwareVersion" ) ).value();
      }
 
      // Get temp/humidity to scan.
      if ( scan.isDefined( "temperature" ) )
      {
         data3DHeader.temperature = (float)FloatNode( scan.get( "temperature" ) ).value();
      }
      if ( scan.isDefined( "relativeHumidity" ) )
      {
         data3DHeader.relativeHumidity = (float)FloatNode( scan.get( "relativeHumidity" ) ).value();
      }
      if ( scan.isDefined( "atmosphericPressure" ) )
      {
         data3DHeader.atmosphericPressure = (float)FloatNode( scan.get( "atmosphericPressure" ) ).value();
      }
 
      if ( scan.isDefined( "indexBounds" ) )
      {
         StructureNode ibox( scan.get( "indexBounds" ) );
         if ( ibox.isDefined( "rowMaximum" ) )
         {
            data3DHeader.indexBounds.rowMinimum = IntegerNode( ibox.get( "rowMinimum" ) ).value();
            data3DHeader.indexBounds.rowMaximum = IntegerNode( ibox.get( "rowMaximum" ) ).value();
         }
         if ( ibox.isDefined( "columnMaximum" ) )
         {
            data3DHeader.indexBounds.columnMinimum = IntegerNode( ibox.get( "columnMinimum" ) ).value();
            data3DHeader.indexBounds.columnMaximum = IntegerNode( ibox.get( "columnMaximum" ) ).value();
         }
         if ( ibox.isDefined( "returnMaximum" ) )
         {
            data3DHeader.indexBounds.returnMinimum = IntegerNode( ibox.get( "returnMinimum" ) ).value();
            data3DHeader.indexBounds.returnMaximum = IntegerNode( ibox.get( "returnMaximum" ) ).value();
         }
      }
 
      if ( scan.isDefined( "pointGroupingSchemes" ) )
      {
         StructureNode pointGroupingSchemes( scan.get( "pointGroupingSchemes" ) );
         if ( pointGroupingSchemes.isDefined( "groupingByLine" ) )
         {
            StructureNode groupingByLine( pointGroupingSchemes.get( "groupingByLine" ) );
 
            data3DHeader.pointGroupingSchemes.groupingByLine.idElementName =
               StringNode( groupingByLine.get( "idElementName" ) ).value();
 
            CompressedVectorNode groups( groupingByLine.get( "groups" ) );
            data3DHeader.pointGroupingSchemes.groupingByLine.groupsSize = groups.childCount();
 
            StructureNode lineGroupRecord( groups.prototype() );
            if ( lineGroupRecord.isDefined( "pointCount" ) )
            {
               data3DHeader.pointGroupingSchemes.groupingByLine.pointCountSize =
                  IntegerNode( lineGroupRecord.get( "pointCount" ) ).maximum();
            }
         }
      }
 
      // Get Cartesian bounding box to scan.
      if ( scan.isDefined( "cartesianBounds" ) )
      {
         StructureNode bbox( scan.get( "cartesianBounds" ) );
         if ( bbox.get( "xMinimum" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.cartesianBounds.xMinimum = (double)ScaledIntegerNode( bbox.get( "xMinimum" ) ).scaledValue();
            data3DHeader.cartesianBounds.xMaximum = (double)ScaledIntegerNode( bbox.get( "xMaximum" ) ).scaledValue();
            data3DHeader.cartesianBounds.yMinimum = (double)ScaledIntegerNode( bbox.get( "yMinimum" ) ).scaledValue();
            data3DHeader.cartesianBounds.yMaximum = (double)ScaledIntegerNode( bbox.get( "yMaximum" ) ).scaledValue();
            data3DHeader.cartesianBounds.zMinimum = (double)ScaledIntegerNode( bbox.get( "zMinimum" ) ).scaledValue();
            data3DHeader.cartesianBounds.zMaximum = (double)ScaledIntegerNode( bbox.get( "zMaximum" ) ).scaledValue();
         }
         else if ( bbox.get( "xMinimum" ).type() == E57_FLOAT )
         {
            data3DHeader.cartesianBounds.xMinimum = FloatNode( bbox.get( "xMinimum" ) ).value();
            data3DHeader.cartesianBounds.xMaximum = FloatNode( bbox.get( "xMaximum" ) ).value();
            data3DHeader.cartesianBounds.yMinimum = FloatNode( bbox.get( "yMinimum" ) ).value();
            data3DHeader.cartesianBounds.yMaximum = FloatNode( bbox.get( "yMaximum" ) ).value();
            data3DHeader.cartesianBounds.zMinimum = FloatNode( bbox.get( "zMinimum" ) ).value();
            data3DHeader.cartesianBounds.zMaximum = FloatNode( bbox.get( "zMaximum" ) ).value();
         }
      }
 
