├── .gitignore ├── .travis.yml ├── .vscode ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── LICENSE ├── README.md ├── build ├── border.jpg ├── borderAxis.jpg ├── config │ └── classtype.conf ├── ground.txt ├── test │ ├── write1.las │ ├── write2.las │ ├── write3.las │ └── write4.txt └── www │ ├── css │ ├── bootstrap-treeview.css │ └── webuploader.css │ ├── index.html │ ├── javascript │ ├── index.js │ ├── interaction.js │ ├── uilib │ │ ├── bootstrap-treeview.js │ │ ├── bootstrap │ │ │ ├── css │ │ │ │ ├── bootstrap-theme.css │ │ │ │ ├── bootstrap-theme.css.map │ │ │ │ ├── bootstrap-theme.min.css │ │ │ │ ├── bootstrap-theme.min.css.map │ │ │ │ ├── bootstrap.css │ │ │ │ ├── bootstrap.css.map │ │ │ │ ├── bootstrap.min.css │ │ │ │ └── bootstrap.min.css.map │ │ │ ├── fonts │ │ │ │ ├── glyphicons-halflings-regular.eot │ │ │ │ ├── glyphicons-halflings-regular.svg │ │ │ │ ├── glyphicons-halflings-regular.ttf │ │ │ │ ├── glyphicons-halflings-regular.woff │ │ │ │ └── glyphicons-halflings-regular.woff2 │ │ │ └── js │ │ │ │ ├── bootstrap.js │ │ │ │ ├── bootstrap.min.js │ │ │ │ └── npm.js │ │ ├── jquery-1.11.1.min.js │ │ └── webuploader │ │ │ ├── Uploader.swf │ │ │ ├── webuploader.css │ │ │ └── webuploader.min.js │ ├── upload.js │ └── useroperation.js │ ├── libs │ ├── Cesium │ │ ├── Assets │ │ │ ├── IAU2006_XYS │ │ │ │ ├── IAU2006_XYS_0.json │ │ │ │ ├── IAU2006_XYS_1.json │ │ │ │ ├── IAU2006_XYS_10.json │ │ │ │ ├── IAU2006_XYS_11.json │ │ │ │ ├── IAU2006_XYS_12.json │ │ │ │ ├── IAU2006_XYS_13.json │ │ │ │ ├── IAU2006_XYS_14.json │ │ │ │ ├── IAU2006_XYS_15.json │ │ │ │ ├── IAU2006_XYS_16.json │ │ │ │ ├── IAU2006_XYS_17.json │ │ │ │ ├── IAU2006_XYS_18.json │ │ │ │ ├── IAU2006_XYS_19.json │ │ │ │ ├── IAU2006_XYS_2.json │ │ │ │ ├── IAU2006_XYS_20.json │ │ │ │ ├── IAU2006_XYS_21.json │ │ │ │ ├── IAU2006_XYS_22.json │ │ │ │ ├── IAU2006_XYS_23.json │ │ │ │ ├── IAU2006_XYS_24.json │ │ │ │ ├── IAU2006_XYS_25.json │ │ │ │ ├── IAU2006_XYS_26.json │ │ │ │ ├── IAU2006_XYS_27.json │ │ │ │ ├── IAU2006_XYS_3.json │ │ │ │ ├── IAU2006_XYS_4.json │ │ │ │ ├── IAU2006_XYS_5.json │ │ │ │ ├── IAU2006_XYS_6.json │ │ │ │ ├── IAU2006_XYS_7.json │ │ │ │ ├── IAU2006_XYS_8.json │ │ │ │ └── IAU2006_XYS_9.json │ │ │ ├── Textures │ │ │ │ ├── NaturalEarthII │ │ │ │ │ ├── 0 │ │ │ │ │ │ ├── 0 │ │ │ │ │ │ │ └── 0.jpg │ │ │ │ │ │ └── 1 │ │ │ │ │ │ │ └── 0.jpg │ │ │ │ │ ├── 1 │ │ │ │ │ │ ├── 0 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ └── 1.jpg │ │ │ │ │ │ ├── 1 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ └── 1.jpg │ │ │ │ │ │ ├── 2 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ └── 1.jpg │ │ │ │ │ │ └── 3 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ └── 1.jpg │ │ │ │ │ ├── 2 │ │ │ │ │ │ ├── 0 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 1 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 2 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 3 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 4 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 5 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ ├── 6 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ │ └── 7 │ │ │ │ │ │ │ ├── 0.jpg │ │ │ │ │ │ │ ├── 1.jpg │ │ │ │ │ │ │ ├── 2.jpg │ │ │ │ │ │ │ └── 3.jpg │ │ │ │ │ └── tilemapresource.xml │ │ │ │ ├── SkyBox │ │ │ │ │ ├── tycho2t3_80_mx.jpg │ │ │ │ │ ├── tycho2t3_80_my.jpg │ │ │ │ │ ├── tycho2t3_80_mz.jpg │ │ │ │ │ ├── tycho2t3_80_px.jpg │ │ │ │ │ ├── tycho2t3_80_py.jpg │ │ │ │ │ └── tycho2t3_80_pz.jpg │ │ │ │ ├── maki │ │ │ │ │ ├── airfield.png │ │ │ │ │ ├── airport.png │ │ │ │ │ ├── alcohol-shop.png │ │ │ │ │ ├── america-football.png │ │ │ │ │ ├── art-gallery.png │ │ │ │ │ ├── bakery.png │ │ │ │ │ ├── bank.png │ │ │ │ │ ├── bar.png │ │ │ │ │ ├── baseball.png │ │ │ │ │ ├── basketball.png │ │ │ │ │ ├── beer.png │ │ │ │ │ ├── bicycle.png │ │ │ │ │ ├── building.png │ │ │ │ │ ├── bus.png │ │ │ │ │ ├── cafe.png │ │ │ │ │ ├── camera.png │ │ │ │ │ ├── campsite.png │ │ │ │ │ ├── car.png │ │ │ │ │ ├── cemetery.png │ │ │ │ │ ├── cesium.png │ │ │ │ │ ├── chemist.png │ │ │ │ │ ├── cinema.png │ │ │ │ │ ├── circle-stroked.png │ │ │ │ │ ├── circle.png │ │ │ │ │ ├── city.png │ │ │ │ │ ├── clothing-store.png │ │ │ │ │ ├── college.png │ │ │ │ │ ├── commercial.png │ │ │ │ │ ├── cricket.png │ │ │ │ │ ├── cross.png │ │ │ │ │ ├── dam.png │ │ │ │ │ ├── danger.png │ │ │ │ │ ├── disability.png │ │ │ │ │ ├── dog-park.png │ │ │ │ │ ├── embassy.png │ │ │ │ │ ├── emergency-telephone.png │ │ │ │ │ ├── entrance.png │ │ │ │ │ ├── farm.png │ │ │ │ │ ├── fast-food.png │ │ │ │ │ ├── ferry.png │ │ │ │ │ ├── fire-station.png │ │ │ │ │ ├── fuel.png │ │ │ │ │ ├── garden.png │ │ │ │ │ ├── gift.png │ │ │ │ │ ├── golf.png │ │ │ │ │ ├── grocery.png │ │ │ │ │ ├── hairdresser.png │ │ │ │ │ ├── harbor.png │ │ │ │ │ ├── heart.png │ │ │ │ │ ├── heliport.png │ │ │ │ │ ├── hospital.png │ │ │ │ │ ├── ice-cream.png │ │ │ │ │ ├── industrial.png │ │ │ │ │ ├── land-use.png │ │ │ │ │ ├── laundry.png │ │ │ │ │ ├── library.png │ │ │ │ │ ├── lighthouse.png │ │ │ │ │ ├── lodging.png │ │ │ │ │ ├── logging.png │ │ │ │ │ ├── london-underground.png │ │ │ │ │ ├── marker-stroked.png │ │ │ │ │ ├── marker.png │ │ │ │ │ ├── minefield.png │ │ │ │ │ ├── mobilephone.png │ │ │ │ │ ├── monument.png │ │ │ │ │ ├── museum.png │ │ │ │ │ ├── music.png │ │ │ │ │ ├── oil-well.png │ │ │ │ │ ├── park.png │ │ │ │ │ ├── park2.png │ │ │ │ │ ├── parking-garage.png │ │ │ │ │ ├── parking.png │ │ │ │ │ ├── pharmacy.png │ │ │ │ │ ├── pitch.png │ │ │ │ │ ├── place-of-worship.png │ │ │ │ │ ├── playground.png │ │ │ │ │ ├── police.png │ │ │ │ │ ├── polling-place.png │ │ │ │ │ ├── post.png │ │ │ │ │ ├── prison.png │ │ │ │ │ ├── rail-above.png │ │ │ │ │ ├── rail-light.png │ │ │ │ │ ├── rail-metro.png │ │ │ │ │ ├── rail-underground.png │ │ │ │ │ ├── rail.png │ │ │ │ │ ├── religious-christian.png │ │ │ │ │ ├── religious-jewish.png │ │ │ │ │ ├── religious-muslim.png │ │ │ │ │ ├── restaurant.png │ │ │ │ │ ├── roadblock.png │ │ │ │ │ ├── rocket.png │ │ │ │ │ ├── school.png │ │ │ │ │ ├── scooter.png │ │ │ │ │ ├── shop.png │ │ │ │ │ ├── skiing.png │ │ │ │ │ ├── slaughterhouse.png │ │ │ │ │ ├── soccer.png │ │ │ │ │ ├── square-stroked.png │ │ │ │ │ ├── square.png │ │ │ │ │ ├── star-stroked.png │ │ │ │ │ ├── star.png │ │ │ │ │ ├── suitcase.png │ │ │ │ │ ├── swimming.png │ │ │ │ │ ├── telephone.png │ │ │ │ │ ├── tennis.png │ │ │ │ │ ├── theatre.png │ │ │ │ │ ├── toilets.png │ │ │ │ │ ├── town-hall.png │ │ │ │ │ ├── town.png │ │ │ │ │ ├── triangle-stroked.png │ │ │ │ │ ├── triangle.png │ │ │ │ │ ├── village.png │ │ │ │ │ ├── warehouse.png │ │ │ │ │ ├── waste-basket.png │ │ │ │ │ ├── water.png │ │ │ │ │ ├── wetland.png │ │ │ │ │ └── zoo.png │ │ │ │ ├── moonSmall.jpg │ │ │ │ ├── pin.svg │ │ │ │ ├── waterNormals.jpg │ │ │ │ └── waterNormalsSmall.jpg │ │ │ └── approximateTerrainHeights.json │ │ ├── Cesium.js │ │ ├── LICENSE.md │ │ ├── README.md │ │ ├── ThirdParty │ │ │ └── Workers │ │ │ │ ├── deflate.js │ │ │ │ └── inflate.js │ │ ├── Widgets │ │ │ ├── Animation │ │ │ │ ├── Animation.css │ │ │ │ └── lighter.css │ │ │ ├── BaseLayerPicker │ │ │ │ ├── BaseLayerPicker.css │ │ │ │ └── lighter.css │ │ │ ├── Cesium3DTilesInspector │ │ │ │ └── Cesium3DTilesInspector.css │ │ │ ├── CesiumInspector │ │ │ │ └── CesiumInspector.css │ │ │ ├── CesiumWidget │ │ │ │ ├── CesiumWidget.css │ │ │ │ └── lighter.css │ │ │ ├── FullscreenButton │ │ │ │ └── FullscreenButton.css │ │ │ ├── Geocoder │ │ │ │ ├── Geocoder.css │ │ │ │ └── lighter.css │ │ │ ├── Images │ │ │ │ ├── ImageryProviders │ │ │ │ │ ├── bingAerial.png │ │ │ │ │ ├── bingAerialLabels.png │ │ │ │ │ ├── bingRoads.png │ │ │ │ │ ├── blackMarble.png │ │ │ │ │ ├── esriNationalGeographic.png │ │ │ │ │ ├── esriWorldImagery.png │ │ │ │ │ ├── esriWorldStreetMap.png │ │ │ │ │ ├── mapQuestOpenStreetMap.png │ │ │ │ │ ├── mapboxSatellite.png │ │ │ │ │ ├── mapboxStreets.png │ │ │ │ │ ├── mapboxTerrain.png │ │ │ │ │ ├── naturalEarthII.png │ │ │ │ │ ├── openStreetMap.png │ │ │ │ │ ├── stamenToner.png │ │ │ │ │ └── stamenWatercolor.png │ │ │ │ ├── NavigationHelp │ │ │ │ │ ├── Mouse.svg │ │ │ │ │ ├── MouseLeft.svg │ │ │ │ │ ├── MouseMiddle.svg │ │ │ │ │ ├── MouseRight.svg │ │ │ │ │ ├── Touch.svg │ │ │ │ │ ├── TouchDrag.svg │ │ │ │ │ ├── TouchRotate.svg │ │ │ │ │ ├── TouchTilt.svg │ │ │ │ │ └── TouchZoom.svg │ │ │ │ ├── TerrainProviders │ │ │ │ │ ├── Ellipsoid.png │ │ │ │ │ └── STK.png │ │ │ │ ├── TimelineIcons.png │ │ │ │ └── info-loading.gif │ │ │ ├── InfoBox │ │ │ │ ├── InfoBox.css │ │ │ │ └── InfoBoxDescription.css │ │ │ ├── NavigationHelpButton │ │ │ │ ├── NavigationHelpButton.css │ │ │ │ └── lighter.css │ │ │ ├── PerformanceWatchdog │ │ │ │ └── PerformanceWatchdog.css │ │ │ ├── ProjectionPicker │ │ │ │ └── ProjectionPicker.css │ │ │ ├── SceneModePicker │ │ │ │ └── SceneModePicker.css │ │ │ ├── SelectionIndicator │ │ │ │ └── SelectionIndicator.css │ │ │ ├── Timeline │ │ │ │ ├── Timeline.css │ │ │ │ └── lighter.css │ │ │ ├── VRButton │ │ │ │ └── VRButton.css │ │ │ ├── Viewer │ │ │ │ └── Viewer.css │ │ │ ├── lighter.css │ │ │ ├── lighterShared.css │ │ │ ├── shared.css │ │ │ └── widgets.css │ │ └── Workers │ │ │ ├── cesiumWorkerBootstrapper.js │ │ │ ├── combineGeometry.js │ │ │ ├── createBoxGeometry.js │ │ │ ├── createBoxOutlineGeometry.js │ │ │ ├── createCircleGeometry.js │ │ │ ├── createCircleOutlineGeometry.js │ │ │ ├── createCorridorGeometry.js │ │ │ ├── createCorridorOutlineGeometry.js │ │ │ ├── createCylinderGeometry.js │ │ │ ├── createCylinderOutlineGeometry.js │ │ │ ├── createEllipseGeometry.js │ │ │ ├── createEllipseOutlineGeometry.js │ │ │ ├── createEllipsoidGeometry.js │ │ │ ├── createEllipsoidOutlineGeometry.js │ │ │ ├── createFrustumGeometry.js │ │ │ ├── createFrustumOutlineGeometry.js │ │ │ ├── createGeometry.js │ │ │ ├── createPolygonGeometry.js │ │ │ ├── createPolygonOutlineGeometry.js │ │ │ ├── createPolylineGeometry.js │ │ │ ├── createPolylineVolumeGeometry.js │ │ │ ├── createPolylineVolumeOutlineGeometry.js │ │ │ ├── createRectangleGeometry.js │ │ │ ├── createRectangleOutlineGeometry.js │ │ │ ├── createSimplePolylineGeometry.js │ │ │ ├── createSphereGeometry.js │ │ │ ├── createSphereOutlineGeometry.js │ │ │ ├── createVerticesFromGoogleEarthEnterpriseBuffer.js │ │ │ ├── createVerticesFromHeightmap.js │ │ │ ├── createVerticesFromQuantizedTerrainMesh.js │ │ │ ├── createWallGeometry.js │ │ │ ├── createWallOutlineGeometry.js │ │ │ ├── decodeGoogleEarthEnterprisePacket.js │ │ │ ├── transcodeCRNToDXT.js │ │ │ ├── transferTypedArrayTest.js │ │ │ └── upsampleQuantizedTerrainMesh.js │ ├── MeshLine │ │ ├── LICENSE │ │ ├── README.md │ │ └── src │ │ │ └── THREE.MeshLine.js │ ├── d3 │ │ ├── LICENSE │ │ ├── d3.js │ │ └── d3.min.js │ ├── i18next │ │ └── i18next.js │ ├── jquery-ui │ │ ├── AUTHORS.txt │ │ ├── LICENSE.txt │ │ ├── images │ │ │ ├── ui-icons_444444_256x240.png │ │ │ ├── ui-icons_555555_256x240.png │ │ │ ├── ui-icons_777620_256x240.png │ │ │ ├── ui-icons_777777_256x240.png │ │ │ ├── ui-icons_cc0000_256x240.png │ │ │ └── ui-icons_ffffff_256x240.png │ │ ├── index.html │ │ ├── jquery-ui.css │ │ ├── jquery-ui.min.css │ │ ├── jquery-ui.min.js │ │ ├── jquery-ui.structure.css │ │ ├── jquery-ui.structure.min.css │ │ ├── jquery-ui.theme.css │ │ ├── jquery-ui.theme.min.css │ │ └── package.json │ ├── jquery │ │ ├── jquery-3.1.1.js │ │ └── jquery-3.1.1.min.js │ ├── jstree │ │ ├── LICENSE-MIT │ │ ├── README.md │ │ ├── jstree.js │ │ ├── jstree.min.js │ │ └── themes │ │ │ └── mixed │ │ │ ├── 32px.png │ │ │ ├── 40px.png │ │ │ ├── style.css │ │ │ ├── style.min.css │ │ │ └── throbber.gif │ ├── openlayers3 │ │ ├── LICENSE │ │ ├── ol-deps.js │ │ ├── ol.css │ │ └── ol.js │ ├── other │ │ ├── BinaryHeap.js │ │ ├── OBJLoader.js │ │ ├── OrbitControls.js │ │ ├── PLYLoader.js │ │ ├── dat.gui.min.js │ │ ├── stats.js │ │ ├── stats.min.js │ │ └── webgl-debug.js │ ├── perfect-scrollbar │ │ ├── css │ │ │ ├── perfect-scrollbar.css │ │ │ └── perfect-scrollbar.min.css │ │ └── js │ │ │ ├── perfect-scrollbar.jquery.js │ │ │ ├── perfect-scrollbar.jquery.min.js │ │ │ ├── perfect-scrollbar.js │ │ │ └── perfect-scrollbar.min.js │ ├── plasio │ │ ├── LICENSE │ │ ├── js │ │ │ └── laslaz.js │ │ ├── vendor │ │ │ └── bluebird.js │ │ └── workers │ │ │ ├── laz-loader-worker.js │ │ │ └── laz-perf.js │ ├── potree │ │ ├── LICENSE │ │ ├── potree.css │ │ ├── potree.js │ │ ├── profile.html │ │ ├── resources │ │ │ ├── LICENSE │ │ │ ├── icons │ │ │ │ ├── angle.png │ │ │ │ ├── annotation.svg │ │ │ │ ├── area.svg │ │ │ │ ├── area_backup.svg │ │ │ │ ├── back.svg │ │ │ │ ├── bottom.svg │ │ │ │ ├── calculate.svg │ │ │ │ ├── clip-plane-x.svg │ │ │ │ ├── clip-plane-y.svg │ │ │ │ ├── clip-plane-z.svg │ │ │ │ ├── clip-polygon.svg │ │ │ │ ├── clip-screen.svg │ │ │ │ ├── clip_volume.svg │ │ │ │ ├── close.svg │ │ │ │ ├── cloud.svg │ │ │ │ ├── copy.svg │ │ │ │ ├── distance.svg │ │ │ │ ├── earth_controls.png │ │ │ │ ├── earth_controls.svg │ │ │ │ ├── earth_controls_1.png │ │ │ │ ├── eye.svg │ │ │ │ ├── eye_2.png │ │ │ │ ├── eye_2.svg │ │ │ │ ├── eye_crossed.svg │ │ │ │ ├── file_csv_2d.svg │ │ │ │ ├── file_dxf.svg │ │ │ │ ├── file_geojson.svg │ │ │ │ ├── file_las_3d.svg │ │ │ │ ├── flip_y_z.png │ │ │ │ ├── flip_y_z.svg │ │ │ │ ├── focus.svg │ │ │ │ ├── fps_controls.png │ │ │ │ ├── fps_controls.svg │ │ │ │ ├── front.svg │ │ │ │ ├── goto.svg │ │ │ │ ├── gradients_grayscale.png │ │ │ │ ├── gradients_plasma.png │ │ │ │ ├── gradients_rainbow.png │ │ │ │ ├── gradients_spectral.png │ │ │ │ ├── gradients_yellow_green.png │ │ │ │ ├── height.svg │ │ │ │ ├── helicopter_controls.svg │ │ │ │ ├── image_preview.php │ │ │ │ ├── index.html │ │ │ │ ├── left.svg │ │ │ │ ├── map_icon.png │ │ │ │ ├── menu_button.svg │ │ │ │ ├── menu_icon.svg │ │ │ │ ├── navigation_cube.svg │ │ │ │ ├── orbit_controls.svg │ │ │ │ ├── orthographic-camera.svg │ │ │ │ ├── perspective-camera.svg │ │ │ │ ├── point.svg │ │ │ │ ├── profile.png │ │ │ │ ├── profile.svg │ │ │ │ ├── remove.svg │ │ │ │ ├── reset_tools.svg │ │ │ │ ├── return_number.svg │ │ │ │ ├── rgb.png │ │ │ │ ├── rgb.svg │ │ │ │ ├── rgb_elevation.png │ │ │ │ ├── right.svg │ │ │ │ ├── rotate.svg │ │ │ │ ├── scale.svg │ │ │ │ ├── sphere.png │ │ │ │ ├── sphere.svg │ │ │ │ ├── target.svg │ │ │ │ ├── top.svg │ │ │ │ ├── translate.svg │ │ │ │ ├── triangle.svg │ │ │ │ ├── volume.svg │ │ │ │ └── withdraw.svg │ │ │ ├── images │ │ │ │ └── child_indices.svg │ │ │ ├── lang │ │ │ │ ├── de │ │ │ │ │ └── translation.json │ │ │ │ ├── dev │ │ │ │ │ ├── ns.common.json │ │ │ │ │ ├── ns.special.json │ │ │ │ │ └── translation.json │ │ │ │ ├── en-US │ │ │ │ │ ├── ns.common.json │ │ │ │ │ ├── ns.special.json │ │ │ │ │ └── translation.json │ │ │ │ ├── en │ │ │ │ │ ├── ns.common.json │ │ │ │ │ ├── ns.special.json │ │ │ │ │ └── translation.json │ │ │ │ ├── fr │ │ │ │ │ └── translation.json │ │ │ │ ├── jp │ │ │ │ │ └── translation.json │ │ │ │ └── zh │ │ │ │ │ └── translation.json │ │ │ ├── logo.png │ │ │ ├── logo.svg │ │ │ ├── logo_small.png │ │ │ ├── models │ │ │ │ ├── stanford_bunny_reduced.mtl │ │ │ │ └── stanford_bunny_reduced.ply │ │ │ ├── shapefiles │ │ │ │ ├── south_sorvilier.dbf │ │ │ │ └── south_sorvilier.shp │ │ │ └── textures │ │ │ │ ├── LICENSE │ │ │ │ ├── brick_pavement.jpg │ │ │ │ ├── navigation │ │ │ │ ├── B.png │ │ │ │ ├── D.png │ │ │ │ ├── F.png │ │ │ │ ├── L.png │ │ │ │ ├── R.png │ │ │ │ └── U.png │ │ │ │ ├── skybox │ │ │ │ ├── nx.jpg │ │ │ │ ├── ny.jpg │ │ │ │ ├── nz.jpg │ │ │ │ ├── px.jpg │ │ │ │ ├── py.jpg │ │ │ │ ├── pz.jpg │ │ │ │ └── skyboxsun25degtest.txt │ │ │ │ ├── skybox2 │ │ │ │ ├── README.TXT │ │ │ │ ├── nx.jpg │ │ │ │ ├── ny.jpg │ │ │ │ ├── nz.jpg │ │ │ │ ├── px.jpg │ │ │ │ ├── py.jpg │ │ │ │ └── pz.jpg │ │ │ │ └── skyboxsun25degtest.txt │ │ ├── sidebar.html │ │ └── workers │ │ │ ├── BinaryDecoderWorker.js │ │ │ ├── GreyhoundBinaryDecoderWorker.js │ │ │ ├── LASDecoderWorker.js │ │ │ └── LASLAZWorker.js │ ├── proj4 │ │ ├── LICENSE.md │ │ ├── README.md │ │ └── proj4.js │ ├── shapefile │ │ └── shapefile.js │ ├── spectrum │ │ ├── LICENSE │ │ ├── README.md │ │ ├── spectrum.css │ │ └── spectrum.js │ ├── three.js │ │ ├── LICENSE │ │ ├── README.md │ │ └── build │ │ │ ├── three.js │ │ │ └── three.min.js │ └── tween │ │ ├── LICENSE.txt │ │ ├── README.txt │ │ ├── Tween.js │ │ └── tween.min.js │ └── resources │ ├── loading.gif │ └── loading.svg ├── enviroment.bash ├── library ├── Eigen │ ├── Cholesky │ ├── CholmodSupport │ ├── Core │ ├── Dense │ ├── Eigen │ ├── Eigenvalues │ ├── Geometry │ ├── Householder │ ├── IterativeLinearSolvers │ ├── Jacobi │ ├── LU │ ├── MetisSupport │ ├── OrderingMethods │ ├── PaStiXSupport │ ├── PardisoSupport │ ├── QR │ ├── QtAlignedMalloc │ ├── SPQRSupport │ ├── SVD │ ├── Sparse │ ├── SparseCholesky │ ├── SparseCore │ ├── SparseLU │ ├── SparseQR │ ├── StdDeque │ ├── StdList │ ├── StdVector │ ├── SuperLUSupport │ ├── UmfPackSupport │ └── src │ │ ├── Cholesky │ │ ├── LDLT.h │ │ ├── LLT.h │ │ └── LLT_LAPACKE.h │ │ ├── CholmodSupport │ │ └── CholmodSupport.h │ │ ├── Core │ │ ├── Array.h │ │ ├── ArrayBase.h │ │ ├── ArrayWrapper.h │ │ ├── Assign.h │ │ ├── AssignEvaluator.h │ │ ├── Assign_MKL.h │ │ ├── BandMatrix.h │ │ ├── Block.h │ │ ├── BooleanRedux.h │ │ ├── CommaInitializer.h │ │ ├── ConditionEstimator.h │ │ ├── CoreEvaluators.h │ │ ├── CoreIterators.h │ │ ├── CwiseBinaryOp.h │ │ ├── CwiseNullaryOp.h │ │ ├── CwiseTernaryOp.h │ │ ├── CwiseUnaryOp.h │ │ ├── CwiseUnaryView.h │ │ ├── DenseBase.h │ │ ├── DenseCoeffsBase.h │ │ ├── DenseStorage.h │ │ ├── Diagonal.h │ │ ├── DiagonalMatrix.h │ │ ├── DiagonalProduct.h │ │ ├── Dot.h │ │ ├── EigenBase.h │ │ ├── ForceAlignedAccess.h │ │ ├── Fuzzy.h │ │ ├── GeneralProduct.h │ │ ├── GenericPacketMath.h │ │ ├── GlobalFunctions.h │ │ ├── IO.h │ │ ├── Inverse.h │ │ ├── Map.h │ │ ├── MapBase.h │ │ ├── MathFunctions.h │ │ ├── MathFunctionsImpl.h │ │ ├── Matrix.h │ │ ├── MatrixBase.h │ │ ├── NestByValue.h │ │ ├── NoAlias.h │ │ ├── NumTraits.h │ │ ├── PermutationMatrix.h │ │ ├── PlainObjectBase.h │ │ ├── Product.h │ │ ├── ProductEvaluators.h │ │ ├── Random.h │ │ ├── Redux.h │ │ ├── Ref.h │ │ ├── Replicate.h │ │ ├── ReturnByValue.h │ │ ├── Reverse.h │ │ ├── Select.h │ │ ├── SelfAdjointView.h │ │ ├── SelfCwiseBinaryOp.h │ │ ├── Solve.h │ │ ├── SolveTriangular.h │ │ ├── SolverBase.h │ │ ├── StableNorm.h │ │ ├── Stride.h │ │ ├── Swap.h │ │ ├── Transpose.h │ │ ├── Transpositions.h │ │ ├── TriangularMatrix.h │ │ ├── VectorBlock.h │ │ ├── VectorwiseOp.h │ │ ├── Visitor.h │ │ ├── arch │ │ │ ├── AVX │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ ├── AVX512 │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── AltiVec │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── CUDA │ │ │ │ ├── Complex.h │ │ │ │ ├── Half.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ ├── PacketMathHalf.h │ │ │ │ └── TypeCasting.h │ │ │ ├── Default │ │ │ │ └── Settings.h │ │ │ ├── NEON │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ │ ├── SSE │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── PacketMath.h │ │ │ │ └── TypeCasting.h │ │ │ └── ZVector │ │ │ │ ├── Complex.h │ │ │ │ ├── MathFunctions.h │ │ │ │ └── PacketMath.h │ │ ├── functors │ │ │ ├── AssignmentFunctors.h │ │ │ ├── BinaryFunctors.h │ │ │ ├── NullaryFunctors.h │ │ │ ├── StlFunctors.h │ │ │ ├── TernaryFunctors.h │ │ │ └── UnaryFunctors.h │ │ ├── products │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ ├── GeneralMatrixMatrix.h │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ ├── GeneralMatrixVector.h │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ ├── Parallelizer.h │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ ├── SelfadjointMatrixVector.h │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ ├── SelfadjointProduct.h │ │ │ ├── SelfadjointRank2Update.h │ │ │ ├── TriangularMatrixMatrix.h │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ ├── TriangularMatrixVector.h │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ ├── TriangularSolverMatrix.h │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ └── TriangularSolverVector.h │ │ └── util │ │ │ ├── BlasUtil.h │ │ │ ├── Constants.h │ │ │ ├── DisableStupidWarnings.h │ │ │ ├── ForwardDeclarations.h │ │ │ ├── MKL_support.h │ │ │ ├── Macros.h │ │ │ ├── Memory.h │ │ │ ├── Meta.h │ │ │ ├── NonMPL2.h │ │ │ ├── ReenableStupidWarnings.h │ │ │ ├── StaticAssert.h │ │ │ └── XprHelper.h │ │ ├── Eigenvalues │ │ ├── ComplexEigenSolver.h │ │ ├── ComplexSchur.h │ │ ├── ComplexSchur_LAPACKE.h │ │ ├── EigenSolver.h │ │ ├── GeneralizedEigenSolver.h │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ ├── HessenbergDecomposition.h │ │ ├── MatrixBaseEigenvalues.h │ │ ├── RealQZ.h │ │ ├── RealSchur.h │ │ ├── RealSchur_LAPACKE.h │ │ ├── SelfAdjointEigenSolver.h │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ └── Tridiagonalization.h │ │ ├── Geometry │ │ ├── AlignedBox.h │ │ ├── AngleAxis.h │ │ ├── EulerAngles.h │ │ ├── Homogeneous.h │ │ ├── Hyperplane.h │ │ ├── OrthoMethods.h │ │ ├── ParametrizedLine.h │ │ ├── Quaternion.h │ │ ├── Rotation2D.h │ │ ├── RotationBase.h │ │ ├── Scaling.h │ │ ├── Transform.h │ │ ├── Translation.h │ │ ├── Umeyama.h │ │ └── arch │ │ │ └── Geometry_SSE.h │ │ ├── Householder │ │ ├── BlockHouseholder.h │ │ ├── Householder.h │ │ └── HouseholderSequence.h │ │ ├── IterativeLinearSolvers │ │ ├── BasicPreconditioners.h │ │ ├── BiCGSTAB.h │ │ ├── ConjugateGradient.h │ │ ├── IncompleteCholesky.h │ │ ├── IncompleteLUT.h │ │ ├── IterativeSolverBase.h │ │ ├── LeastSquareConjugateGradient.h │ │ └── SolveWithGuess.h │ │ ├── Jacobi │ │ └── Jacobi.h │ │ ├── LU │ │ ├── Determinant.h │ │ ├── FullPivLU.h │ │ ├── InverseImpl.h │ │ ├── PartialPivLU.h │ │ ├── PartialPivLU_LAPACKE.h │ │ └── arch │ │ │ └── Inverse_SSE.h │ │ ├── MetisSupport │ │ └── MetisSupport.h │ │ ├── OrderingMethods │ │ ├── Amd.h │ │ ├── Eigen_Colamd.h │ │ └── Ordering.h │ │ ├── PaStiXSupport │ │ └── PaStiXSupport.h │ │ ├── PardisoSupport │ │ └── PardisoSupport.h │ │ ├── QR │ │ ├── ColPivHouseholderQR.h │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ ├── CompleteOrthogonalDecomposition.h │ │ ├── FullPivHouseholderQR.h │ │ ├── HouseholderQR.h │ │ └── HouseholderQR_LAPACKE.h │ │ ├── SPQRSupport │ │ └── SuiteSparseQRSupport.h │ │ ├── SVD │ │ ├── BDCSVD.h │ │ ├── JacobiSVD.h │ │ ├── JacobiSVD_LAPACKE.h │ │ ├── SVDBase.h │ │ └── UpperBidiagonalization.h │ │ ├── SparseCholesky │ │ ├── SimplicialCholesky.h │ │ └── SimplicialCholesky_impl.h │ │ ├── SparseCore │ │ ├── AmbiVector.h │ │ ├── CompressedStorage.h │ │ ├── ConservativeSparseSparseProduct.h │ │ ├── MappedSparseMatrix.h │ │ ├── SparseAssign.h │ │ ├── SparseBlock.h │ │ ├── SparseColEtree.h │ │ ├── SparseCompressedBase.h │ │ ├── SparseCwiseBinaryOp.h │ │ ├── SparseCwiseUnaryOp.h │ │ ├── SparseDenseProduct.h │ │ ├── SparseDiagonalProduct.h │ │ ├── SparseDot.h │ │ ├── SparseFuzzy.h │ │ ├── SparseMap.h │ │ ├── SparseMatrix.h │ │ ├── SparseMatrixBase.h │ │ ├── SparsePermutation.h │ │ ├── SparseProduct.h │ │ ├── SparseRedux.h │ │ ├── SparseRef.h │ │ ├── SparseSelfAdjointView.h │ │ ├── SparseSolverBase.h │ │ ├── SparseSparseProductWithPruning.h │ │ ├── SparseTranspose.h │ │ ├── SparseTriangularView.h │ │ ├── SparseUtil.h │ │ ├── SparseVector.h │ │ ├── SparseView.h │ │ └── TriangularSolver.h │ │ ├── SparseLU │ │ ├── SparseLU.h │ │ ├── SparseLUImpl.h │ │ ├── SparseLU_Memory.h │ │ ├── SparseLU_Structs.h │ │ ├── SparseLU_SupernodalMatrix.h │ │ ├── SparseLU_Utils.h │ │ ├── SparseLU_column_bmod.h │ │ ├── SparseLU_column_dfs.h │ │ ├── SparseLU_copy_to_ucol.h │ │ ├── SparseLU_gemm_kernel.h │ │ ├── SparseLU_heap_relax_snode.h │ │ ├── SparseLU_kernel_bmod.h │ │ ├── SparseLU_panel_bmod.h │ │ ├── SparseLU_panel_dfs.h │ │ ├── SparseLU_pivotL.h │ │ ├── SparseLU_pruneL.h │ │ └── SparseLU_relax_snode.h │ │ ├── SparseQR │ │ └── SparseQR.h │ │ ├── StlSupport │ │ ├── StdDeque.h │ │ ├── StdList.h │ │ ├── StdVector.h │ │ └── details.h │ │ ├── SuperLUSupport │ │ └── SuperLUSupport.h │ │ ├── UmfPackSupport │ │ └── UmfPackSupport.h │ │ ├── misc │ │ ├── Image.h │ │ ├── Kernel.h │ │ ├── RealSvd2x2.h │ │ ├── blas.h │ │ ├── lapack.h │ │ ├── lapacke.h │ │ └── lapacke_mangling.h │ │ └── plugins │ │ ├── ArrayCwiseBinaryOps.h │ │ ├── ArrayCwiseUnaryOps.h │ │ ├── BlockMethods.h │ │ ├── CommonCwiseBinaryOps.h │ │ ├── CommonCwiseUnaryOps.h │ │ ├── MatrixCwiseBinaryOps.h │ │ └── MatrixCwiseUnaryOps.h ├── LASzip-master.zip └── libLAS-master.zip └── src ├── .vscode └── settings.json ├── CMakeLists.txt ├── LidarAlgorithm ├── CMakeLists.txt ├── LASColorMap.cpp ├── LASColorMap.h ├── LASDangerPoints.cpp ├── LASDangerPoints.h ├── LASFilter.cpp ├── LASFilter.h ├── LASProfile.cpp ├── LASProfile.h ├── LASSimpleClassify.cpp ├── LASSimpleClassify.h ├── LASSkeleton.cpp ├── LASSkeleton.h ├── PointProcAlgorithm.cpp ├── PointProcAlgorithm.h ├── WorkingConditionSimulation.cpp └── WorkingConditionSimulation.h ├── LidarBase ├── CMakeLists.txt ├── LASHeader.cpp ├── LASHeader.h ├── LASPoint.cpp ├── LASPoint.h ├── LASReader.cpp ├── LASReader.h ├── LASReceive.cpp └── LASReceive.h ├── LidarGeometry ├── CMakeLists.txt ├── Geometry.h ├── GeometryAlgorithm.cpp ├── GeometryAlgorithm.h ├── GeometryFlann.h ├── RTree.hpp ├── tsmToUTM.cpp └── tsmToUTM.h ├── LidarPCLAlgorithm ├── CMakeLists.txt ├── LidarFeaturePoints.cpp ├── LidarFeaturePoints.h ├── LidarFilterPCL.cpp ├── LidarFilterPCL.h ├── LidarRegistration.cpp └── LidarRegistration.h ├── LidarPotreeCvt ├── CMakeLists.txt ├── include │ ├── AABB.h │ ├── BINPointReader.hpp │ ├── BINPointWriter.hpp │ ├── CloudJS.hpp │ ├── GridCell.h │ ├── GridIndex.h │ ├── LASPointReader.h │ ├── LASPointWriter.hpp │ ├── PTXPointReader.h │ ├── PlyPointReader.h │ ├── Point.h │ ├── PointAttributes.hpp │ ├── PointReader.h │ ├── PointWriter.hpp │ ├── PotreeConverter.h │ ├── PotreeException.h │ ├── PotreeWriter.h │ ├── SparseGrid.h │ ├── Vector3.h │ ├── XYZPointReader.hpp │ ├── definitions.hpp │ └── stuff.h ├── lib │ ├── CMakeLists.txt │ ├── arguments │ │ └── arguments.hpp │ └── rapidjson │ │ ├── include │ │ └── rapidjson │ │ │ ├── allocators.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ ├── license.txt │ │ └── readme.md └── src │ ├── BINPointReader.cpp │ ├── GridCell.cpp │ ├── LASPointReader.cpp │ ├── LASPointWriter.cpp │ ├── PTXPointReader.cpp │ ├── PointAttributes.cpp │ ├── PotreeConverter.cpp │ ├── PotreeWriter.cpp │ ├── SparseGrid.cpp │ └── stuff.cpp ├── LidarProc.cpp ├── LidarResearch ├── CMakeLists.txt ├── LASFormatTransform.cpp ├── LASFormatTransform.h ├── LASModel.cpp ├── LASModel.h ├── LASTowerClassify.cpp └── LASTowerClassify.h ├── LidarServer.cpp ├── LidarService ├── CMakeLists.txt ├── LidarController.cpp ├── LidarController.h └── httplib.h ├── LidarUnitTest.cpp ├── LidarUnitTest ├── LidarAlgorithmTest.cpp ├── LidarBaseTest.cpp └── LidarUtilTest.cpp ├── LidarUtil ├── CMakeLists.txt ├── FileHelper.cpp ├── FileHelper.h ├── Simulation.cpp ├── Simulation.h ├── json.hpp ├── json_basic.hpp ├── json_exception.hpp ├── json_iterator.hpp ├── json_parser.hpp ├── json_serializer.hpp ├── json_value.hpp ├── tinyxml2.cpp └── tinyxml2.h └── config └── classtype.txt /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | 34 | #others 35 | *.pptx 36 | 37 | #building files 38 | /build/CMake* 39 | /build/Lidar* 40 | /build/cmake* 41 | /build/Makefile 42 | /build/data 43 | /build/www/pointclouds/ 44 | /data 45 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: cpp 2 | sudo: required 3 | 4 | matrix: 5 | include: 6 | - os: linux 7 | dist: bionic 8 | compiler: gcc 9 | 10 | addons: 11 | apt: 12 | packages: 13 | - git 14 | - mercurial 15 | - cmake 16 | before_script: 17 | - sudo chmod +777 enviroment.bash 18 | - ./enviroment.bash 19 | - cd build 20 | - cmake ../src/ 21 | 22 | script: 23 | - make -j4 -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Linux", 5 | "includePath": [ 6 | "${workspaceFolder}/**" 7 | ], 8 | "defines": [], 9 | "compilerPath": "/usr/bin/gcc", 10 | "cStandard": "c11", 11 | "cppStandard": "c++17", 12 | "intelliSenseMode": "clang-x64" 13 | } 14 | ], 15 | "version": 4 16 | } -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | // 使用 IntelliSense 了解相关属性。 