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Set point_source_ID per scan when exporting LAZ/LAS #428

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Merged
JanuszBedkowski merged 1 commit into from
May 14, 2026
+51 −10
Merged

Set point_source_ID per scan when exporting LAZ/LAS #428

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27 changes: 23 additions & 4 deletions apps/multi_view_tls_registration/multi_view_tls_registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,18 +107,25 @@ void save_intersection(

void save_separately_to_las(const Session& session, fs::path outwd, std::string extension)
{
for (auto& p : session.point_clouds_container.point_clouds)
const auto& clouds = session.point_clouds_container.point_clouds;
if (clouds.size() > 65535)
{
std::cerr << "warning: more than 65535 scans, point_source_ID capped at 65535\n";
}
for (size_t scan_idx = 0; scan_idx < clouds.size(); ++scan_idx)
{
const auto& p = clouds[scan_idx];
if (p.visible)
{
const unsigned short psid = static_cast<unsigned short>(std::min<size_t>(scan_idx, 65535));
fs::path file_path_in = p.file_name;
fs::path file_path_put = outwd;
file_path_put /= (file_path_in.stem().string() + "_processed" + extension);
std::cout << "file_in: " << file_path_in << std::endl;
std::cout << "file_out: " << file_path_put << std::endl;
std::cout << "start save_processed_pc" << std::endl;
bool compressed = (extension == ".laz");
save_processed_pc(file_path_in, file_path_put, p.m_pose, session.point_clouds_container.offset, compressed);
save_processed_pc(file_path_in, file_path_put, p.m_pose, session.point_clouds_container.offset, compressed, psid);
std::cout << "save_processed_pc finished" << std::endl;
}
}
Expand All @@ -134,12 +141,21 @@ void save_trajectories_to_laz(
std::vector<Eigen::Vector3d> pointcloud;
std::vector<unsigned short> intensity;
std::vector<double> timestamps;
std::vector<unsigned short> point_source_ids;

const auto& clouds = session.point_clouds_container.point_clouds;
if (clouds.size() > 65535)
{
std::cerr << "warning: more than 65535 scans, point_source_ID capped at 65535\n";
}

float consecutive_distance = 0;
for (auto& p : session.point_clouds_container.point_clouds)
for (size_t scan_idx = 0; scan_idx < clouds.size(); ++scan_idx)
{
const auto& p = clouds[scan_idx];
if (p.visible)
{
const unsigned short psid = static_cast<unsigned short>(std::min<size_t>(scan_idx, 65535));
for (int i = 0; i < p.local_trajectory.size(); i++)
{
const auto& pp = p.local_trajectory[i].m_pose.translation();
Expand Down Expand Up @@ -185,6 +201,7 @@ void save_trajectories_to_laz(
pointcloud.push_back(vp);
intensity.push_back(0);
timestamps.push_back(p.local_trajectory[i].timestamps.first);
point_source_ids.push_back(psid);
}
else
{
Expand All @@ -194,6 +211,7 @@ void save_trajectories_to_laz(
pointcloud.push_back(vp);
intensity.push_back(0);
timestamps.push_back(p.local_trajectory[i].timestamps.first);
point_source_ids.push_back(psid);
}
}
}
Expand All @@ -207,7 +225,8 @@ void save_trajectories_to_laz(
timestamps,
session.point_clouds_container.offset.x(),
session.point_clouds_container.offset.y(),
session.point_clouds_container.offset.z()))
session.point_clouds_container.offset.z(),
&point_source_ids))
{
std::cout << "problem with saving file: " << output_file_name << std::endl;
}
Expand Down
34 changes: 28 additions & 6 deletions core/include/Core/export_laz.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