      if ( scan.isDefined( "sphericalBounds" ) )
      {
         StructureNode sbox( scan.get( "sphericalBounds" ) );
         if ( sbox.get( "rangeMinimum" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.sphericalBounds.rangeMinimum =
               (double)ScaledIntegerNode( sbox.get( "rangeMinimum" ) ).scaledValue();
            data3DHeader.sphericalBounds.rangeMaximum =
               (double)ScaledIntegerNode( sbox.get( "rangeMaximum" ) ).scaledValue();
         }
         else if ( sbox.get( "rangeMinimum" ).type() == E57_FLOAT )
         {
            data3DHeader.sphericalBounds.rangeMinimum = FloatNode( sbox.get( "rangeMinimum" ) ).value();
            data3DHeader.sphericalBounds.rangeMaximum = FloatNode( sbox.get( "rangeMaximum" ) ).value();
         }
 
         if ( sbox.get( "elevationMinimum" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.sphericalBounds.elevationMinimum =
               (double)ScaledIntegerNode( sbox.get( "elevationMinimum" ) ).scaledValue();
            data3DHeader.sphericalBounds.elevationMaximum =
               (double)ScaledIntegerNode( sbox.get( "elevationMaximum" ) ).scaledValue();
         }
         else if ( sbox.get( "elevationMinimum" ).type() == E57_FLOAT )
         {
            data3DHeader.sphericalBounds.elevationMinimum = FloatNode( sbox.get( "elevationMinimum" ) ).value();
            data3DHeader.sphericalBounds.elevationMaximum = FloatNode( sbox.get( "elevationMaximum" ) ).value();
         }
 
         if ( sbox.get( "azimuthStart" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.sphericalBounds.azimuthStart =
               (double)ScaledIntegerNode( sbox.get( "azimuthStart" ) ).scaledValue();
            data3DHeader.sphericalBounds.azimuthEnd =
               (double)ScaledIntegerNode( sbox.get( "azimuthEnd" ) ).scaledValue();
         }
         else if ( sbox.get( "azimuthStart" ).type() == E57_FLOAT )
         {
            data3DHeader.sphericalBounds.azimuthStart = FloatNode( sbox.get( "azimuthStart" ) ).value();
            data3DHeader.sphericalBounds.azimuthEnd = FloatNode( sbox.get( "azimuthEnd" ) ).value();
         }
      }
 
      // Get pose structure for scan.
      if ( scan.isDefined( "pose" ) )
      {
         StructureNode pose( scan.get( "pose" ) );
         if ( pose.isDefined( "rotation" ) )
         {
            StructureNode rotation( pose.get( "rotation" ) );
            data3DHeader.pose.rotation.w = FloatNode( rotation.get( "w" ) ).value();
            data3DHeader.pose.rotation.x = FloatNode( rotation.get( "x" ) ).value();
            data3DHeader.pose.rotation.y = FloatNode( rotation.get( "y" ) ).value();
            data3DHeader.pose.rotation.z = FloatNode( rotation.get( "z" ) ).value();
         }
         if ( pose.isDefined( "translation" ) )
         {
            StructureNode translation( pose.get( "translation" ) );
            data3DHeader.pose.translation.x = FloatNode( translation.get( "x" ) ).value();
            data3DHeader.pose.translation.y = FloatNode( translation.get( "y" ) ).value();
            data3DHeader.pose.translation.z = FloatNode( translation.get( "z" ) ).value();
         }
      }
 
      // Get start/stop acquisition times to scan.
      if ( scan.isDefined( "acquisitionStart" ) )
      {
         StructureNode acquisitionStart( scan.get( "acquisitionStart" ) );
         data3DHeader.acquisitionStart.dateTimeValue = FloatNode( acquisitionStart.get( "dateTimeValue" ) ).value();
         data3DHeader.acquisitionStart.isAtomicClockReferenced =
            (int32_t)IntegerNode( acquisitionStart.get( "isAtomicClockReferenced" ) ).value();
      }
 
      if ( scan.isDefined( "acquisitionEnd" ) )
      {
         StructureNode acquisitionEnd( scan.get( "acquisitionEnd" ) );
         data3DHeader.acquisitionEnd.dateTimeValue = FloatNode( acquisitionEnd.get( "dateTimeValue" ) ).value();
         data3DHeader.acquisitionEnd.isAtomicClockReferenced =
            (int32_t)IntegerNode( acquisitionEnd.get( "isAtomicClockReferenced" ) ).value();
      }
 
      // Get a prototype of datatypes that will be stored in points record.
      data3DHeader.pointFields.cartesianXField = proto.isDefined( "cartesianX" );
      data3DHeader.pointFields.cartesianYField = proto.isDefined( "cartesianY" );
      data3DHeader.pointFields.cartesianZField = proto.isDefined( "cartesianZ" );
      data3DHeader.pointFields.cartesianInvalidStateField = proto.isDefined( "cartesianInvalidState" );
 
      data3DHeader.pointFields.pointRangeScaledInteger = E57_NOT_SCALED_USE_FLOAT; // FloatNode
      data3DHeader.pointFields.pointRangeMinimum = 0.;
      data3DHeader.pointFields.pointRangeMaximum = 0.;
 