3 | // 悬停以查看现有属性的描述。 4 | // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 5 | "version": "0.2.0", 6 | "configurations": [ 7 | { 8 | "name": "g++ - 生成和调试活动文件", 9 | "type": "cppdbg", 10 | "request": "launch", 11 | "program": "${fileDirname}/${fileBasenameNoExtension}", 12 | "args": [], 13 | "stopAtEntry": false, 14 | "cwd": "${workspaceFolder}", 15 | "environment": [], 16 | "externalConsole": false, 17 | "MIMode": "gdb", 18 | "setupCommands": [ 19 | { 20 | "description": "为 gdb 启用整齐打印", 21 | "text": "-enable-pretty-printing", 22 | "ignoreFailures": true 23 | } 24 | ], 25 | "preLaunchTask": "g++ build active file", 26 | "miDebuggerPath": "/usr/bin/gdb" 27 | } 28 | ] 29 | } -------------------------------------------------------------------------------- /.vscode/tasks.json: -------------------------------------------------------------------------------- 1 | { 2 | "tasks": [ 3 | { 4 | "type": "shell", 5 | "label": "g++ build active file", 6 | "command": "/usr/bin/g++", 7 | "args": [ 8 | "-g", 9 | "${file}", 10 | "-o", 11 | "${fileDirname}/${fileBasenameNoExtension}" 12 | ], 13 | "options": { 14 | "cwd": "/usr/bin" 15 | } 16 | } 17 | ], 18 | "version": "2.0.0" 19 | } -------------------------------------------------------------------------------- /build/border.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/border.jpg -------------------------------------------------------------------------------- /build/borderAxis.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/borderAxis.jpg -------------------------------------------------------------------------------- /build/config/classtype.conf: -------------------------------------------------------------------------------- 1 | -1, deleted 2 | 0, never classified 3 | 1, unclassified 4 | 0, never classified 5 | 1, unclassified 6 | 2, ground 7 | 3, low vegetation 8 | 4, medium vegetation 9 | 5, high vegetation 10 | 6, building 11 | 8, key-point 12 | 9, water 13 | 12, overlap 14 | 13, danger points 15 | 24, tower range 16 | 27, drive way 17 | 30, falling tree 18 | 35, power line 19 | 36, vegetation -------------------------------------------------------------------------------- /build/test/write1.las: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/test/write1.las -------------------------------------------------------------------------------- /build/test/write2.las: 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-------------------------------------------------------------------------------- 1 | /* ========================================================= 2 | * bootstrap-treeview.css v1.2.0 3 | * ========================================================= 4 | * Copyright 2013 Jonathan Miles 5 | * Project URL : http://www.jondmiles.com/bootstrap-treeview 6 | * 7 | * Licensed under the Apache License, Version 2.0 (the "License"); 8 | * you may not use this file except in compliance with the License. 9 | * You may obtain a copy of the License at 10 | * 11 | * http://www.apache.org/licenses/LICENSE-2.0 12 | * 13 | * Unless required by applicable law or agreed to in writing, software 14 | * distributed under the License is distributed on an "AS IS" BASIS, 15 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 16 | * See the License for the specific language governing permissions and 17 | * limitations under the License. 18 | * ========================================================= */ 19 | 20 | .treeview .list-group-item { 21 | cursor: pointer; 22 | } 23 | 24 | .treeview span.indent { 25 | margin-left: 10px; 26 | margin-right: 10px; 27 | } 28 | 29 | .treeview span.icon { 30 | width: 12px; 31 | margin-right: 5px; 32 | } 33 | 34 | .treeview .node-disabled { 35 | color: silver; 36 | cursor: not-allowed; 37 | } -------------------------------------------------------------------------------- /build/www/css/webuploader.css: -------------------------------------------------------------------------------- 1 | .webuploader-container { 2 | position: relative; 3 | } 4 | .webuploader-element-invisible { 5 | position: absolute !important; 6 | clip: rect(1px 1px 1px 1px); /* IE6, IE7 */ 7 | clip: rect(1px,1px,1px,1px); 8 | } 9 | .webuploader-pick { 10 | position: relative; 11 | display: inline-block; 12 | cursor: pointer; 13 | background: #00b7ee; 14 | padding: 10px 15px; 15 | color: #fff; 16 | text-align: center; 17 | border-radius: 3px; 18 | overflow: hidden; 19 | } 20 | .webuploader-pick-hover { 21 | background: #00a2d4; 22 | } 23 | 24 | .webuploader-pick-disable { 25 | opacity: 0.6; 26 | pointer-events:none; 27 | } 28 | 29 | -------------------------------------------------------------------------------- /build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.eot: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.eot -------------------------------------------------------------------------------- /build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.ttf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.ttf -------------------------------------------------------------------------------- /build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.woff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.woff -------------------------------------------------------------------------------- /build/www/javascript/uilib/bootstrap/fonts/glyphicons-halflings-regular.woff2: -------------------------------------------------------------------------------- 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You can require() this file in a CommonJS environment. 2 | require('../../js/transition.js') 3 | require('../../js/alert.js') 4 | require('../../js/button.js') 5 | require('../../js/carousel.js') 6 | require('../../js/collapse.js') 7 | require('../../js/dropdown.js') 8 | require('../../js/modal.js') 9 | require('../../js/tooltip.js') 10 | require('../../js/popover.js') 11 | require('../../js/scrollspy.js') 12 | require('../../js/tab.js') 13 | require('../../js/affix.js') -------------------------------------------------------------------------------- /build/www/javascript/uilib/webuploader/Uploader.swf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/javascript/uilib/webuploader/Uploader.swf -------------------------------------------------------------------------------- /build/www/javascript/uilib/webuploader/webuploader.css: 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/build/www/libs/Cesium/Workers/transferTypedArrayTest.js: -------------------------------------------------------------------------------- 1 | /** 2 | * Cesium - https://github.com/AnalyticalGraphicsInc/cesium 3 | * 4 | * Copyright 2011-2017 Cesium Contributors 5 | * 6 | * Licensed under the Apache License, Version 2.0 (the "License"); 7 | * you may not use this file except in compliance with the License. 8 | * You may obtain a copy of the License at 9 | * 10 | * http://www.apache.org/licenses/LICENSE-2.0 11 | * 12 | * Unless required by applicable law or agreed to in writing, software 13 | * distributed under the License is distributed on an "AS IS" BASIS, 14 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 | * See the License for the specific language governing permissions and 16 | * limitations under the License. 17 | * 18 | * Columbus View (Pat. Pend.) 19 | * 20 | * Portions licensed separately. 21 | * See https://github.com/AnalyticalGraphicsInc/cesium/blob/master/LICENSE.md for full licensing details. 22 | */ 23 | "undefined"==typeof self&&(self={}),self.onmessage=function(e){"use strict";var s=e.data.array,a=self.webkitPostMessage||self.postMessage;try{a({array:s},[s.buffer])}catch(e){a({})}}; -------------------------------------------------------------------------------- /build/www/libs/MeshLine/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2016 Jaume Sanchez 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /build/www/libs/d3/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2010-2017, Michael Bostock 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | * Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | * The name Michael Bostock may not be used to endorse or promote products 15 | derived from this software without specific prior written permission. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT 19 | HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 20 | WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 21 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 22 | OTHER DEALINGS IN THE SOFTWARE. 23 | -------------------------------------------------------------------------------- /build/www/libs/jstree/themes/mixed/32px.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/jstree/themes/mixed/32px.png -------------------------------------------------------------------------------- /build/www/libs/jstree/themes/mixed/40px.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/jstree/themes/mixed/40px.png -------------------------------------------------------------------------------- /build/www/libs/jstree/themes/mixed/throbber.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/jstree/themes/mixed/throbber.gif -------------------------------------------------------------------------------- /build/www/libs/openlayers3/LICENSE: -------------------------------------------------------------------------------- 1 | http://openlayers.org/ 2 | 3 | Code licensed under the 2-Clause BSD. All documentation CC BY 3.0. Thanks to our sponsors. 4 | https://tldrlegal.com/license/bsd-2-clause-license-(freebsd) -------------------------------------------------------------------------------- /build/www/libs/plasio/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2014 Uday Verma, uday.karan@gmail.com 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in 13 | all copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21 | THE SOFTWARE. 22 | -------------------------------------------------------------------------------- /build/www/libs/potree/LICENSE: -------------------------------------------------------------------------------- 1 | 2 | ============ 3 | == POTREE == 4 | ============ 5 | 6 | http://potree.org 7 | 8 | Copyright (c) 2011-2017, Markus Schütz 9 | All rights reserved. 10 | 11 | Redistribution and use in source and binary forms, with or without 12 | modification, are permitted provided that the following conditions are met: 13 | 14 | 1. Redistributions of source code must retain the above copyright notice, this 15 | list of conditions and the following disclaimer. 16 | 2. Redistributions in binary form must reproduce the above copyright notice, 17 | this list of conditions and the following disclaimer in the documentation 18 | and/or other materials provided with the distribution. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 21 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 22 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 24 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 25 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 26 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 27 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 28 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 29 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | 31 | The views and conclusions contained in the software and documentation are those 32 | of the authors and should not be interpreted as representing official policies, 33 | either expressed or implied, of the FreeBSD Project. 34 | 35 | 36 | ===================== 37 | == PLASIO / LASLAZ == 38 | ===================== 39 | 40 | http://plas.io/ 41 | 42 | The MIT License (MIT) 43 | 44 | Copyright (c) 2014 Uday Verma, uday.karan@gmail.com 45 | -------------------------------------------------------------------------------- /build/www/libs/potree/resources/LICENSE: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | icons/map_icon.png 5 | from sitn PotreeViewer 6 | http://ne.ch/sitn 7 | https://github.com/PotreeViewer/PotreeViewer 8 | 9 | icons/navigation_cube.svg 10 | icons/orthographic_camera.svg 11 | icons/perspective_camera.svg 12 | free for commerical use without attribution 13 | http://www.freepik.com/free-icon/package-cube-box-for-delivery_720159.htm 14 | 15 | 16 | -------------------------------------------------------------------------------- /build/www/libs/potree/resources/icons/angle.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/potree/resources/icons/angle.png 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can’t: 8 | 9 | host textures for download on any other website or server, 10 | direct link to texture file from any other website ( however you can link to texture page ), 11 | sell them as a stock materials, 12 | ============================== 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /build/www/libs/potree/resources/textures/brick_pavement.