.. _cpptutorial:

*********************************************
C++ Tutorial
*********************************************




:Author: Mateusz Loskot
:Contact: mateusz at loskot dot net
:Author: Howard Butler
:Contact: hobu.inc at gmail dot com
:Date: 2/22/2011

.. contents::
    :depth: 2
    :backlinks: none
    
This basic tutorial explains how to use libLAS to read and write LIDAR data
encoded in LAS File Format. For more examples in C++, check source of `unit
tests package`_ for libLAS.

==============================================================================
Reading LAS data using ``liblas::Reader``
==============================================================================

1. Include required header files from libLAS and C++ Standard Library

    .. code-block:: cpp

        #include <liblas/liblas.hpp>
        #include <fstream>  // std::ifstream
        #include <iostream> // std::cout

2. Create input stream and associate it with .las file opened to read in
   **binary** mode

    .. code-block:: cpp

        std::ifstream ifs;
        ifs.open("file.las", std::ios::in | std::ios::binary);

3. Create a ReaderFactory and instantiate a new liblas::Reader using 
   the stream.

    .. code-block:: cpp

        liblas::ReaderFactory f;
        liblas::Reader reader = f.CreateWithStream(ifs);

    .. note::
        It is possible to use the basic liblas::Reader constructor that 
        takes in a std::istream, but it will not be able to account for the fact 
        that the file might be compressed.  Using the ReaderFactory will take 
        care of all of this for you.

4. After the reader has been created, you can access members of the Public
   Header Block

    .. code-block:: cpp

        liblas::Header const& header = reader.GetHeader();

        std::cout << "Compressed: " << (header.Compressed() == true) ? "true":"false";
        std::cout << "Signature: " << header.GetFileSignature() << '\n';
        std::cout << "Points count: " << header.GetPointRecordsCount() << '\n';

    .. note::
        It's correct to assume that after successful instantiation of reader, the
        public header block is automatically accessible. In other words, there
        never be a reader that can not serve a header data.

5. Iterate through point records

    .. code-block:: cpp

        while (reader.ReadNextPoint())
        {
            liblas::Point const& p = reader.GetPoint();

            std::cout << p.GetX() << ", " << p.GetY() << ", " << p.GetZ() << "\n";
        }

6. Randomly read point 2

    .. code-block:: cpp

        reader.ReadPointAt(2);
        liblas::Point const& p = reader.GetPoint();

    .. note::
        A `ReadPointAt` method call implies an individual seek in the file per
        point read.  Use ``liblas::Reader::Seek`` if you wish to read a run 
        of points starting at a specified location in the file.


    .. warning::
        If the file is a compressed LAS file, ReadPointAt is going to be much 
        slower than randomly reading through an uncompressed file.  The `LASzip`_ 
        compression as of LASzip 1.0.1 is sequential in nature, and asking for the 
        2nd point in the file means decompressing both the 0th and 1st points.

7. Seek to the 10th point to start reading.  A ``liblas::Reader`` provides a 
   `Seek` method to allow you to start reading from a specified location for 
   however many points you wish.  This functionality is useful for reading 
   strips out of files.  


    .. code-block:: cpp

        reader.Seek(10);
        while (reader.ReadNextPoint())
        ...
    
==============================================================================
Writing using ``liblas::Writer``
==============================================================================

1. Include required header files from libLAS and C++ Standard Library

    .. code-block:: cpp

        #include <liblas/liblas.hpp>

        #include <fstream>  // std::ofstream
        #include <iostream> // std::cout

2. Create output stream and associate it with .las file opened to write data
   in **binary** mode

    .. code-block:: cpp

        std::ofstream ofs;
        ofs.open("file.las", ios::out | ios::binary);
    
    .. note::
        It is also possible to open the stream in append mode to add data 
        to an existing file.  You should first instantiate a ``liblas::Reader`` 
        and fetch the ``liblas::Header`` from the file, and then create the 
        ``liblas::Writer`` with that header and the ofstream opened in append 
        mode.
        