      if ( proto.isDefined( "cartesianX" ) )
      {
         if ( proto.get( "cartesianX" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "cartesianX" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "cartesianX" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "cartesianX" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "cartesianX" ) ).maximum();
            data3DHeader.pointFields.pointRangeMinimum = (double)minimum * scale + offset;
            data3DHeader.pointFields.pointRangeMaximum = (double)maximum * scale + offset;
            data3DHeader.pointFields.pointRangeScaledInteger = scale;
         }
         else if ( proto.get( "cartesianX" ).type() == E57_FLOAT )
         {
            data3DHeader.pointFields.pointRangeMinimum = FloatNode( proto.get( "cartesianX" ) ).minimum();
            data3DHeader.pointFields.pointRangeMaximum = FloatNode( proto.get( "cartesianX" ) ).maximum();
            data3DHeader.pointFields.pointRangeScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
      }
      else if ( proto.isDefined( "sphericalRange" ) )
      {
         if ( proto.get( "sphericalRange" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "sphericalRange" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "sphericalRange" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "sphericalRange" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "sphericalRange" ) ).maximum();
            data3DHeader.pointFields.pointRangeMinimum = (double)minimum * scale + offset;
            data3DHeader.pointFields.pointRangeMaximum = (double)maximum * scale + offset;
            data3DHeader.pointFields.pointRangeScaledInteger = scale;
         }
         else if ( proto.get( "sphericalRange" ).type() == E57_FLOAT )
         {
            data3DHeader.pointFields.pointRangeMinimum = FloatNode( proto.get( "sphericalRange" ) ).minimum();
            data3DHeader.pointFields.pointRangeMaximum = FloatNode( proto.get( "sphericalRange" ) ).maximum();
            data3DHeader.pointFields.pointRangeScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
      }
 
      data3DHeader.pointFields.sphericalRangeField = proto.isDefined( "sphericalRange" );
      data3DHeader.pointFields.sphericalAzimuthField = proto.isDefined( "sphericalAzimuth" );
      data3DHeader.pointFields.sphericalElevationField = proto.isDefined( "sphericalElevation" );
      data3DHeader.pointFields.sphericalInvalidStateField = proto.isDefined( "sphericalInvalidState" );
 
      data3DHeader.pointFields.angleScaledInteger = E57_NOT_SCALED_USE_FLOAT; // FloatNode
      data3DHeader.pointFields.angleMinimum = 0.;
      data3DHeader.pointFields.angleMaximum = 0.;
 
      if ( proto.isDefined( "sphericalAzimuth" ) )
      {
         if ( proto.get( "sphericalAzimuth" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "sphericalAzimuth" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "sphericalAzimuth" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "sphericalAzimuth" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "sphericalAzimuth" ) ).maximum();
            data3DHeader.pointFields.angleMinimum = (double)minimum * scale + offset;
            data3DHeader.pointFields.angleMaximum = (double)maximum * scale + offset;
            data3DHeader.pointFields.angleScaledInteger = scale;
         }
         else if ( proto.get( "sphericalAzimuth" ).type() == E57_FLOAT )
         {
            data3DHeader.pointFields.angleMinimum = FloatNode( proto.get( "sphericalAzimuth" ) ).minimum();
            data3DHeader.pointFields.angleMaximum = FloatNode( proto.get( "sphericalAzimuth" ) ).maximum();
            data3DHeader.pointFields.angleScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
      }
 
      data3DHeader.pointFields.rowIndexField = proto.isDefined( "rowIndex" );
      data3DHeader.pointFields.columnIndexField = proto.isDefined( "columnIndex" );
      data3DHeader.pointFields.rowIndexMaximum = 0;
      data3DHeader.pointFields.columnIndexMaximum = 0;
 
      if ( proto.isDefined( "rowIndex" ) )
      {
         data3DHeader.pointFields.rowIndexMaximum = (uint32_t)IntegerNode( proto.get( "rowIndex" ) ).maximum();
      }
 
      if ( proto.isDefined( "columnIndex" ) )
      {
         data3DHeader.pointFields.columnIndexMaximum = (uint32_t)IntegerNode( proto.get( "columnIndex" ) ).maximum();
      }
 
      data3DHeader.pointFields.returnIndexField = proto.isDefined( "returnIndex" );
      data3DHeader.pointFields.returnCountField = proto.isDefined( "returnCount" );
      data3DHeader.pointFields.returnMaximum = 0;
 
      if ( proto.isDefined( "returnIndex" ) )
      {
         data3DHeader.pointFields.returnMaximum = (uint8_t)IntegerNode( proto.get( "returnIndex" ) ).maximum();
      }
 
      data3DHeader.pointFields.timeStampField = proto.isDefined( "timeStamp" );
      data3DHeader.pointFields.isTimeStampInvalidField = proto.isDefined( "isTimeStampInvalid" );
      data3DHeader.pointFields.timeMaximum = 0.;
      data3DHeader.pointFields.timeMinimum = 0.;
      data3DHeader.pointFields.timeScaledInteger = E57_NOT_SCALED_USE_FLOAT;
 