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/potree/resources/textures/brick_pavement.jpg -------------------------------------------------------------------------------- /build/www/libs/potree/resources/textures/navigation/B.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | THIS SKY WAS UPDATED AT THE 27TH 2 | THE ORIG HAD SOME ERRORS 3 | 4 | MIRAMAR 5 | high res 1024^2 environment map 6 | ships as TGA. 7 | 8 | 9 | By Jockum Skoglund aka hipshot 10 | hipshot@zfight.com 11 | www.zfight.com 12 | Stockholm, 2005 08 25 13 | 14 | 15 | Modify however you like, just cred me for my work, maybe link to my page. 16 | -------------------------------------------------------------------------------- /build/www/libs/potree/resources/textures/skybox2/nx.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/potree/resources/textures/skybox2/nx.jpg -------------------------------------------------------------------------------- /build/www/libs/potree/resources/textures/skybox2/ny.jpg: 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http://reije081.home.xs4all.nl/skyboxes/ 2 | -------------------------------------------------------------------------------- /build/www/libs/proj4/LICENSE.md: -------------------------------------------------------------------------------- 1 | ##Proj4js -- Javascript reprojection library. 2 | 3 | Authors: 4 | - Mike Adair madairATdmsolutions.ca 5 | - Richard Greenwood richATgreenwoodmap.com 6 | - Didier Richard didier.richardATign.fr 7 | - Stephen Irons stephen.ironsATclear.net.nz 8 | - Olivier Terral oterralATgmail.com 9 | - Calvin Metcalf cmetcalfATappgeo.com 10 | 11 | Copyright (c) 2014, Mike Adair, Richard Greenwood, Didier Richard, Stephen Irons, Olivier Terral and Calvin Metcalf 12 | 13 | Permission is hereby granted, free of charge, to any person obtaining a 14 | copy of this software and associated documentation files (the "Software"), 15 | to deal in the Software without restriction, including without limitation 16 | the rights to use, copy, modify, merge, publish, distribute, sublicense, 17 | and/or sell copies of the Software, and to permit persons to whom the 18 | Software is furnished to do so, subject to the following conditions: 19 | 20 | The above copyright notice and this permission notice shall be included 21 | in all copies or substantial portions of the Software. 22 | 23 | _THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS 24 | OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 25 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 26 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 27 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 28 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 29 | DEALINGS IN THE SOFTWARE._ -------------------------------------------------------------------------------- /build/www/libs/shapefile/shapefile.js: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/libs/shapefile/shapefile.js -------------------------------------------------------------------------------- /build/www/libs/spectrum/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) Brian Grinstead 2 | 3 | Permission is hereby granted, free of charge, to any person obtaining 4 | a copy of this software and associated documentation files (the 5 | "Software"), to deal in the Software without restriction, including 6 | without limitation the rights to use, copy, modify, merge, publish, 7 | distribute, sublicense, and/or sell copies of the Software, and to 8 | permit persons to whom the Software is furnished to do so, subject to 9 | the following conditions: 10 | 11 | The above copyright notice and this permission notice shall be 12 | included in all copies or substantial portions of the Software. 13 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 15 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 16 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 17 | NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 18 | LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 19 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 20 | WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | -------------------------------------------------------------------------------- /build/www/libs/three.js/LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License 2 | 3 | Copyright © 2010-2014 three.js authors 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in 13 | all copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21 | THE SOFTWARE. 22 | -------------------------------------------------------------------------------- /build/www/libs/tween/LICENSE.txt: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2014 gskinner.com, inc. 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /build/www/libs/tween/README.txt: -------------------------------------------------------------------------------- 1 | This directory contains a compressed version of the TweenJS library. 2 | 3 | It also includes a minified version of EaselJS, and is included for the Ticker class, which TweenJS uses by default. If you don't wish to use EaselJS, you can implement your own ticking mechanism, or download the Ticker class on its own from http://github.com/createjs/easeljs/ 4 | 5 | It is recommended that you use this version in almost all cases, unless you need to modify the original code. It is much smaller, results in less http requests, and you don't have to worry about the order in which you include the js files. 6 | 7 | tween.js is a single file that contains compacted versions of all of the TweenJS classes (comments and white space stripped). 8 | 9 | You can also gzip the file to further reduce its size (by about 75%). Many servers do this automatically. 10 | -------------------------------------------------------------------------------- /build/www/resources/loading.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/build/www/resources/loading.gif -------------------------------------------------------------------------------- /library/Eigen/Cholesky: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_CHOLESKY_MODULE_H 9 | #define EIGEN_CHOLESKY_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | /** \defgroup Cholesky_Module Cholesky module 16 | * 17 | * 18 | * 19 | * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices. 20 | * Those decompositions are also accessible via the following methods: 21 | * - MatrixBase::llt() 22 | * - MatrixBase::ldlt() 23 | * - SelfAdjointView::llt() 24 | * - SelfAdjointView::ldlt() 25 | * 26 | * \code 27 | * #include 28 | * \endcode 29 | */ 30 | 31 | #include "src/Cholesky/LLT.h" 32 | #include "src/Cholesky/LDLT.h" 33 | #ifdef EIGEN_USE_LAPACKE 34 | #include "src/misc/lapacke.h" 35 | #include "src/Cholesky/LLT_LAPACKE.h" 36 | #endif 37 | 38 | #include "src/Core/util/ReenableStupidWarnings.h" 39 | 40 | #endif // EIGEN_CHOLESKY_MODULE_H 41 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 42 | -------------------------------------------------------------------------------- /library/Eigen/Dense: -------------------------------------------------------------------------------- 1 | #include "Core" 2 | #include "LU" 3 | #include "Cholesky" 4 | #include "QR" 5 | #include "SVD" 6 | #include "Geometry" 7 | #include "Eigenvalues" 8 | -------------------------------------------------------------------------------- /library/Eigen/Eigen: -------------------------------------------------------------------------------- 1 | #include "Dense" 2 | #include "Sparse" 3 | -------------------------------------------------------------------------------- /library/Eigen/Householder: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_HOUSEHOLDER_MODULE_H 9 | #define EIGEN_HOUSEHOLDER_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | /** \defgroup Householder_Module Householder module 16 | * This module provides Householder transformations. 17 | * 18 | * \code 19 | * #include 20 | * \endcode 21 | */ 22 | 23 | #include "src/Householder/Householder.h" 24 | #include "src/Householder/HouseholderSequence.h" 25 | #include "src/Householder/BlockHouseholder.h" 26 | 27 | #include "src/Core/util/ReenableStupidWarnings.h" 28 | 29 | #endif // EIGEN_HOUSEHOLDER_MODULE_H 30 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 31 | -------------------------------------------------------------------------------- /library/Eigen/Jacobi: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_JACOBI_MODULE_H 9 | #define EIGEN_JACOBI_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | /** \defgroup Jacobi_Module Jacobi module 16 | * This module provides Jacobi and Givens rotations. 17 | * 18 | * \code 19 | * #include 20 | * \endcode 21 | * 22 | * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation: 23 | * - MatrixBase::applyOnTheLeft() 24 | * - MatrixBase::applyOnTheRight(). 25 | */ 26 | 27 | #include "src/Jacobi/Jacobi.h" 28 | 29 | #include "src/Core/util/ReenableStupidWarnings.h" 30 | 31 | #endif // EIGEN_JACOBI_MODULE_H 32 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 33 | 34 | -------------------------------------------------------------------------------- /library/Eigen/LU: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_LU_MODULE_H 9 | #define EIGEN_LU_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | /** \defgroup LU_Module LU module 16 | * This module includes %LU decomposition and related notions such as matrix inversion and determinant. 17 | * This module defines the following MatrixBase methods: 18 | * - MatrixBase::inverse() 19 | * - MatrixBase::determinant() 20 | * 21 | * \code 22 | * #include 23 | * \endcode 24 | */ 25 | 26 | #include "src/misc/Kernel.h" 27 | #include "src/misc/Image.h" 28 | #include "src/LU/FullPivLU.h" 29 | #include "src/LU/PartialPivLU.h" 30 | #ifdef EIGEN_USE_LAPACKE 31 | #include "src/misc/lapacke.h" 32 | #include "src/LU/PartialPivLU_LAPACKE.h" 33 | #endif 34 | #include "src/LU/Determinant.h" 35 | #include "src/LU/InverseImpl.h" 36 | 37 | // Use the SSE optimized version whenever possible. At the moment the 38 | // SSE version doesn't compile when AVX is enabled 39 | #if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX 40 | #include "src/LU/arch/Inverse_SSE.h" 41 | #endif 42 | 43 | #include "src/Core/util/ReenableStupidWarnings.h" 44 | 45 | #endif // EIGEN_LU_MODULE_H 46 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 47 | -------------------------------------------------------------------------------- /library/Eigen/MetisSupport: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_METISSUPPORT_MODULE_H 9 | #define EIGEN_METISSUPPORT_MODULE_H 10 | 11 | #include "SparseCore" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | extern "C" { 16 | #include 17 | } 18 | 19 | 20 | /** \ingroup Support_modules 21 | * \defgroup MetisSupport_Module MetisSupport module 22 | * 23 | * \code 24 | * #include 25 | * \endcode 26 | * This module defines an interface to the METIS reordering package (http://glaros.dtc.umn.edu/gkhome/views/metis). 27 | * It can be used just as any other built-in method as explained in \link OrderingMethods_Module here. \endlink 28 | */ 29 | 30 | 31 | #include "src/MetisSupport/MetisSupport.h" 32 | 33 | #include "src/Core/util/ReenableStupidWarnings.h" 34 | 35 | #endif // EIGEN_METISSUPPORT_MODULE_H 36 | -------------------------------------------------------------------------------- /library/Eigen/PaStiXSupport: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_PASTIXSUPPORT_MODULE_H 9 | #define EIGEN_PASTIXSUPPORT_MODULE_H 10 | 11 | #include "SparseCore" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | extern "C" { 16 | #include 17 | #include 18 | } 19 | 20 | #ifdef complex 21 | #undef complex 22 | #endif 23 | 24 | /** \ingroup Support_modules 25 | * \defgroup PaStiXSupport_Module PaStiXSupport module 26 | * 27 | * This module provides an interface to the PaSTiX library. 28 | * PaSTiX is a general \b supernodal, \b parallel and \b opensource sparse solver. 29 | * It provides the two following main factorization classes: 30 | * - class PastixLLT : a supernodal, parallel LLt Cholesky factorization. 31 | * - class PastixLDLT: a supernodal, parallel LDLt Cholesky factorization. 32 | * - class PastixLU : a supernodal, parallel LU factorization (optimized for a symmetric pattern). 33 | * 34 | * \code 35 | * #include 36 | * \endcode 37 | * 38 | * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies. 39 | * The dependencies depend on how PaSTiX has been compiled. 40 | * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task. 41 | * 42 | */ 43 | 44 | #include "src/PaStiXSupport/PaStiXSupport.h" 45 | 46 | #include "src/Core/util/ReenableStupidWarnings.h" 47 | 48 | #endif // EIGEN_PASTIXSUPPORT_MODULE_H 49 | -------------------------------------------------------------------------------- /library/Eigen/PardisoSupport: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_PARDISOSUPPORT_MODULE_H 9 | #define EIGEN_PARDISOSUPPORT_MODULE_H 10 | 11 | #include "SparseCore" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | #include 16 | 17 | /** \ingroup Support_modules 18 | * \defgroup PardisoSupport_Module PardisoSupport module 19 | * 20 | * This module brings support for the Intel(R) MKL PARDISO direct sparse solvers. 21 | * 22 | * \code 23 | * #include 24 | * \endcode 25 | * 26 | * In order to use this module, the MKL headers must be accessible from the include paths, and your binary must be linked to the MKL library and its dependencies. 27 | * See this \ref TopicUsingIntelMKL "page" for more information on MKL-Eigen integration. 