        .. code-block:: cpp

            liblas::Header header = reader.GetHeader();

            std::ios::openmode m = std::ios::out | std::ios::in | std::ios::binary | std::ios::ate;
            ofs.open("file.las", m);
            liblas::Writer writer(ofs, header);
        

3. Create instance of ``liblas::Header`` class to define Public Header Block and set some values

    .. code-block:: cpp

        liblas::Header header;
        header.SetDataFormatId(liblas::ePointFormat1); // Time only
        
        // Set coordinate system using GDAL support
        liblas::SpatialReference srs;
        srs.SetFromUserInput("EPSG:4326");
        
        header.SetSRS(srs);
        
        // fill other header members


    .. note::
        Simply setting ``header.SetCompressed(true)`` on the header will be
        sufficient to output a compressed file when the ``liblas::Writer`` is
        created if `LASzip`_ support is enabled in libLAS, but it is up to the
        user to specify the proper file name extension, `.laz`, when writing the
        file.

    .. note:: 
        The default constructed header object can be used as perfectly valid
        header. It will define LAS file according to LAS 1.2 and Point Data Format
        3.

4. Create LAS file writer object attached to the output stream and the based
   on the header object.

    .. code-block:: cpp

     liblas::Writer writer(ofs, header);
     // here the header has been serialized to disk into the *file.las*

5. Write some point records

    .. code-block:: cpp

     liblas::Point point;
     point.SetCoordinates(10, 20, 30);
     // fill other properties of point record

     writer.WritePoint(point);



==============================================================================
Copying an .las file
==============================================================================

Below, two simple examples present how to rewrite content from one LAS file to
another, in two different ways.

--------------------------------------------------
Using interface of Reader and Writer classes
--------------------------------------------------

.. code-block:: cpp

 #include <liblas/lasreader.hpp>
 #include <liblas/laswriter.hpp>
 #include <exception>
 #include <iostream>
 
 int main()
 {
    try
    {
       std::ifstream ifs("input.las", ios::in | ios::binary);
       std::ofstream ofs("output.las", ios::out | ios::binary);

       liblas::Reader reader(ifs);
       liblas::Writer writer(ofs, reader.GetHeader());

       while (reader.ReadNextPoint())
       {
          writer.WritePoint(reader.GetPoint());
       }
    }
    catch (std::exception const& e)
    {
       std::cerr << "Error: " << e.what() << std::endl;
    }
 }

----------------------------------------------------
Using iterator classes defined for reader and writer
----------------------------------------------------

The library provides two `iterators <http://en.wikipedia.org/wiki/Iterator>`__
compatible with `iterator concept
<http://www.sgi.com/tech/stl/Iterators.html>`__ defined in `C++ Standard
Template Library <http://en.wikipedia.org/wiki/C%2B%2B_standard_library>`__.

* lasreader_iterator - (`input iterator
  <http://www.sgi.com/tech/stl/InputIterator.html>`__) used to read data from
  LAS file attached to Reader object
* laswriter_iterator - (`output iterator
  <http://www.sgi.com/tech/stl/OutputIterator.html>`__) used to write data into
  LAS file attached to Writer object.

.. code-block:: cpp

    #include <liblas/liblas.hpp>
    #include <algorithm>
    #include <exception>
    #include <iostream>
    
    using namespace liblas;

    int main()
    {
        try
        {
            std::ifstream ifs("input.las", std::ios::in | std::ios::binary);
            std::ofstream ofs("output.las", std::ios::out | std::ios::binary);

            Reader reader(ifs);
            Writer writer(ofs, reader.GetHeader());

            std::copy(lasreader_iterator(reader),  lasreader_iterator(),
                      laswriter_iterator(writer));
        }
        catch (std::exception const& e)
        {
            std::cerr << "Error: " << e.what() << std::endl;
        }
    }

==============================================================================
Creating a compressed .laz file from a .las file
==============================================================================

Using the `LASzip`_ library in combination with libLAS, you can write compressed 
data that will be much smaller in size than regular LAS data. Of course, there 
is some CPU cost to doing so, but its use can be a big win in the right situations.

The following example reads a file, `file.las`, and writes a file, `file.laz`, 
that is an exact copy of the file except for it contains compressed data.