      if ( proto.isDefined( "timeStamp" ) )
      {
         if ( proto.get( "timeStamp" ).type() == E57_INTEGER )
         {
            data3DHeader.pointFields.timeMaximum = (double)IntegerNode( proto.get( "timeStamp" ) ).maximum();
            data3DHeader.pointFields.timeMinimum = (double)IntegerNode( proto.get( "timeStamp" ) ).minimum();
            data3DHeader.pointFields.timeScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
         else if ( proto.get( "timeStamp" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "timeStamp" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "timeStamp" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "timeStamp" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "timeStamp" ) ).maximum();
            data3DHeader.pointFields.timeMinimum = (double)minimum * scale + offset;
            data3DHeader.pointFields.timeMaximum = (double)maximum * scale + offset;
            data3DHeader.pointFields.timeScaledInteger = scale;
         }
         else if ( proto.get( "timeStamp" ).type() == E57_FLOAT )
         {
            data3DHeader.pointFields.timeMinimum = FloatNode( proto.get( "timeStamp" ) ).minimum();
            data3DHeader.pointFields.timeMaximum = FloatNode( proto.get( "timeStamp" ) ).maximum();
            data3DHeader.pointFields.timeScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
      }
 
      data3DHeader.pointFields.intensityField = proto.isDefined( "intensity" );
      data3DHeader.pointFields.isIntensityInvalidField = proto.isDefined( "isIntensityInvalid" );
      data3DHeader.intensityLimits.intensityMinimum = 0.;
      data3DHeader.intensityLimits.intensityMaximum = 0.;
      data3DHeader.pointFields.intensityScaledInteger = E57_NOT_SCALED_USE_FLOAT;
 
      if ( scan.isDefined( "intensityLimits" ) )
      {
         StructureNode intbox( scan.get( "intensityLimits" ) );
         if ( intbox.get( "intensityMaximum" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.intensityLimits.intensityMaximum =
               (double)ScaledIntegerNode( intbox.get( "intensityMaximum" ) ).scaledValue();
            data3DHeader.intensityLimits.intensityMinimum =
               (double)ScaledIntegerNode( intbox.get( "intensityMinimum" ) ).scaledValue();
         }
         else if ( intbox.get( "intensityMaximum" ).type() == E57_FLOAT )
         {
            data3DHeader.intensityLimits.intensityMaximum = FloatNode( intbox.get( "intensityMaximum" ) ).value();
            data3DHeader.intensityLimits.intensityMinimum = FloatNode( intbox.get( "intensityMinimum" ) ).value();
         }
         else if ( intbox.get( "intensityMaximum" ).type() == E57_INTEGER )
         {
            data3DHeader.intensityLimits.intensityMaximum =
               (double)IntegerNode( intbox.get( "intensityMaximum" ) ).value();
            data3DHeader.intensityLimits.intensityMinimum =
               (double)IntegerNode( intbox.get( "intensityMinimum" ) ).value();
         }
      }
      if ( proto.isDefined( "intensity" ) )
      {
         if ( proto.get( "intensity" ).type() == E57_INTEGER )
         {
            if ( data3DHeader.intensityLimits.intensityMaximum == 0. )
            {
               data3DHeader.intensityLimits.intensityMinimum =
                  (double)IntegerNode( proto.get( "intensity" ) ).minimum();
               data3DHeader.intensityLimits.intensityMaximum =
                  (double)IntegerNode( proto.get( "intensity" ) ).maximum();
            }
            data3DHeader.pointFields.intensityScaledInteger = E57_NOT_SCALED_USE_INTEGER;
         }
         else if ( proto.get( "intensity" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "intensity" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "intensity" ) ).offset();
 
            if ( data3DHeader.intensityLimits.intensityMaximum == 0. )
            {
               int64_t minimum = ScaledIntegerNode( proto.get( "intensity" ) ).minimum();
               int64_t maximum = ScaledIntegerNode( proto.get( "intensity" ) ).maximum();
               data3DHeader.intensityLimits.intensityMinimum = (double)minimum * scale + offset;
               data3DHeader.intensityLimits.intensityMaximum = (double)maximum * scale + offset;
            }
            data3DHeader.pointFields.intensityScaledInteger = scale;
         }
         else if ( proto.get( "intensity" ).type() == E57_FLOAT )
         {
            if ( data3DHeader.intensityLimits.intensityMaximum == 0. )
            {
               data3DHeader.intensityLimits.intensityMinimum = FloatNode( proto.get( "intensity" ) ).minimum();
               data3DHeader.intensityLimits.intensityMaximum = FloatNode( proto.get( "intensity" ) ).maximum();
            }
            data3DHeader.pointFields.intensityScaledInteger = E57_NOT_SCALED_USE_FLOAT;
         }
      }
 
      data3DHeader.pointFields.colorRedField = proto.isDefined( "colorRed" );
      data3DHeader.pointFields.colorGreenField = proto.isDefined( "colorGreen" );
      data3DHeader.pointFields.colorBlueField = proto.isDefined( "colorBlue" );
      data3DHeader.pointFields.isColorInvalidField = proto.isDefined( "isColorInvalid" );
 
      data3DHeader.colorLimits.colorRedMinimum = 0.;
      data3DHeader.colorLimits.colorRedMaximum = 0.;
      data3DHeader.colorLimits.colorGreenMinimum = 0.;
      data3DHeader.colorLimits.colorGreenMaximum = 0.;
      data3DHeader.colorLimits.colorBlueMinimum = 0.;
      data3DHeader.colorLimits.colorBlueMaximum = 0.;
 