28 | * 29 | */ 30 | 31 | #include "src/PardisoSupport/PardisoSupport.h" 32 | 33 | #include "src/Core/util/ReenableStupidWarnings.h" 34 | 35 | #endif // EIGEN_PARDISOSUPPORT_MODULE_H 36 | -------------------------------------------------------------------------------- /library/Eigen/QR: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_QR_MODULE_H 9 | #define EIGEN_QR_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | #include "Cholesky" 16 | #include "Jacobi" 17 | #include "Householder" 18 | 19 | /** \defgroup QR_Module QR module 20 | * 21 | * 22 | * 23 | * This module provides various QR decompositions 24 | * This module also provides some MatrixBase methods, including: 25 | * - MatrixBase::householderQr() 26 | * - MatrixBase::colPivHouseholderQr() 27 | * - MatrixBase::fullPivHouseholderQr() 28 | * 29 | * \code 30 | * #include 31 | * \endcode 32 | */ 33 | 34 | #include "src/QR/HouseholderQR.h" 35 | #include "src/QR/FullPivHouseholderQR.h" 36 | #include "src/QR/ColPivHouseholderQR.h" 37 | #include "src/QR/CompleteOrthogonalDecomposition.h" 38 | #ifdef EIGEN_USE_LAPACKE 39 | #include "src/misc/lapacke.h" 40 | #include "src/QR/HouseholderQR_LAPACKE.h" 41 | #include "src/QR/ColPivHouseholderQR_LAPACKE.h" 42 | #endif 43 | 44 | #include "src/Core/util/ReenableStupidWarnings.h" 45 | 46 | #endif // EIGEN_QR_MODULE_H 47 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 48 | -------------------------------------------------------------------------------- /library/Eigen/QtAlignedMalloc: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_QTMALLOC_MODULE_H 9 | #define EIGEN_QTMALLOC_MODULE_H 10 | 11 | #include "Core" 12 | 13 | #if (!EIGEN_MALLOC_ALREADY_ALIGNED) 14 | 15 | #include "src/Core/util/DisableStupidWarnings.h" 16 | 17 | void *qMalloc(size_t size) 18 | { 19 | return Eigen::internal::aligned_malloc(size); 20 | } 21 | 22 | void qFree(void *ptr) 23 | { 24 | Eigen::internal::aligned_free(ptr); 25 | } 26 | 27 | void *qRealloc(void *ptr, size_t size) 28 | { 29 | void* newPtr = Eigen::internal::aligned_malloc(size); 30 | memcpy(newPtr, ptr, size); 31 | Eigen::internal::aligned_free(ptr); 32 | return newPtr; 33 | } 34 | 35 | #include "src/Core/util/ReenableStupidWarnings.h" 36 | 37 | #endif 38 | 39 | #endif // EIGEN_QTMALLOC_MODULE_H 40 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 41 | -------------------------------------------------------------------------------- /library/Eigen/SPQRSupport: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_SPQRSUPPORT_MODULE_H 9 | #define EIGEN_SPQRSUPPORT_MODULE_H 10 | 11 | #include "SparseCore" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | #include "SuiteSparseQR.hpp" 16 | 17 | /** \ingroup Support_modules 18 | * \defgroup SPQRSupport_Module SuiteSparseQR module 19 | * 20 | * This module provides an interface to the SPQR library, which is part of the suitesparse package. 21 | * 22 | * \code 23 | * #include 24 | * \endcode 25 | * 26 | * In order to use this module, the SPQR headers must be accessible from the include paths, and your binary must be linked to the SPQR library and its dependencies (Cholmod, AMD, COLAMD,...). 27 | * For a cmake based project, you can use our FindSPQR.cmake and FindCholmod.Cmake modules 28 | * 29 | */ 30 | 31 | #include "src/CholmodSupport/CholmodSupport.h" 32 | #include "src/SPQRSupport/SuiteSparseQRSupport.h" 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /library/Eigen/SVD: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_SVD_MODULE_H 9 | #define EIGEN_SVD_MODULE_H 10 | 11 | #include "QR" 12 | #include "Householder" 13 | #include "Jacobi" 14 | 15 | #include "src/Core/util/DisableStupidWarnings.h" 16 | 17 | /** \defgroup SVD_Module SVD module 18 | * 19 | * 20 | * 21 | * This module provides SVD decomposition for matrices (both real and complex). 22 | * Two decomposition algorithms are provided: 23 | * - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones. 24 | * - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems. 25 | * These decompositions are accessible via the respective classes and following MatrixBase methods: 26 | * - MatrixBase::jacobiSvd() 27 | * - MatrixBase::bdcSvd() 28 | * 29 | * \code 30 | * #include 31 | * \endcode 32 | */ 33 | 34 | #include "src/misc/RealSvd2x2.h" 35 | #include "src/SVD/UpperBidiagonalization.h" 36 | #include "src/SVD/SVDBase.h" 37 | #include "src/SVD/JacobiSVD.h" 38 | #include "src/SVD/BDCSVD.h" 39 | #if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT) 40 | #include "src/misc/lapacke.h" 41 | #include "src/SVD/JacobiSVD_LAPACKE.h" 42 | #endif 43 | 44 | #include "src/Core/util/ReenableStupidWarnings.h" 45 | 46 | #endif // EIGEN_SVD_MODULE_H 47 | /* vim: set filetype=cpp et sw=2 ts=2 ai: */ 48 | -------------------------------------------------------------------------------- /library/Eigen/Sparse: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_SPARSE_MODULE_H 9 | #define EIGEN_SPARSE_MODULE_H 10 | 11 | /** \defgroup Sparse_Module Sparse meta-module 12 | * 13 | * Meta-module including all related modules: 14 | * - \ref SparseCore_Module 15 | * - \ref OrderingMethods_Module 16 | * - \ref SparseCholesky_Module 17 | * - \ref SparseLU_Module 18 | * - \ref SparseQR_Module 19 | * - \ref IterativeLinearSolvers_Module 20 | * 21 | \code 22 | #include 23 | \endcode 24 | */ 25 | 26 | #include "SparseCore" 27 | #include "OrderingMethods" 28 | #include "SparseCholesky" 29 | #include "SparseLU" 30 | #include "SparseQR" 31 | #include "IterativeLinearSolvers" 32 | 33 | #endif // EIGEN_SPARSE_MODULE_H 34 | 35 | -------------------------------------------------------------------------------- /library/Eigen/SparseCholesky: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2008-2013 Gael Guennebaud 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_SPARSECHOLESKY_MODULE_H 11 | #define EIGEN_SPARSECHOLESKY_MODULE_H 12 | 13 | #include "SparseCore" 14 | #include "OrderingMethods" 15 | 16 | #include "src/Core/util/DisableStupidWarnings.h" 17 | 18 | /** 19 | * \defgroup SparseCholesky_Module SparseCholesky module 20 | * 21 | * This module currently provides two variants of the direct sparse Cholesky decomposition for selfadjoint (hermitian) matrices. 22 | * Those decompositions are accessible via the following classes: 23 | * - SimplicialLLt, 24 | * - SimplicialLDLt 25 | * 26 | * Such problems can also be solved using the ConjugateGradient solver from the IterativeLinearSolvers module. 27 | * 28 | * \code 29 | * #include 30 | * \endcode 31 | */ 32 | 33 | #ifdef EIGEN_MPL2_ONLY 34 | #error The SparseCholesky module has nothing to offer in MPL2 only mode 35 | #endif 36 | 37 | #include "src/SparseCholesky/SimplicialCholesky.h" 38 | 39 | #ifndef EIGEN_MPL2_ONLY 40 | #include "src/SparseCholesky/SimplicialCholesky_impl.h" 41 | #endif 42 | 43 | #include "src/Core/util/ReenableStupidWarnings.h" 44 | 45 | #endif // EIGEN_SPARSECHOLESKY_MODULE_H 46 | -------------------------------------------------------------------------------- /library/Eigen/SparseLU: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2012 Désiré Nuentsa-Wakam 5 | // Copyright (C) 2012 Gael Guennebaud 6 | // 7 | // This Source Code Form is subject to the terms of the Mozilla 8 | // Public License v. 2.0. If a copy of the MPL was not distributed 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 | 11 | #ifndef EIGEN_SPARSELU_MODULE_H 12 | #define EIGEN_SPARSELU_MODULE_H 13 | 14 | #include "SparseCore" 15 | 16 | /** 17 | * \defgroup SparseLU_Module SparseLU module 18 | * This module defines a supernodal factorization of general sparse matrices. 19 | * The code is fully optimized for supernode-panel updates with specialized kernels. 20 | * Please, see the documentation of the SparseLU class for more details. 21 | */ 22 | 23 | // Ordering interface 24 | #include "OrderingMethods" 25 | 26 | #include "src/SparseLU/SparseLU_gemm_kernel.h" 27 | 28 | #include "src/SparseLU/SparseLU_Structs.h" 29 | #include "src/SparseLU/SparseLU_SupernodalMatrix.h" 30 | #include "src/SparseLU/SparseLUImpl.h" 31 | #include "src/SparseCore/SparseColEtree.h" 32 | #include "src/SparseLU/SparseLU_Memory.h" 33 | #include "src/SparseLU/SparseLU_heap_relax_snode.h" 34 | #include "src/SparseLU/SparseLU_relax_snode.h" 35 | #include "src/SparseLU/SparseLU_pivotL.h" 36 | #include "src/SparseLU/SparseLU_panel_dfs.h" 37 | #include "src/SparseLU/SparseLU_kernel_bmod.h" 38 | #include "src/SparseLU/SparseLU_panel_bmod.h" 39 | #include "src/SparseLU/SparseLU_column_dfs.h" 40 | #include "src/SparseLU/SparseLU_column_bmod.h" 41 | #include "src/SparseLU/SparseLU_copy_to_ucol.h" 42 | #include "src/SparseLU/SparseLU_pruneL.h" 43 | #include "src/SparseLU/SparseLU_Utils.h" 44 | #include "src/SparseLU/SparseLU.h" 45 | 46 | #endif // EIGEN_SPARSELU_MODULE_H 47 | -------------------------------------------------------------------------------- /library/Eigen/SparseQR: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_SPARSEQR_MODULE_H 9 | #define EIGEN_SPARSEQR_MODULE_H 10 | 11 | #include "SparseCore" 12 | #include "OrderingMethods" 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | /** \defgroup SparseQR_Module SparseQR module 16 | * \brief Provides QR decomposition for sparse matrices 17 | * 18 | * This module provides a simplicial version of the left-looking Sparse QR decomposition. 19 | * The columns of the input matrix should be reordered to limit the fill-in during the 20 | * decomposition. Built-in methods (COLAMD, AMD) or external methods (METIS) can be used to this end. 21 | * See the \link OrderingMethods_Module OrderingMethods\endlink module for the list 22 | * of built-in and external ordering methods. 23 | * 24 | * \code 25 | * #include 26 | * \endcode 27 | * 28 | * 29 | */ 30 | 31 | #include "OrderingMethods" 32 | #include "src/SparseCore/SparseColEtree.h" 33 | #include "src/SparseQR/SparseQR.h" 34 | 35 | #include "src/Core/util/ReenableStupidWarnings.h" 36 | 37 | #endif 38 | -------------------------------------------------------------------------------- /library/Eigen/StdDeque: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2009 Gael Guennebaud 5 | // Copyright (C) 2009 Hauke Heibel 6 | // 7 | // This Source Code Form is subject to the terms of the Mozilla 8 | // Public License v. 2.0. If a copy of the MPL was not distributed 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 | 11 | #ifndef EIGEN_STDDEQUE_MODULE_H 12 | #define EIGEN_STDDEQUE_MODULE_H 13 | 14 | #include "Core" 15 | #include 16 | 17 | #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ 18 | 19 | #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) 20 | 21 | #else 22 | 23 | #include "src/StlSupport/StdDeque.h" 24 | 25 | #endif 26 | 27 | #endif // EIGEN_STDDEQUE_MODULE_H 28 | -------------------------------------------------------------------------------- /library/Eigen/StdList: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2009 Hauke Heibel 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_STDLIST_MODULE_H 11 | #define EIGEN_STDLIST_MODULE_H 12 | 13 | #include "Core" 14 | #include 15 | 16 | #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ 17 | 18 | #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) 19 | 20 | #else 21 | 22 | #include "src/StlSupport/StdList.h" 23 | 24 | #endif 25 | 26 | #endif // EIGEN_STDLIST_MODULE_H 27 | -------------------------------------------------------------------------------- /library/Eigen/StdVector: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2009 Gael Guennebaud 5 | // Copyright (C) 2009 Hauke Heibel 6 | // 7 | // This Source Code Form is subject to the terms of the Mozilla 8 | // Public License v. 2.0. If a copy of the MPL was not distributed 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 | 11 | #ifndef EIGEN_STDVECTOR_MODULE_H 12 | #define EIGEN_STDVECTOR_MODULE_H 13 | 14 | #include "Core" 15 | #include 16 | 17 | #if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */ 18 | 19 | #define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) 20 | 21 | #else 22 | 23 | #include "src/StlSupport/StdVector.h" 24 | 25 | #endif 26 | 27 | #endif // EIGEN_STDVECTOR_MODULE_H 28 | -------------------------------------------------------------------------------- /library/Eigen/UmfPackSupport: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // This Source Code Form is subject to the terms of the Mozilla 5 | // Public License v. 2.0. If a copy of the MPL was not distributed 6 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 7 | 8 | #ifndef EIGEN_UMFPACKSUPPORT_MODULE_H 9 | #define EIGEN_UMFPACKSUPPORT_MODULE_H 10 | 11 | #include "SparseCore" 12 | 13 | #include "src/Core/util/DisableStupidWarnings.h" 14 | 15 | extern "C" { 16 | #include 17 | } 18 | 19 | /** \ingroup Support_modules 20 | * \defgroup UmfPackSupport_Module UmfPackSupport module 21 | * 22 | * This module provides an interface to the UmfPack library which is part of the suitesparse package. 23 | * It provides the following factorization class: 24 | * - class UmfPackLU: a multifrontal sequential LU factorization. 25 | * 26 | * \code 27 | * #include 28 | * \endcode 29 | * 30 | * In order to use this module, the umfpack headers must be accessible from the include paths, and your binary must be linked to the umfpack library and its dependencies. 31 | * The dependencies depend on how umfpack has been compiled. 32 | * For a cmake based project, you can use our FindUmfPack.cmake module to help you in this task. 33 | * 34 | */ 35 | 36 | #include "src/UmfPackSupport/UmfPackSupport.h" 37 | 38 | #include "src/Core/util/ReenableStupidWarnings.h" 39 | 40 | #endif // EIGEN_UMFPACKSUPPORT_MODULE_H 41 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/DiagonalProduct.