.. code-block:: cpp

    #include <liblas/liblas.hpp>
    
    #include <fstream>  // std::ofstream
    #include <algorithm> // std::copy
    #include <exception> // std::exception
    
    int main()
    {
        try
        {
            std::ifstream ifs("file.las", std::ios::in | std::ios::binary);
            std::ofstream ofs("file.laz", std::ios::out | std::ios::binary);

            liblas::ReaderFactory f;
            liblas::Reader reader = f.CreateWithStream(ifs);

            liblas::Header header = reader.GetHeader();
            header.Compressed(true);
            
            liblas::Writer writer(ofs, header);

            std::copy(lasreader_iterator(reader),  lasreader_iterator(),
                      laswriter_iterator(writer));
        }
        catch (std::exception const& e)
        {
            std::cerr << "Error: " << e.what() << std::endl;
        }
    }


==============================================================================
Applying filters to a reader to extract specified classes
==============================================================================

The following example demonstrates how to use the built-in ClassificationFilter 
to filter for classes that match the specified values.  You can also provide 
your own filters by subclassing liblas::FilterI and providing a filter() 
function.  


.. note::
    Filters are applied in the order they are read from the vector that is
    given to the Reader/Writer in the SetFilters call.
 
.. code-block:: cpp

    #include <liblas/liblas.hpp>

    #include <vector>
    #include <iostream>

    class LastReturnFilter: public liblas::FilterI
    {
    public:    
        LastReturnFilter();
        bool filter(const liblas::Point& point);

    private:
        LastReturnFilter(LastReturnFilter const& other);
        LastReturnFilter& operator=(LastReturnFilter const& rhs);
    };

    LastReturnFilter::LastReturnFilter(  ) : liblas::FilterI(eInclusion) {}

    bool LastReturnFilter::filter(const liblas::Point& p)
    {
    
        // If the GetReturnNumber equals the GetNumberOfReturns,
        // we're a last return
        
        bool output = false; 
        if (p.GetReturnNumber() == p.GetNumberOfReturns()) 
        {
            output = true;
        } 

        // If the type is switched to eExclusion, we'll throw out all last returns.
        if (GetType() == eExclusion && output == true) 
        {
            output = false;
        } else {
            output = true;
        }
        return output;
    }

    int main(int argc, char* argv[])
    {
        std::ifstream ifs;

        if (argc < 3)
         {
            std::cerr << "not all arguments specified.  Usage: 'filter input.las output.las'" 
                      << std::endl;
            exit(1);        
        }
        
        std::string in_file(argv[1]);
        std::string out_file(argv[2]);
        
        if (!liblas::Open(ifs, in_file.c_str()))
        {
            std::cout << "Can not open file" << std::endl;;
            exit(1);
        }
        
        std::vector<liblas::uint8_t> classes;
        classes.push_back(2); // ground
        classes.push_back(9); // water
        classes.push_back(6); // building
    
        std::vector<liblas::FilterPtr> filters;
        liblas::FilterPtr class_filter = liblas::FilterPtr(new liblas::ClassificationFilter(classes));
    
        // eInclusion means to keep the classes that match.  eExclusion would 
        // throw out those that matched
        class_filter->SetType(liblas::FilterI::eInclusion);
        filters.push_back(class_filter);    
    
        liblas::FilterPtr return_filter = liblas::FilterPtr(new LastReturnFilter());
        filters.push_back(return_filter);

        liblas::ReaderFactory f;
        f.CreateWithStream(ifs);
        reader.SetFilters(&filters);

        std::ofstream ofs;
        if (!liblas::Create(ofs, out_file.c_str()))
        {
            std::cout <<std::string("Can not create \'") + out_file + "\'" << std::endl;;
            exit(1);
        }        
        liblas::Writer writer(ofs, reader.GetHeader());

        while (reader.ReadNextPoint())
        {
            liblas::Point const& p = reader.GetPoint(); 
            writer.WritePoint(p);  
        }
    }

.. _`unit tests package`: http://trac.liblas.org/browser/test/unit
.. _`LASzip`: http://laszip.org
.. _`GDAL`: http://gdal.org