      if ( scan.isDefined( "colorLimits" ) )
      {
         StructureNode colorbox( scan.get( "colorLimits" ) );
         if ( colorbox.get( "colorRedMaximum" ).type() == E57_SCALED_INTEGER )
         {
            data3DHeader.colorLimits.colorRedMaximum =
               (double)ScaledIntegerNode( colorbox.get( "colorRedMaximum" ) ).scaledValue();
            data3DHeader.colorLimits.colorRedMinimum =
               (double)ScaledIntegerNode( colorbox.get( "colorRedMinimum" ) ).scaledValue();
            data3DHeader.colorLimits.colorGreenMaximum =
               (double)ScaledIntegerNode( colorbox.get( "colorGreenMaximum" ) ).scaledValue();
            data3DHeader.colorLimits.colorGreenMinimum =
               (double)ScaledIntegerNode( colorbox.get( "colorGreenMinimum" ) ).scaledValue();
            data3DHeader.colorLimits.colorBlueMaximum =
               (double)ScaledIntegerNode( colorbox.get( "colorBlueMaximum" ) ).scaledValue();
            data3DHeader.colorLimits.colorBlueMinimum =
               (double)ScaledIntegerNode( colorbox.get( "colorBlueMinimum" ) ).scaledValue();
         }
         else if ( colorbox.get( "colorRedMaximum" ).type() == E57_FLOAT )
         {
            data3DHeader.colorLimits.colorRedMaximum = FloatNode( colorbox.get( "colorRedMaximum" ) ).value();
            data3DHeader.colorLimits.colorRedMinimum = FloatNode( colorbox.get( "colorRedMinimum" ) ).value();
            data3DHeader.colorLimits.colorGreenMaximum = FloatNode( colorbox.get( "colorGreenMaximum" ) ).value();
            data3DHeader.colorLimits.colorGreenMinimum = FloatNode( colorbox.get( "colorGreenMinimum" ) ).value();
            data3DHeader.colorLimits.colorBlueMaximum = FloatNode( colorbox.get( "colorBlueMaximum" ) ).value();
            data3DHeader.colorLimits.colorBlueMinimum = FloatNode( colorbox.get( "colorBlueMinimum" ) ).value();
         }
         else if ( colorbox.get( "colorRedMaximum" ).type() == E57_INTEGER )
         {
            data3DHeader.colorLimits.colorRedMaximum = (double)IntegerNode( colorbox.get( "colorRedMaximum" ) ).value();
            data3DHeader.colorLimits.colorRedMinimum = (double)IntegerNode( colorbox.get( "colorRedMinimum" ) ).value();
            data3DHeader.colorLimits.colorGreenMaximum =
               (double)IntegerNode( colorbox.get( "colorGreenMaximum" ) ).value();
            data3DHeader.colorLimits.colorGreenMinimum =
               (double)IntegerNode( colorbox.get( "colorGreenMinimum" ) ).value();
            data3DHeader.colorLimits.colorBlueMaximum =
               (double)IntegerNode( colorbox.get( "colorBlueMaximum" ) ).value();
            data3DHeader.colorLimits.colorBlueMinimum =
               (double)IntegerNode( colorbox.get( "colorBlueMinimum" ) ).value();
         }
      }
 
      if ( ( data3DHeader.colorLimits.colorRedMaximum == 0. ) && proto.isDefined( "colorRed" ) )
      {
         if ( proto.get( "colorRed" ).type() == E57_INTEGER )
         {
            data3DHeader.colorLimits.colorRedMinimum = (uint16_t)IntegerNode( proto.get( "colorRed" ) ).minimum();
            data3DHeader.colorLimits.colorRedMaximum = (uint16_t)IntegerNode( proto.get( "colorRed" ) ).maximum();
         }
         else if ( proto.get( "colorRed" ).type() == E57_FLOAT )
         {
            data3DHeader.colorLimits.colorRedMinimum = (uint16_t)FloatNode( proto.get( "colorRed" ) ).minimum();
            data3DHeader.colorLimits.colorRedMaximum = (uint16_t)FloatNode( proto.get( "colorRed" ) ).maximum();
         }
         else if ( proto.get( "colorRed" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "colorRed" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "colorRed" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "colorRed" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "colorRed" ) ).maximum();
            data3DHeader.colorLimits.colorRedMinimum = (uint16_t)minimum * scale + offset;
            data3DHeader.colorLimits.colorRedMaximum = (uint16_t)maximum * scale + offset;
         }
      }
      if ( ( data3DHeader.colorLimits.colorGreenMaximum == 0. ) && proto.isDefined( "colorGreen" ) )
      {
         if ( proto.get( "colorGreen" ).type() == E57_INTEGER )
         {
            data3DHeader.colorLimits.colorGreenMinimum = (uint16_t)IntegerNode( proto.get( "colorGreen" ) ).minimum();
            data3DHeader.colorLimits.colorGreenMaximum = (uint16_t)IntegerNode( proto.get( "colorGreen" ) ).maximum();
         }
         else if ( proto.get( "colorGreen" ).type() == E57_FLOAT )
         {
            data3DHeader.colorLimits.colorGreenMinimum = (uint16_t)FloatNode( proto.get( "colorGreen" ) ).minimum();
            data3DHeader.colorLimits.colorGreenMaximum = (uint16_t)FloatNode( proto.get( "colorGreen" ) ).maximum();
         }
         else if ( proto.get( "colorGreen" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "colorGreen" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "colorGreen" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "colorGreen" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "colorGreen" ) ).maximum();
            data3DHeader.colorLimits.colorGreenMinimum = (uint16_t)minimum * scale + offset;
            data3DHeader.colorLimits.colorGreenMaximum = (uint16_t)maximum * scale + offset;
         }
      }
      if ( ( data3DHeader.colorLimits.colorBlueMaximum == 0. ) && proto.isDefined( "colorBlue" ) )
      {
         if ( proto.get( "colorBlue" ).type() == E57_INTEGER )
         {
            data3DHeader.colorLimits.colorBlueMinimum = (uint16_t)IntegerNode( proto.get( "colorBlue" ) ).minimum();
            data3DHeader.colorLimits.colorBlueMaximum = (uint16_t)IntegerNode( proto.get( "colorBlue" ) ).maximum();
         }
         else if ( proto.get( "colorBlue" ).type() == E57_FLOAT )
         {
            data3DHeader.colorLimits.colorBlueMinimum = (uint16_t)FloatNode( proto.get( "colorBlue" ) ).minimum();
            data3DHeader.colorLimits.colorBlueMaximum = (uint16_t)FloatNode( proto.get( "colorBlue" ) ).maximum();
         }
         else if ( proto.get( "colorBlue" ).type() == E57_SCALED_INTEGER )
         {
            double scale = ScaledIntegerNode( proto.get( "colorBlue" ) ).scale();
            double offset = ScaledIntegerNode( proto.get( "colorBlue" ) ).offset();
            int64_t minimum = ScaledIntegerNode( proto.get( "colorBlue" ) ).minimum();
            int64_t maximum = ScaledIntegerNode( proto.get( "colorBlue" ) ).maximum();
            data3DHeader.colorLimits.colorRedMinimum = (uint16_t)minimum * scale + offset;
            data3DHeader.colorLimits.colorRedMaximum = (uint16_t)maximum * scale + offset;
         }
      }
 