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2008 Gael Guennebaud 5 | // Copyright (C) 2007-2009 Benoit Jacob 6 | // 7 | // This Source Code Form is subject to the terms of the Mozilla 8 | // Public License v. 2.0. If a copy of the MPL was not distributed 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 | 11 | #ifndef EIGEN_DIAGONALPRODUCT_H 12 | #define EIGEN_DIAGONALPRODUCT_H 13 | 14 | namespace Eigen { 15 | 16 | /** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal. 17 | */ 18 | template 19 | template 20 | inline const Product 21 | MatrixBase::operator*(const DiagonalBase &a_diagonal) const 22 | { 23 | return Product(derived(),a_diagonal.derived()); 24 | } 25 | 26 | } // end namespace Eigen 27 | 28 | #endif // EIGEN_DIAGONALPRODUCT_H 29 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/arch/AVX/TypeCasting.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2015 Benoit Steiner 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_TYPE_CASTING_AVX_H 11 | #define EIGEN_TYPE_CASTING_AVX_H 12 | 13 | namespace Eigen { 14 | 15 | namespace internal { 16 | 17 | // For now we use SSE to handle integers, so we can't use AVX instructions to cast 18 | // from int to float 19 | template <> 20 | struct type_casting_traits { 21 | enum { 22 | VectorizedCast = 0, 23 | SrcCoeffRatio = 1, 24 | TgtCoeffRatio = 1 25 | }; 26 | }; 27 | 28 | template <> 29 | struct type_casting_traits { 30 | enum { 31 | VectorizedCast = 0, 32 | SrcCoeffRatio = 1, 33 | TgtCoeffRatio = 1 34 | }; 35 | }; 36 | 37 | 38 | 39 | template<> EIGEN_STRONG_INLINE Packet8i pcast(const Packet8f& a) { 40 | return _mm256_cvtps_epi32(a); 41 | } 42 | 43 | template<> EIGEN_STRONG_INLINE Packet8f pcast(const Packet8i& a) { 44 | return _mm256_cvtepi32_ps(a); 45 | } 46 | 47 | } // end namespace internal 48 | 49 | } // end namespace Eigen 50 | 51 | #endif // EIGEN_TYPE_CASTING_AVX_H 52 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/arch/Default/Settings.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2008-2010 Gael Guennebaud 5 | // Copyright (C) 2006-2008 Benoit Jacob 6 | // 7 | // This Source Code Form is subject to the terms of the Mozilla 8 | // Public License v. 2.0. If a copy of the MPL was not distributed 9 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 10 | 11 | 12 | /* All the parameters defined in this file can be specialized in the 13 | * architecture specific files, and/or by the user. 14 | * More to come... */ 15 | 16 | #ifndef EIGEN_DEFAULT_SETTINGS_H 17 | #define EIGEN_DEFAULT_SETTINGS_H 18 | 19 | /** Defines the maximal loop size to enable meta unrolling of loops. 20 | * Note that the value here is expressed in Eigen's own notion of "number of FLOPS", 21 | * it does not correspond to the number of iterations or the number of instructions 22 | */ 23 | #ifndef EIGEN_UNROLLING_LIMIT 24 | #define EIGEN_UNROLLING_LIMIT 100 25 | #endif 26 | 27 | /** Defines the threshold between a "small" and a "large" matrix. 28 | * This threshold is mainly used to select the proper product implementation. 29 | */ 30 | #ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 31 | #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8 32 | #endif 33 | 34 | /** Defines the maximal width of the blocks used in the triangular product and solver 35 | * for vectors (level 2 blas xTRMV and xTRSV). The default is 8. 36 | */ 37 | #ifndef EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 38 | #define EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 8 39 | #endif 40 | 41 | 42 | /** Defines the default number of registers available for that architecture. 43 | * Currently it must be 8 or 16. Other values will fail. 44 | */ 45 | #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 46 | #define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8 47 | #endif 48 | 49 | #endif // EIGEN_DEFAULT_SETTINGS_H 50 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/functors/TernaryFunctors.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2016 Eugene Brevdo 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_TERNARY_FUNCTORS_H 11 | #define EIGEN_TERNARY_FUNCTORS_H 12 | 13 | namespace Eigen { 14 | 15 | namespace internal { 16 | 17 | //---------- associative ternary functors ---------- 18 | 19 | 20 | 21 | } // end namespace internal 22 | 23 | } // end namespace Eigen 24 | 25 | #endif // EIGEN_TERNARY_FUNCTORS_H 26 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/util/NonMPL2.h: -------------------------------------------------------------------------------- 1 | #ifdef EIGEN_MPL2_ONLY 2 | #error Including non-MPL2 code in EIGEN_MPL2_ONLY mode 3 | #endif 4 | -------------------------------------------------------------------------------- /library/Eigen/src/Core/util/ReenableStupidWarnings.h: -------------------------------------------------------------------------------- 1 | #ifdef EIGEN_WARNINGS_DISABLED 2 | #undef EIGEN_WARNINGS_DISABLED 3 | 4 | #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS 5 | #ifdef _MSC_VER 6 | #pragma warning( pop ) 7 | #elif defined __INTEL_COMPILER 8 | #pragma warning pop 9 | #elif defined __clang__ 10 | #pragma clang diagnostic pop 11 | #elif defined __GNUC__ && __GNUC__>=6 12 | #pragma GCC diagnostic pop 13 | #endif 14 | 15 | #if defined __NVCC__ 16 | // Don't reenable the diagnostic messages, as it turns out these messages need 17 | // to be disabled at the point of the template instantiation (i.e the user code) 18 | // otherwise they'll be triggered by nvcc. 19 | // #pragma diag_default code_is_unreachable 20 | // #pragma diag_default initialization_not_reachable 21 | // #pragma diag_default 2651 22 | // #pragma diag_default 2653 23 | #endif 24 | 25 | #endif 26 | 27 | #endif // EIGEN_WARNINGS_DISABLED 28 | -------------------------------------------------------------------------------- /library/Eigen/src/SparseCore/SparseFuzzy.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2008-2014 Gael Guennebaud 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_SPARSE_FUZZY_H 11 | #define EIGEN_SPARSE_FUZZY_H 12 | 13 | namespace Eigen { 14 | 15 | template 16 | template 17 | bool SparseMatrixBase::isApprox(const SparseMatrixBase& other, const RealScalar &prec) const 18 | { 19 | const typename internal::nested_eval::type actualA(derived()); 20 | typename internal::conditional::type, 22 | const PlainObject>::type actualB(other.derived()); 23 | 24 | return (actualA - actualB).squaredNorm() <= prec * prec * numext::mini(actualA.squaredNorm(), actualB.squaredNorm()); 25 | } 26 | 27 | } // end namespace Eigen 28 | 29 | #endif // EIGEN_SPARSE_FUZZY_H 30 | -------------------------------------------------------------------------------- /library/Eigen/src/SparseCore/SparseRedux.h: -------------------------------------------------------------------------------- 1 | // This file is part of Eigen, a lightweight C++ template library 2 | // for linear algebra. 3 | // 4 | // Copyright (C) 2008-2014 Gael Guennebaud 5 | // 6 | // This Source Code Form is subject to the terms of the Mozilla 7 | // Public License v. 2.0. If a copy of the MPL was not distributed 8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9 | 10 | #ifndef EIGEN_SPARSEREDUX_H 11 | #define EIGEN_SPARSEREDUX_H 12 | 13 | namespace Eigen { 14 | 15 | template 16 | typename internal::traits::Scalar 17 | SparseMatrixBase::sum() const 18 | { 19 | eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix"); 20 | Scalar res(0); 21 | internal::evaluator thisEval(derived()); 22 | for (Index j=0; j::InnerIterator iter(thisEval,j); iter; ++iter) 24 | res += iter.value(); 25 | return res; 26 | } 27 | 28 | template 29 | typename internal::traits >::Scalar 30 | SparseMatrix<_Scalar,_Options,_Index>::sum() const 31 | { 32 | eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix"); 33 | if(this->isCompressed()) 34 | return Matrix::Map(m_data.valuePtr(), m_data.size()).sum(); 35 | else 36 | return Base::sum(); 37 | } 38 | 39 | template 40 | typename internal::traits >::Scalar 41 | SparseVector<_Scalar,_Options,_Index>::sum() const 42 | { 43 | eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix"); 44 | return Matrix::Map(m_data.valuePtr(), m_data.size()).sum(); 45 | } 46 | 47 | } // end namespace Eigen 48 | 49 | #endif // EIGEN_SPARSEREDUX_H 50 | -------------------------------------------------------------------------------- /library/Eigen/src/misc/lapacke_mangling.h: -------------------------------------------------------------------------------- 1 | #ifndef LAPACK_HEADER_INCLUDED 2 | #define LAPACK_HEADER_INCLUDED 3 | 4 | #ifndef LAPACK_GLOBAL 5 | #if defined(LAPACK_GLOBAL_PATTERN_LC) || defined(ADD_) 6 | #define LAPACK_GLOBAL(lcname,UCNAME) lcname##_ 7 | #elif defined(LAPACK_GLOBAL_PATTERN_UC) || defined(UPPER) 8 | #define LAPACK_GLOBAL(lcname,UCNAME) UCNAME 9 | #elif defined(LAPACK_GLOBAL_PATTERN_MC) || defined(NOCHANGE) 10 | #define LAPACK_GLOBAL(lcname,UCNAME) lcname 11 | #else 12 | #define LAPACK_GLOBAL(lcname,UCNAME) lcname##_ 13 | #endif 14 | #endif 15 | 16 | #endif 17 | 18 | -------------------------------------------------------------------------------- /library/LASzip-master.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/library/LASzip-master.zip -------------------------------------------------------------------------------- /library/libLAS-master.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/library/libLAS-master.zip -------------------------------------------------------------------------------- /src/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "cmake.configureOnOpen": true, 3 | "files.associations": { 4 | "vector": "cpp" 5 | } 6 | } -------------------------------------------------------------------------------- /src/LidarAlgorithm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # find all files in the current directory 2 | aux_source_directory(. DIR_ALGORITHM_SRCS) 3 | find_package(GDAL REQUIRED) 4 | include_directories(${GDAL_INCLUDE_DIR}) 5 | message("compile Lidar Algorithm") 6 | include_directories("../../library/") 7 | 8 | find_package(OpenCV) 9 | if(OpenCV_FOUND) 10 | message(STATUS "complie with openCV") 11 | else() 12 | message("compile without openCV\n") 13 | endif() 14 | 15 | add_library(libalgorithm ${DIR_ALGORITHM_SRCS}) 16 | target_link_libraries(libalgorithm libbase libgeometry) 17 | target_link_libraries(libalgorithm ${GDAL_LIBRARY}) 18 | if(OpenCV_FOUND) 19 | target_link_libraries(libalgorithm ${OpenCV_LIBS}) 20 | endif() 21 | -------------------------------------------------------------------------------- /src/LidarAlgorithm/WorkingConditionSimulation.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/src/LidarAlgorithm/WorkingConditionSimulation.cpp -------------------------------------------------------------------------------- /src/LidarAlgorithm/WorkingConditionSimulation.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/src/LidarAlgorithm/WorkingConditionSimulation.h -------------------------------------------------------------------------------- /src/LidarBase/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # find all files in the current directory 2 | aux_source_directory(. DIR_LIDARBASE_SRCS) 3 | add_library(libbase ${DIR_LIDARBASE_SRCS}) 4 | -------------------------------------------------------------------------------- /src/LidarBase/LASReceive.cpp: -------------------------------------------------------------------------------- 1 | #include "LASReceive.h" 2 | // 3 | // Created by wuwei on 17-12-25. 4 | // 5 | 6 | #include 7 | #include 8 | #include 9 | #include "LidarUtil/FileHelper.h" 10 | #pragma warning(disable:4996) 11 | 12 | string LASDatasetReceiveHttp::ReceiveLASDataset(string remote_path,string localpath) 13 | { 14 | string cmd_construct="wget -P "+localpath+" "+remote_path; 15 | system(cmd_construct.c_str()); 16 | 17 | return localpath+FileHelper::getFileName(remote_path); 18 | } 19 | 20 | string LASDatasetReceiveHttp::ReceiveLASDataset(string remote_path) 21 | { 22 | string cmd_construct="wget -P "+m_localpath+" "+remote_path; 23 | system(cmd_construct.c_str()); 24 | return m_localpath+FileHelper::getFileName(remote_path); 25 | } -------------------------------------------------------------------------------- /src/LidarGeometry/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # find all files in the current directory 2 | aux_source_directory(. DIR_GEOMETRY_SRCS) 3 | include_directories("../../library") 4 | add_library(libgeometry ${DIR_GEOMETRY_SRCS}) -------------------------------------------------------------------------------- /src/LidarGeometry/Geometry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RemoteSensingFrank/LidarProc/f6f6868e82b87171533f6e8cd998fdaef2bbf745/src/LidarGeometry/Geometry.h -------------------------------------------------------------------------------- /src/LidarPCLAlgorithm/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # find all files in the current directory 2 | aux_source_directory(. LIDARPCL_SRCS) 3 | add_library(libAlgPCL ${LIDARPCL_SRCS}) -------------------------------------------------------------------------------- /src/LidarPCLAlgorithm/LidarFilterPCL.