#include <Core/session.h>

#include <algorithm>
#include <filesystem>
#include <iostream>
#include <string>
Expand Down Expand Up @@ -79,12 +80,19 @@ class LazWriter
}

bool writePoint(
const Eigen::Vector3d& position, unsigned short intensity, double timestamp, double offset_x, double offset_y, double offset_z)
const Eigen::Vector3d& position,
unsigned short intensity,
double timestamp,
double offset_x,
double offset_y,
double offset_z,
unsigned short point_source_id = 0)
{
point_->intensity = intensity;
point_->return_number = 1;
point_->number_of_returns = 1;
point_->gps_time = timestamp * 1e9;
point_->point_source_ID = point_source_id;

laszip_F64 coordinates[3];
coordinates[0] = position.x() + offset_x;
Expand Down Expand Up @@ -155,15 +163,17 @@ inline bool exportLaz(
const std::vector<double>& timestamps,
double offset_x = 0.0,
double offset_y = 0.0,
double offset_alt = 0.0)
double offset_alt = 0.0,
const std::vector<unsigned short>* point_source_ids = nullptr)
{
LazWriter writer;
if (!writer.open(filename, offset_x, offset_y, offset_alt))
return false;

for (size_t i = 0; i < pointcloud.size(); i++)
{
if (!writer.writePoint(pointcloud[i], intensity[i], timestamps[i], offset_x, offset_y, offset_alt))
const unsigned short psid = (point_source_ids && i < point_source_ids->size()) ? (*point_source_ids)[i] : 0;
if (!writer.writePoint(pointcloud[i], intensity[i], timestamps[i], offset_x, offset_y, offset_alt, psid))
return false;
}

Expand All @@ -175,7 +185,8 @@ inline void save_processed_pc(
const fs::path& file_path_put,
const Eigen::Affine3d& m_pose,
const Eigen::Vector3d& offset,
bool override_compressed = false)
bool override_compressed = false,
unsigned short point_source_id = 0)
{
std::cout << "processing: " << file_path_in << std::endl;

Expand Down Expand Up @@ -292,6 +303,7 @@ inline void save_processed_pc(
output_point->classification = input_point->classification;
output_point->num_extra_bytes = input_point->num_extra_bytes;
output_point->gps_time = input_point->gps_time;
output_point->point_source_ID = point_source_id;
memcpy(output_point->extra_bytes, input_point->extra_bytes, output_point->num_extra_bytes);

if (laszip_write_point(laszip_writer))
Expand Down Expand Up @@ -396,15 +408,23 @@ inline void save_all_to_las(const Session& session, std::string output_las_name,
bool found_first_pose = false;

const auto& offset = session.point_clouds_container.offset;
const auto& clouds = session.point_clouds_container.point_clouds;

if (clouds.size() > 65535)
{
std::cerr << "warning: more than 65535 scans, point_source_ID capped at 65535\n";
}

LazWriter writer;
if (!writer.open(output_las_name, offset.x(), offset.y(), offset.z()))
{
std::cout << "problem with saving file: " << output_las_name << std::endl;
return;
}

for (const auto& p : session.point_clouds_container.point_clouds)
for (size_t scan_idx = 0; scan_idx < clouds.size(); ++scan_idx)
{
const auto& p = clouds[scan_idx];
if (p.visible)
{
if (!found_first_pose)
Expand All @@ -413,6 +433,8 @@ inline void save_all_to_las(const Session& session, std::string output_las_name,
first_pose = p.m_pose;
}

const unsigned short psid = static_cast<unsigned short>(std::min<size_t>(scan_idx, 65535));

for (size_t i = 0; i < p.points_local.size(); ++i)
{
if (skip_ts_0)
Expand All @@ -428,7 +450,7 @@ inline void save_all_to_las(const Session& session, std::string output_las_name,
unsigned short inten = (i < p.intensities.size()) ? p.intensities[i] : 0;
double ts = (i < p.timestamps.size()) ? p.timestamps[i] : 0.0;

if (!writer.writePoint(vp, inten, ts, offset.x(), offset.y(), offset.z()))
if (!writer.writePoint(vp, inten, ts, offset.x(), offset.y(), offset.z(), psid))
return;
}
}
Expand Down
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