      // E57_EXT_surface_normals
      ustring norExtUri;
      if ( imf_.extensionsLookupPrefix( "nor", norExtUri ) )
      {
         data3DHeader.pointFields.normalX = proto.isDefined( "nor:normalX" );
         data3DHeader.pointFields.normalY = proto.isDefined( "nor:normalY" );
         data3DHeader.pointFields.normalZ = proto.isDefined( "nor:normalZ" );
      }
 
      return true;
   }
 
   // This function returns the size of the point data
   bool ReaderImpl::GetData3DSizes( int64_t dataIndex, int64_t &row, int64_t &column, int64_t &pointsSize,
                                    int64_t &groupsSize, int64_t &countSize, bool &bColumnIndex ) const
   {
      row = 0;
      column = 0;
      pointsSize = 0;
      groupsSize = 0;
      int64_t elementSize = 0;
      countSize = 0;
      bColumnIndex = false;
 
      if ( !IsOpen() )
      {
         return false;
      }
      if ( ( dataIndex < 0 ) || ( dataIndex >= data3D_.childCount() ) )
      {
         return false;
      }
 
      StructureNode scan( data3D_.get( dataIndex ) );
 
      CompressedVectorNode points( scan.get( "points" ) );
      pointsSize = points.childCount();
 
      if ( scan.isDefined( "indexBounds" ) )
      {
         StructureNode indexBounds( scan.get( "indexBounds" ) );
         if ( indexBounds.isDefined( "columnMaximum" ) )
         {
            column = IntegerNode( indexBounds.get( "columnMaximum" ) ).value() -
                     IntegerNode( indexBounds.get( "columnMinimum" ) ).value() + 1;
         }
 
         if ( indexBounds.isDefined( "rowMaximum" ) )
         {
            row = IntegerNode( indexBounds.get( "rowMaximum" ) ).value() -
                  IntegerNode( indexBounds.get( "rowMinimum" ) ).value() + 1;
         }
      }
 
      if ( scan.isDefined( "pointGroupingSchemes" ) )
      {
         StructureNode pointGroupingSchemes( scan.get( "pointGroupingSchemes" ) );
         if ( pointGroupingSchemes.isDefined( "groupingByLine" ) )
         {
            StructureNode groupingByLine( pointGroupingSchemes.get( "groupingByLine" ) );
 
            StringNode idElementName( groupingByLine.get( "idElementName" ) );
            if ( idElementName.value().compare( "columnIndex" ) == 0 )
            {
               bColumnIndex = true;
            }
 
            CompressedVectorNode groups( groupingByLine.get( "groups" ) );
            groupsSize = groups.childCount();
 
            StructureNode lineGroupRecord( groups.prototype() );
 
            if ( lineGroupRecord.isDefined( "idElementValue" ) )
            {
               elementSize = IntegerNode( lineGroupRecord.get( "idElementValue" ) ).maximum() -
                             IntegerNode( lineGroupRecord.get( "idElementValue" ) ).minimum() + 1;
            }
            else if ( bColumnIndex )
            {
               elementSize = column;
            }
            else
            {
               elementSize = row;
            }
 
            if ( lineGroupRecord.isDefined( "pointCount" ) )
            {
               countSize = IntegerNode( lineGroupRecord.get( "pointCount" ) ).maximum();
            }
            else if ( bColumnIndex )
            {
               countSize = row;
            }
            else
            {
               countSize = column;
            }
         }
      }
 