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-11-18 21:31:07 6 | * @LastEditors: Frank.Wu 7 | * @LastEditTime: 2020-06-26 13:11:22 8 | */ 9 | #include "LidarFilterPCL.h" 10 | 11 | #ifdef _USE_PCL_ 12 | 13 | #include 14 | #include 15 | long LidarFilterPCL::LidarFilterPCL_StatisticalOutlierRemoval(pcl::PointCloud::Ptr input,int minNum,double thresDis,const char* pathOut) 16 | { 17 | pcl::PointCloud::Ptr cloud_filtered(new pcl::PointCloud); 18 | pcl::StatisticalOutlierRemoval sor; 19 | sor.setInputCloud(input); //设置待滤波的点云 20 | sor.setMeanK(minNum); //设置在进行统计时考虑查询点临近点数 21 | sor.setStddevMulThresh(thresDis); //设置判断是否为离群点的阀值 22 | sor.filter(*cloud_filtered); //存储 23 | 24 | pcl::PointCloud::Ptr cloud_filtered2(new pcl::PointCloud); 25 | sor.setInputCloud(cloud_filtered); //设置待滤波的点云 26 | sor.setMeanK(minNum/2); //设置在进行统计时考虑查询点临近点数 27 | sor.setStddevMulThresh(thresDis); //设置判断是否为离群点的阀值 28 | sor.filter(*cloud_filtered2); //存储 29 | 30 | pcl::PCDWriter writer; 31 | writer.write(pathOut, *cloud_filtered2, false); 32 | } 33 | 34 | long LidarFilterPCL::LidarFilterPCL_VoxelGrid(pcl::PointCloud::Ptr input,double gridsizeX,double gridsizeY,double gridsizeZ,const char* pathOut) 35 | { 36 | pcl::PointCloud::Ptr cloud_filtered(new pcl::PointCloud); 37 | pcl::VoxelGrid sor; 38 | sor.setInputCloud(input); 39 | sor.setLeafSize(gridsizeX, gridsizeY, gridsizeZ); 40 | sor.filter(*cloud_filtered); 41 | pcl::PCDWriter writer; 42 | writer.write(pathOut, *cloud_filtered, false); 43 | } 44 | 45 | #endif -------------------------------------------------------------------------------- /src/LidarPCLAlgorithm/LidarFilterPCL.h: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | 4 | #ifdef _USE_PCL_ 5 | 6 | #include 7 | #include 8 | 9 | /** 10 | * @brief 基于PCL库的点云滤波算法，如果没有PCL库则无法运行 11 | * @note 12 | * @retval None 13 | */ 14 | 15 | class LidarFilterPCL 16 | { 17 | public: 18 | /** 19 | * @brief 统计方法去除离群点 20 | * @note 21 | * @param input: 输入点云数据 22 | * @param minNum: 最小点云数 23 | * @param thresDis: 距离阈值 24 | * @param pathOut: 输出点云路径 25 | * @retval 26 | */ 27 | long LidarFilterPCL_StatisticalOutlierRemoval(pcl::PointCloud::Ptr input,int minNum,double thresDis,const char* pathOut); 28 | 29 | /** 30 | * @brief 采用VoxelGrid方法进行滤波，提取骨架点 31 | * @note 32 | * @param input: 输入点云 33 | * @param gridsizeX: Grid 的X的尺寸 34 | * @param gridsizeY: Grid 的Y的尺寸 35 | * @param gridsizeZ: Grid 的Z的尺寸 36 | * @param pathOut: 文件输出路径 37 | * @retval 38 | */ 39 | long LidarFilterPCL_VoxelGrid(pcl::PointCloud::Ptr input,double gridsizeX,double gridsizeY,double gridsizeZ,const char* pathOut); 40 | }; 41 | #endif -------------------------------------------------------------------------------- /src/LidarPCLAlgorithm/LidarRegistration.h: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-11-18 21:31:07 6 | * @LastEditors: Frank.Wu 7 | * @LastEditTime: 2019-12-26 15:12:55 8 | */ 9 | #ifdef _USE_PCL_ 10 | 11 | #include 12 | #include 13 | 14 | #include 15 | #include 16 | #include 17 | 18 | /** 19 | * @brief 使用PCL库实现ICP点云配准 20 | * @note 21 | * @retval None 22 | */ 23 | class LidarRegistration 24 | { 25 | public: 26 | /** 27 | * @brief 通过PCL的ICP方法对点云进行配准 28 | * @note 29 | * @param ref_cloud: 参考点云 30 | * @param input_cloud: 待配准点云 31 | * @param pathRegistration: 配准后点云路径 32 | * @retval 返回处理结果 33 | */ 34 | long LidarRegistration_ICP(pcl::PointCloud::Ptr ref_cloud, 35 | pcl::PointCloud::Ptr input_cloud, 36 | const char* pathRegistration); 37 | /** 38 | * @brief 通过PCL的FPFH特征对点云进行配准 39 | * @note 40 | * @param ref_cloud: 参考点云 41 | * @param input_cloud: 待配准点云 42 | * @param pathRegistration: 配准后点云路径 43 | * @retval 返回处理结果 44 | */ 45 | long LidarRegistration_FPFH(pcl::PointCloud::Ptr ref_cloud, 46 | pcl::PointCloud::Ptr input_cloud, 47 | const char* pathRegistration); 48 | 49 | /** 50 | * @brief 计算FPFH特征 51 | * @note 52 | * @param input_cloud: 输入点云数据 53 | * @param tree: kd树 54 | * @retval 55 | */ 56 | pcl::PointCloud::Ptr compute_fpfh_feature(pcl::PointCloud::Ptr input_cloud, 57 | pcl::search::KdTree::Ptr tree); 58 | 59 | 60 | }; 61 | 62 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(RAPIDJSON_INCLUDE_DIR lib/rapidjson/include/) 2 | set(ARGUMENTS_INCLUDE_DIR lib/arguments) 3 | set(LIBLAS_INCLUDE_DIR lib/LASTools/LASlib/inc) 4 | set(LIBLASzip_INCLUDE_DIR lib/LASTools/LASzip/include) 5 | set(LIBEIGEN ../../library/Eigen) 6 | 7 | file(GLOB_RECURSE files src/*.cpp include/*.h include/*.hpp ) 8 | file(GLOB_RECURSE lib_rapidjson_files ${RAPIDJSON_INCLUDE_DIR}/* ) 9 | file(GLOB_RECURSE lib_argument_files ${ARGUMENTS_INCLUDE_DIR}/* ) 10 | 11 | find_package(libLAS REQUIRED) 12 | message("liblas required:") 13 | message(${libLAS_INCLUDE_DIRS}) 14 | 15 | include_directories(include ${libLAS_INCLUDE_DIRS}) 16 | include_directories(include ${RAPIDJSON_INCLUDE_DIR}) 17 | include_directories(include ${ARGUMENTS_INCLUDE_DIR}) 18 | include_directories(include ${LIBEIGEN}) 19 | 20 | add_library(libpotreecvt ${files} ${lib_rapidjson_files} ${lib_argument_files}) 21 | target_link_libraries(libpotreecvt ${libLAS_LIBRARIES}) 22 | if(UNIX) 23 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++14 -pthread -lstdc++ -lm") 24 | target_link_libraries(libpotreecvt -lstdc++fs) 25 | endif() -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/AABB.h: -------------------------------------------------------------------------------- 1 | 2 | /** 3 | * @brief 最小包围盒 4 | * @note 5 | * @retval None 6 | */ 7 | #ifndef AABB_H 8 | #define AABB_H 9 | 10 | 11 | #include 12 | #include 13 | 14 | #include "Vector3.h" 15 | 16 | using std::min; 17 | using std::max; 18 | using std::endl; 19 | 20 | namespace Potree{ 21 | 22 | class AABB{ 23 | 24 | public: 25 | Vector3 min; 26 | Vector3 max; 27 | Vector3 size; 28 | 29 | AABB(){ 30 | min = Vector3(std::numeric_limits::max()); 31 | max = Vector3(-std::numeric_limits::max()); 32 | size = Vector3(std::numeric_limits::max()); 33 | } 34 | 35 | AABB(Vector3 min, Vector3 max){ 36 | this->min = min; 37 | this->max = max; 38 | size = max-min; 39 | } 40 | 41 | bool isInside(const Vector3 &p){ 42 | if(min.x <= p.x && p.x <= max.x){ 43 | if(min.y <= p.y && p.y <= max.y){ 44 | if(min.z <= p.z && p.z <= max.z){ 45 | return true; 46 | } 47 | } 48 | } 49 | 50 | return false; 51 | } 52 | 53 | void update(const Vector3 &point){ 54 | min.x = std::min(min.x, point.x); 55 | min.y = std::min(min.y, point.y); 56 | min.z = std::min(min.z, point.z); 57 | 58 | max.x = std::max(max.x, point.x); 59 | max.y = std::max(max.y, point.y); 60 | max.z = std::max(max.z, point.z); 61 | 62 | size = max - min; 63 | } 64 | 65 | void update(const AABB &aabb){ 66 | update(aabb.min); 67 | update(aabb.max); 68 | } 69 | 70 | void makeCubic(){ 71 | max = min + size.maxValue(); 72 | size = max - min; 73 | } 74 | 75 | friend ostream &operator<<( ostream &output, const AABB &value ){ 76 | output << "min: " << value.min << endl; 77 | output << "max: " << value.max << endl; 78 | output << "size: " << value.size << endl; 79 | return output; 80 | } 81 | 82 | }; 83 | 84 | } 85 | 86 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/BINPointReader.hpp: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef BINPOINTREADER_H 4 | #define BINPOINTREADER_H 5 | 6 | #include 7 | #include 8 | #include 9 | 10 | #include "Point.h" 11 | #include "PointReader.h" 12 | #include "PointAttributes.hpp" 13 | 14 | using std::string; 15 | 16 | using std::ifstream; 17 | using std::cout; 18 | using std::endl; 19 | using std::vector; 20 | 21 | namespace Potree{ 22 | 23 | class BINPointReader : public PointReader{ 24 | private: 25 | AABB aabb; 26 | double scale; 27 | string path; 28 | vector files; 29 | vector::iterator currentFile; 30 | ifstream *reader; 31 | PointAttributes attributes; 32 | Point point; 33 | 34 | public: 35 | 36 | BINPointReader(string path, AABB aabb, double scale, PointAttributes pointAttributes); 37 | 38 | ~BINPointReader(); 39 | 40 | bool readNextPoint(); 41 | 42 | Point getPoint(); 43 | 44 | AABB getAABB(); 45 | 46 | long long numPoints(); 47 | 48 | void close(); 49 | 50 | Vector3 getScale(); 51 | }; 52 | 53 | } 54 | 55 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/GridCell.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef GRID_CELL_H 3 | #define GRID_CELL_H 4 | 5 | #include "Point.h" 6 | #include "GridIndex.h" 7 | 8 | #include 9 | #include 10 | 11 | using std::vector; 12 | 13 | namespace Potree{ 14 | 15 | class SparseGrid; 16 | 17 | 18 | class GridCell{ 19 | public: 20 | vector > points; 21 | vector neighbours; 22 | SparseGrid *grid; 23 | 24 | GridCell(); 25 | 26 | GridCell(SparseGrid *grid, GridIndex &index); 27 | 28 | void add(Vector3 p); 29 | 30 | bool isDistant(const Vector3 &p, const double &squaredSpacing) const; 31 | }; 32 | 33 | } 34 | 35 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/GridIndex.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef GRID_INDEX_H 4 | #define GRID_INDEX_H 5 | 6 | namespace Potree{ 7 | 8 | class GridIndex{ 9 | public: 10 | int i,j,k; 11 | 12 | GridIndex(){ 13 | i = 0; 14 | j = 0; 15 | k = 0; 16 | } 17 | 18 | GridIndex(int i, int j, int k){ 19 | this->i = i; 20 | this->j = j; 21 | this->k = k; 22 | } 23 | 24 | bool operator<(const GridIndex& b) const{ 25 | if(i < b.i){ 26 | return true; 27 | }else if(i == b.i && j < b.j){ 28 | return true; 29 | }else if(i == b.i && j == b.j && k < b.k){ 30 | return true; 31 | } 32 | 33 | return false; 34 | } 35 | 36 | friend ostream &operator<<( ostream &output, const GridIndex &value ){ 37 | output << "[" << value.i << ", " << value.j << ", " << value.k << "]" ; 38 | return output; 39 | } 40 | 41 | }; 42 | 43 | } 44 | 45 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/Point.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef POINT_H 3 | #define POINT_H 4 | 5 | #include "Vector3.h" 6 | 7 | #include 8 | 9 | using std::ostream; 10 | 11 | namespace Potree{ 12 | 13 | class Point{ 14 | public: 15 | 16 | Vector3 position{0}; 17 | Vector3 color{255}; 18 | Vector3 normal{0}; 19 | unsigned short intensity = 0; 20 | unsigned char classification = 0; 21 | unsigned char returnNumber = 0; 22 | unsigned char numberOfReturns = 0; 23 | unsigned short pointSourceID = 0; 24 | double gpsTime = 0.0; 25 | 26 | 27 | Point() = default; 28 | 29 | Point(double x, double y, double z) : 30 | position(x, y, z) 31 | { 32 | 33 | } 34 | 35 | Point(double x, double y, double z, unsigned char r, unsigned char g, unsigned char b) : 36 | position(x, y, z), color(r, g, b) 37 | { 38 | 39 | } 40 | 41 | Point(const Point &other) = default; 42 | 43 | ~Point() = default; 44 | 45 | friend ostream &operator<<( ostream &output, const Point &value ){ 46 | output << value.position ; 47 | return output; 48 | } 49 | 50 | }; 51 | 52 | } 53 | 54 | #endif 55 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/PointAttributes.hpp: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef POINT_ATTRIBUTES_H 4 | #define POINT_ATTRIBUTES_H 5 | 6 | #include 7 | #include 8 | 9 | using std::string; 10 | using std::vector; 11 | 12 | namespace Potree{ 13 | 14 | class PointAttribute{ 15 | public: 16 | static const PointAttribute POSITION_CARTESIAN; 17 | static const PointAttribute COLOR_PACKED; 18 | static const PointAttribute INTENSITY; 19 | static const PointAttribute CLASSIFICATION; 20 | static const PointAttribute RETURN_NUMBER; 21 | static const PointAttribute NUMBER_OF_RETURNS; 22 | static const PointAttribute SOURCE_ID; 23 | static const PointAttribute GPS_TIME; 24 | static const PointAttribute NORMAL_SPHEREMAPPED; 25 | static const PointAttribute NORMAL_OCT16; 26 | static const PointAttribute NORMAL; 27 | 28 | int ordinal; 29 | string name; 30 | int numElements; 31 | int byteSize; 32 | 33 | PointAttribute(int ordinal, string name, int numElements, int byteSize){ 34 | this->ordinal = ordinal; 35 | this->name = name; 36 | this->numElements = numElements; 37 | this->byteSize = byteSize; 38 | } 39 | 40 | static PointAttribute fromString(string name); 41 | 42 | }; 43 | 44 | bool operator==(const PointAttribute& lhs, const PointAttribute& rhs); 45 | 46 | 47 | class PointAttributes{ 48 | public: 49 | vector attributes; 50 | int byteSize; 51 | 52 | PointAttributes(){ 53 | byteSize = 0; 54 | } 55 | 56 | void add(PointAttribute attribute){ 57 | attributes.push_back(attribute); 58 | byteSize += attribute.byteSize; 59 | } 60 | 61 | int size(){ 62 | return (int)attributes.size(); 63 | } 64 | 65 | PointAttribute& operator[](int i) { 66 | return attributes[i]; 67 | } 68 | 69 | 70 | }; 71 | 72 | 73 | } 74 | 75 | 76 | 77 | 78 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/PointReader.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef POINTREADER_H 4 | #define POINTREADER_H 5 | 6 | #include 7 | 8 | #include "Point.h" 9 | #include "AABB.h" 10 | 11 | namespace fs = std::experimental::filesystem; 12 | 13 | namespace Potree{ 14 | 15 | class PointReader{ 16 | public: 17 | 18 | virtual ~PointReader(){}; 19 | 20 | virtual bool readNextPoint() = 0; 21 | 22 | virtual Point getPoint() = 0; 23 | 24 | virtual AABB getAABB() = 0; 25 | 26 | virtual long long numPoints() = 0; 27 | 28 | virtual void close() = 0; 29 | }; 30 | 31 | } 32 | 33 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/PointWriter.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef POINTWRITER_H 3 | #define POINTWRITER_H 4 | 5 | #include 6 | #include 7 | 8 | #include "Point.h" 9 | 10 | using std::string; 11 | 12 | namespace Potree{ 13 | 14 | class PointWriter{ 15 | 16 | public: 17 | string file; 18 | int numPoints = 0; 19 | 20 | virtual ~PointWriter(){}; 21 | 22 | virtual void write(const Point &point) = 0; 23 | 24 | virtual void close() = 0; 25 | 26 | }; 27 | 28 | } 29 | 30 | #endif 31 | 32 | 33 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/PotreeConverter.