      // if indexBounds is not given
      if ( row == 0 )
      {
         if ( bColumnIndex )
         {
            row = countSize;
         }
         else
         {
            row = elementSize;
         }
      }
      if ( column == 0 )
      {
         if ( bColumnIndex )
         {
            column = elementSize;
         }
         else
         {
            column = countSize;
         }
      }
 
      return true;
   }
 
   // This funtion writes out the group data
   bool ReaderImpl::ReadData3DGroupsData( int64_t dataIndex, int64_t groupCount, int64_t *idElementValue,
                                          int64_t *startPointIndex, int64_t *pointCount ) const
   {
      if ( ( dataIndex < 0 ) || ( dataIndex >= data3D_.childCount() ) )
      {
         return false;
      }
 
      StructureNode scan( data3D_.get( dataIndex ) );
      if ( !scan.isDefined( "pointGroupingSchemes" ) )
      {
         return false;
      }
 
      StructureNode pointGroupingSchemes( scan.get( "pointGroupingSchemes" ) );
      if ( !pointGroupingSchemes.isDefined( "groupingByLine" ) )
      {
         return false;
      }
 
      StructureNode groupingByLine( pointGroupingSchemes.get( "groupingByLine" ) );
 
      StringNode idElementName( groupingByLine.get( "idElementName" ) );
      CompressedVectorNode groups( groupingByLine.get( "groups" ) );
      StructureNode lineGroupRecord( groups.prototype() ); // not used here
 
      int64_t protoCount = lineGroupRecord.childCount();
      int64_t protoIndex;
      std::vector<SourceDestBuffer> groupSDBuffers;
 
      for ( protoIndex = 0; protoIndex < protoCount; protoIndex++ )
      {
         ustring name = lineGroupRecord.get( protoIndex ).elementName();
 
         if ( ( name.compare( "idElementValue" ) == 0 ) && lineGroupRecord.isDefined( "idElementValue" ) &&
              ( idElementValue != nullptr ) )
         {
            groupSDBuffers.emplace_back( imf_, "idElementValue", idElementValue, groupCount, true );
         }
 
         if ( ( name.compare( "startPointIndex" ) == 0 ) && lineGroupRecord.isDefined( "startPointIndex" ) &&
              ( startPointIndex != nullptr ) )
         {
            groupSDBuffers.emplace_back( imf_, "startPointIndex", startPointIndex, groupCount, true );
         }
 
         if ( ( name.compare( "pointCount" ) == 0 ) && lineGroupRecord.isDefined( "pointCount" ) &&
              ( pointCount != nullptr ) )
         {
            groupSDBuffers.emplace_back( imf_, "pointCount", pointCount, groupCount, true );
         }
      }
 
      CompressedVectorReader reader = groups.reader( groupSDBuffers );
 
      reader.read();
      reader.close();
 
      return true;
   }
 
   template <typename COORDTYPE>
   CompressedVectorReader ReaderImpl::SetUpData3DPointsData( int64_t dataIndex, size_t count,
                                                             const Data3DPointsData_t<COORDTYPE> &buffers ) const
   {
      StructureNode scan( data3D_.get( dataIndex ) );
      CompressedVectorNode points( scan.get( "points" ) );
      StructureNode proto( points.prototype() );
 
      int64_t protoCount = proto.childCount();
      int64_t protoIndex;
 
      std::vector<SourceDestBuffer> destBuffers;
 
      for ( protoIndex = 0; protoIndex < protoCount; protoIndex++ )
      {
         ustring name = proto.get( protoIndex ).elementName();
         NodeType type = proto.get( protoIndex ).type();
         bool scaled = type == E57_SCALED_INTEGER ? true : false;
         // E57_EXT_surface_normals
         ustring norExtUri;
         bool haveNormalsExt = imf_.extensionsLookupPrefix( "nor", norExtUri );
 
         if ( ( name.compare( "cartesianX" ) == 0 ) && proto.isDefined( "cartesianX" ) &&
              ( buffers.cartesianX != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "cartesianX", buffers.cartesianX, count, true, scaled );
         }
         else if ( ( name.compare( "cartesianY" ) == 0 ) && proto.isDefined( "cartesianY" ) &&
                   ( buffers.cartesianY != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "cartesianY", buffers.cartesianY, count, true, scaled );
         }
         else if ( ( name.compare( "cartesianZ" ) == 0 ) && proto.isDefined( "cartesianZ" ) &&
                   ( buffers.cartesianZ != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "cartesianZ", buffers.cartesianZ, count, true, scaled );
         }
         else if ( ( name.compare( "cartesianInvalidState" ) == 0 ) && proto.isDefined( "cartesianInvalidState" ) &&
                   ( buffers.cartesianInvalidState != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "cartesianInvalidState", buffers.cartesianInvalidState, count, true );
         }
         else if ( ( name.compare( "sphericalRange" ) == 0 ) && proto.isDefined( "sphericalRange" ) &&
                   ( buffers.sphericalRange != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "sphericalRange", buffers.sphericalRange, count, true, scaled );
         }
         else if ( ( name.compare( "sphericalAzimuth" ) == 0 ) && proto.isDefined( "sphericalAzimuth" ) &&
                   ( buffers.sphericalAzimuth != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "sphericalAzimuth", buffers.sphericalAzimuth, count, true, scaled );
         }
         else if ( ( name.compare( "sphericalElevation" ) == 0 ) && proto.isDefined( "sphericalElevation" ) &&
                   ( buffers.sphericalElevation != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "sphericalElevation", buffers.sphericalElevation, count, true, scaled );
         }
         else if ( ( name.compare( "sphericalInvalidState" ) == 0 ) && proto.isDefined( "sphericalInvalidState" ) &&
                   ( buffers.sphericalInvalidState != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "sphericalInvalidState", buffers.sphericalInvalidState, count, true );
         }
         else if ( ( name.compare( "rowIndex" ) == 0 ) && proto.isDefined( "rowIndex" ) &&
                   ( buffers.rowIndex != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "rowIndex", buffers.rowIndex, count, true );
         }
         else if ( ( name.compare( "columnIndex" ) == 0 ) && proto.isDefined( "columnIndex" ) &&
                   ( buffers.columnIndex != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "columnIndex", buffers.columnIndex, count, true );
         }
         else if ( ( name.compare( "returnIndex" ) == 0 ) && proto.isDefined( "returnIndex" ) &&
                   ( buffers.returnIndex != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "returnIndex", buffers.returnIndex, count, true );
         }
         else if ( ( name.compare( "returnCount" ) == 0 ) && proto.isDefined( "returnCount" ) &&
                   ( buffers.returnCount != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "returnCount", buffers.returnCount, count, true );
         }
         else if ( ( name.compare( "timeStamp" ) == 0 ) && proto.isDefined( "timeStamp" ) &&
                   ( buffers.timeStamp != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "timeStamp", buffers.timeStamp, count, true, scaled );
         }
         else if ( ( name.compare( "isTimeStampInvalid" ) == 0 ) && proto.isDefined( "isTimeStampInvalid" ) &&
                   ( buffers.isTimeStampInvalid != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "isTimeStampInvalid", buffers.isTimeStampInvalid, count, true );
         }
         else if ( ( name.compare( "intensity" ) == 0 ) && proto.isDefined( "intensity" ) &&
                   ( buffers.intensity != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "intensity", buffers.intensity, count, true, scaled );
         }
         else if ( ( name.compare( "isIntensityInvalid" ) == 0 ) && proto.isDefined( "isIntensityInvalid" ) &&
                   ( buffers.isIntensityInvalid != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "isIntensityInvalid", buffers.isIntensityInvalid, count, true );
         }
         else if ( ( name.compare( "colorRed" ) == 0 ) && proto.isDefined( "colorRed" ) &&
                   ( buffers.colorRed != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "colorRed", buffers.colorRed, count, true, scaled );
         }
         else if ( ( name.compare( "colorGreen" ) == 0 ) && proto.isDefined( "colorGreen" ) &&
                   ( buffers.colorGreen != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "colorGreen", buffers.colorGreen, count, true, scaled );
         }
         else if ( ( name.compare( "colorBlue" ) == 0 ) && proto.isDefined( "colorBlue" ) &&
                   ( buffers.colorBlue != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "colorBlue", buffers.colorBlue, count, true, scaled );
         }
         else if ( ( name.compare( "isColorInvalid" ) == 0 ) && proto.isDefined( "isColorInvalid" ) &&
                   ( buffers.isColorInvalid != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "isColorInvalid", buffers.isColorInvalid, count, true );
         }
         else if ( haveNormalsExt && ( name.compare( "nor:normalX" ) == 0 ) && proto.isDefined( "nor:normalX" ) &&
                   ( buffers.normalX != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "nor:normalX", buffers.normalX, count, true, scaled );
         }
         else if ( haveNormalsExt && ( name.compare( "nor:normalY" ) == 0 ) && proto.isDefined( "nor:normalY" ) &&
                   ( buffers.normalY != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "nor:normalY", buffers.normalY, count, true, scaled );
         }
         else if ( haveNormalsExt && ( name.compare( "nor:normalZ" ) == 0 ) && proto.isDefined( "nor:normalZ" ) &&
                   ( buffers.normalZ != nullptr ) )
         {
            destBuffers.emplace_back( imf_, "nor:normalZ", buffers.normalZ, count, true, scaled );
         }
      }
 
      CompressedVectorReader reader = points.reader( destBuffers );
 
      return reader;
   }
 
   // Explicit template instantiation
   template CompressedVectorReader ReaderImpl::SetUpData3DPointsData( int64_t dataIndex, size_t pointCount,
                                                                      const Data3DPointsData_t<float> &buffers ) const;
 
   template CompressedVectorReader ReaderImpl::SetUpData3DPointsData( int64_t dataIndex, size_t pointCount,
                                                                      const Data3DPointsData_t<double> &buffers ) const;
 
} // end namespace e57