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef POTREE_CONVERTER_H 4 | #define POTREE_CONVERTER_H 5 | 6 | #include "AABB.h" 7 | #include "CloudJS.hpp" 8 | #include "definitions.hpp" 9 | #include "PointReader.h" 10 | 11 | #include 12 | #include 13 | #include 14 | 15 | using std::vector; 16 | using std::string; 17 | 18 | namespace Potree{ 19 | 20 | class SparseGrid; 21 | 22 | class PotreeConverter{ 23 | 24 | private: 25 | AABB aabb; 26 | vector sources; 27 | string workDir; 28 | CloudJS cloudjs; 29 | PointAttributes pointAttributes; 30 | 31 | PointReader *createPointReader(string source, PointAttributes pointAttributes); 32 | void prepare(); 33 | AABB calculateAABB(); 34 | void generatePage(string name); 35 | 36 | public: 37 | float spacing; 38 | int maxDepth; 39 | string format; 40 | OutputFormat outputFormat; 41 | vector outputAttributes; 42 | vector colorRange; 43 | vector intensityRange; 44 | double scale = 0.01; 45 | int diagonalFraction = 250; 46 | vector aabbValues; 47 | string pageName = ""; 48 | string pageTemplatePath = ""; 49 | StoreOption storeOption = StoreOption::ABORT_IF_EXISTS; 50 | string projection = ""; 51 | bool sourceListingOnly = false; 52 | ConversionQuality quality = ConversionQuality::DEFAULT; 53 | string title = "PotreeViewer"; 54 | string description = ""; 55 | bool edlEnabled = false; 56 | bool showSkybox = false; 57 | string material = "RGB"; 58 | string executablePath; 59 | int storeSize = 20'000; 60 | int flushLimit = 10'000'000; 61 | 62 | PotreeConverter(string executablePath, string workDir, vector sources); 63 | 64 | void convert(); 65 | 66 | }; 67 | 68 | } 69 | 70 | #endif 71 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/PotreeException.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef POTREEEXCEPTION_H 3 | #define POTREEEXCEPTION_H 4 | 5 | // using standard exceptions 6 | #include 7 | #include 8 | #include 9 | 10 | using std::exception; 11 | using std::string; 12 | 13 | namespace Potree{ 14 | 15 | class PotreeException: public exception{ 16 | private: 17 | string message; 18 | 19 | public: 20 | PotreeException(string message){ 21 | this->message = message; 22 | } 23 | 24 | virtual ~PotreeException() throw(){ 25 | } 26 | 27 | virtual const char* what() const throw(){ 28 | return message.c_str(); 29 | } 30 | }; 31 | 32 | } 33 | 34 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/SparseGrid.h: -------------------------------------------------------------------------------- 1 | 2 | 3 | #ifndef SPARSE_GRID_H 4 | #define SPARSE_GRID_H 5 | 6 | #include "AABB.h" 7 | #include "Point.h" 8 | #include "GridCell.h" 9 | 10 | #include 11 | #include 12 | #include 13 | #include 14 | 15 | using std::vector; 16 | using std::map; 17 | using std::unordered_map; 18 | using std::min; 19 | using std::max; 20 | 21 | namespace Potree{ 22 | 23 | #define MAX_FLOAT std::numeric_limits::max() 24 | 25 | class SparseGrid : public unordered_map{ 26 | public: 27 | int width; 28 | int height; 29 | int depth; 30 | AABB aabb; 31 | float squaredSpacing; 32 | unsigned int numAccepted = 0; 33 | 34 | SparseGrid(AABB aabb, float minGap); 35 | 36 | SparseGrid(const SparseGrid &other) 37 | : width(other.width), height(other.height), depth(other.depth), aabb(other.aabb), squaredSpacing(other.squaredSpacing), numAccepted(other.numAccepted) 38 | { 39 | } 40 | 41 | ~SparseGrid(); 42 | 43 | bool isDistant(const Vector3 &p, GridCell *cell); 44 | 45 | bool isDistant(const Vector3 &p, GridCell *cell, float &squaredSpacing); 46 | 47 | bool willBeAccepted(const Vector3 &p); 48 | 49 | bool willBeAccepted(const Vector3 &p, float &squaredSpacing); 50 | 51 | bool add(Vector3 &p); 52 | 53 | void addWithoutCheck(Vector3 &p); 54 | 55 | }; 56 | 57 | } 58 | 59 | #endif 60 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/Vector3.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef VECTOR3_H 3 | #define VECTOR3_H 4 | 5 | #include 6 | #include 7 | 8 | using std::ostream; 9 | #ifndef _MSC_VER 10 | using std::max; 11 | #endif 12 | 13 | namespace Potree{ 14 | 15 | template 16 | class Vector3{ 17 | 18 | public: 19 | T x = 0; 20 | T y = 0; 21 | T z = 0; 22 | 23 | Vector3() = default; 24 | 25 | Vector3(T x, T y, T z){ 26 | this->x = x; 27 | this->y = y; 28 | this->z = z; 29 | } 30 | 31 | Vector3(T value){ 32 | this->x = value; 33 | this->y = value; 34 | this->z = value; 35 | } 36 | 37 | Vector3(const Vector3 &other) 38 | :x(other.x), y(other.y), z(other.z) 39 | { 40 | } 41 | 42 | ~Vector3() = default; 43 | 44 | 45 | T length(){ 46 | return sqrt(x*x + y*y + z*z); 47 | } 48 | 49 | T squaredLength(){ 50 | return x*x + y*y + z*z; 51 | } 52 | 53 | T distanceTo(Vector3 p) const{ 54 | return ((*this) - p).length(); 55 | } 56 | 57 | T squaredDistanceTo(const Vector3 &p) const{ 58 | return ((*this) - p).squaredLength(); 59 | } 60 | 61 | T maxValue(){ 62 | return max(x, max(y,z)); 63 | } 64 | 65 | Vector3 operator-(const Vector3& right) const { 66 | return Vector3(x - right.x, y - right.y, z - right.z); 67 | } 68 | 69 | Vector3 operator+(const Vector3& right) const { 70 | return Vector3(x + right.x, y + right.y, z + right.z); 71 | } 72 | 73 | Vector3 operator+(const T right) const { 74 | return Vector3(x + right, y + right, z + right); 75 | } 76 | 77 | Vector3 operator/(const T &a) const{ 78 | return Vector3(x / a, y / a, z / a); 79 | } 80 | 81 | friend ostream &operator<<( ostream &output, const Vector3 &value ){ 82 | output << "[" << value.x << ", " << value.y << ", " << value.z << "]" ; 83 | return output; 84 | } 85 | }; 86 | 87 | } 88 | 89 | #endif 90 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/include/definitions.hpp: -------------------------------------------------------------------------------- 1 | 2 | #ifndef DEFINITIONS_H 3 | #define DEFINITIONS_H 4 | 5 | namespace Potree{ 6 | 7 | enum class OutputFormat{ 8 | BINARY, 9 | LAS, 10 | LAZ 11 | }; 12 | 13 | enum class StoreOption{ 14 | ABORT_IF_EXISTS, 15 | OVERWRITE, 16 | INCREMENTAL 17 | }; 18 | 19 | enum class ConversionQuality{ 20 | FAST, 21 | DEFAULT, 22 | NICE 23 | }; 24 | 25 | } 26 | 27 | #endif -------------------------------------------------------------------------------- /src/LidarPotreeCvt/lib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | add_subdirectory(arguments) 2 | add_subdirectory(rapidjson) -------------------------------------------------------------------------------- /src/LidarPotreeCvt/lib/rapidjson/include/rapidjson/internal/strfunc.h: -------------------------------------------------------------------------------- 1 | // Tencent is pleased to support the open source community by making RapidJSON available. 2 | // 3 | // Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. 4 | // 5 | // Licensed under the MIT License (the "License"); you may not use this file except 6 | // in compliance with the License. You may obtain a copy of the License at 7 | // 8 | // http://opensource.org/licenses/MIT 9 | // 10 | // Unless required by applicable law or agreed to in writing, software distributed 11 | // under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR 12 | // CONDITIONS OF ANY KIND, either express or implied. See the License for the 13 | // specific language governing permissions and limitations under the License. 14 | 15 | #ifndef RAPIDJSON_INTERNAL_STRFUNC_H_ 16 | #define RAPIDJSON_INTERNAL_STRFUNC_H_ 17 | 18 | #include "../rapidjson.h" 19 | 20 | RAPIDJSON_NAMESPACE_BEGIN 21 | namespace internal { 22 | 23 | //! Custom strlen() which works on different character types. 24 | /*! \tparam Ch Character type (e.g. char, wchar_t, short) 25 | \param s Null-terminated input string. 26 | \return Number of characters in the string. 27 | \note This has the same semantics as strlen(), the return value is not number of Unicode codepoints. 28 | */ 29 | template 30 | inline SizeType StrLen(const Ch* s) { 31 | const Ch* p = s; 32 | while (*p) ++p; 33 | return SizeType(p - s); 34 | } 35 | 36 | } // namespace internal 37 | RAPIDJSON_NAMESPACE_END 38 | 39 | #endif // RAPIDJSON_INTERNAL_STRFUNC_H_ 40 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/lib/rapidjson/include/rapidjson/internal/swap.h: -------------------------------------------------------------------------------- 1 | // Tencent is pleased to support the open source community by making RapidJSON available. 2 | // 3 | // Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. 4 | // 5 | // Licensed under the MIT License (the "License"); you may not use this file except 6 | // in compliance with the License. You may obtain a copy of the License at 7 | // 8 | // http://opensource.org/licenses/MIT 9 | // 10 | // Unless required by applicable law or agreed to in writing, software distributed 11 | // under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR 12 | // CONDITIONS OF ANY KIND, either express or implied. See the License for the 13 | // specific language governing permissions and limitations under the License. 14 | 15 | #ifndef RAPIDJSON_INTERNAL_SWAP_H_ 16 | #define RAPIDJSON_INTERNAL_SWAP_H_ 17 | 18 | #include "../rapidjson.h" 19 | 20 | RAPIDJSON_NAMESPACE_BEGIN 21 | namespace internal { 22 | 23 | //! Custom swap() to avoid dependency on C++ header 24 | /*! \tparam T Type of the arguments to swap, should be instantiated with primitive C++ types only. 25 | \note This has the same semantics as std::swap(). 26 | */ 27 | template 28 | inline void Swap(T& a, T& b) RAPIDJSON_NOEXCEPT { 29 | T tmp = a; 30 | a = b; 31 | b = tmp; 32 | } 33 | 34 | } // namespace internal 35 | RAPIDJSON_NAMESPACE_END 36 | 37 | #endif // RAPIDJSON_INTERNAL_SWAP_H_ 38 | -------------------------------------------------------------------------------- /src/LidarPotreeCvt/src/GridCell.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "GridCell.h" 3 | #include "SparseGrid.h" 4 | 5 | #include 6 | 7 | using std::cout; 8 | using std::endl; 9 | 10 | using std::min; 11 | using std::max; 12 | 13 | namespace Potree{ 14 | 15 | #define MAX_FLOAT std::numeric_limits::max() 16 | 17 | GridCell::GridCell(){ 18 | 19 | } 20 | 21 | GridCell::GridCell(SparseGrid *grid, GridIndex &index){ 22 | this->grid = grid; 23 | neighbours.reserve(26); 24 | 25 | for(int i = max(index.i -1, 0); i <= min(grid->width-1, index.i + 1); i++){ 26 | for(int j = max(index.j -1, 0); j <= min(grid->height-1, index.j + 1); j++){ 27 | for(int k = max(index.k -1, 0); k <= min(grid->depth-1, index.k + 1); k++){ 28 | long long key = ((long long)k << 40) | ((long long)j << 20) | i; 29 | SparseGrid::iterator it = grid->find(key); 30 | if(it != grid->end()){ 31 | GridCell *neighbour = it->second; 32 | if(neighbour != this){ 33 | neighbours.push_back(neighbour); 34 | neighbour->neighbours.push_back(this); 35 | } 36 | } 37 | } 38 | } 39 | } 40 | } 41 | 42 | void GridCell::add(Vector3 p){ 43 | points.push_back(p); 44 | } 45 | 46 | bool GridCell::isDistant(const Vector3 &p, const double &squaredSpacing) const { 47 | for(const Vector3 &point : points){ 48 | 49 | if(p.squaredDistanceTo(point) < squaredSpacing){ 50 | return false; 51 | } 52 | 53 | } 54 | 55 | return true; 56 | } 57 | 58 | } -------------------------------------------------------------------------------- /src/LidarPotreeCvt/src/LASPointWriter.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | 4 | #include "LASPointWriter.hpp" 5 | 6 | using std::vector; 7 | 8 | namespace Potree{ 9 | 10 | void LASPointWriter::write(const Point &point){ 11 | 12 | coordinates[0] = point.position.x; 13 | coordinates[1] = point.position.y; 14 | coordinates[2] = point.position.z; 15 | laszip_set_coordinates(writer, coordinates); 16 | 17 | this->point->rgb[0] = point.color.x * 256; 18 | this->point->rgb[1] = point.color.y * 256; 19 | this->point->rgb[2] = point.color.z * 256; 20 | 21 | this->point->intensity = point.intensity; 22 | this->point->classification = point.classification; 23 | this->point->return_number = point.returnNumber; 24 | this->point->number_of_returns = point.numberOfReturns; 25 | this->point->point_source_ID = point.pointSourceID; 26 | 27 | laszip_set_point(writer, this->point); 28 | laszip_write_point(writer); 29 | 30 | numPoints++; 31 | } 32 | 33 | } -------------------------------------------------------------------------------- /src/LidarResearch/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | aux_source_directory(. RESEARCH_DIR_SRCS) 2 | find_package(ZLIB) 3 | if(ZLIB_FOUND) 4 | message(${ZLIB_VERSION_STRING}) 5 | file(GLOB PCLLIBS "${PCL_LIBRARY_DIRS}/libpcl_*.so") 6 | message(${PCLLIBS}) 7 | #include(${ZLIB_INCLUDE_DIR}) 8 | endif() 9 | 10 | include_directories(../../library) 11 | include_directories(../LidarPotreeCvt/include) 12 | include_directories(../LidarPotreeCvt/lib/rapidjson/include) 13 | include_directories(../LidarPotreeCvt/lib/arguments) 14 | 15 | add_library(libresearch ${RESEARCH_DIR_SRCS}) 16 | target_link_libraries(libresearch libalgorithm libutility libpotreecvt libbase) 17 | if(ZLIB_FOUND) 18 | target_link_libraries(libresearch ${ZLIB_LIBRARIES}) 19 | endif() 20 | if(PCL_FOUND) 21 | target_link_libraries(libresearch ${PCLLIBS}) 22 | endif() 23 | -------------------------------------------------------------------------------- /src/LidarResearch/LASModel.h: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-11-18 21:31:08 6 | * @LastEditors: Frank.Wu 7 | * @LastEditTime: 2020-07-11 14:55:57 8 | */ 9 | #pragma once 10 | // 11 | // Created by wuwei on 18-1-5. 12 | // 13 | 14 | #ifndef LASGUI_LASMODEL_H 15 | #define LASGUI_LASMODEL_H 16 | 17 | #include 18 | #include 19 | #include 20 | #include "../LidarGeometry/Geometry.h" 21 | 22 | class ILASDataset; 23 | 24 | using namespace GeometryLas; 25 | 26 | //点密度和模型的定义的定义 27 | struct DenseSt { 28 | Point3I point; 29 | int dense; 30 | }; 31 | 32 | #define LASDense std::vector 33 | 34 | class ILASDataset; 35 | 36 | /** 37 | * 定义由LAS数据集构建的模型 38 | */ 39 | class LASModel 40 | { 41 | public: 42 | /** 43 | * 根据点云数据构建点密度模型 44 | * @param dataset 45 | * @param cubeRange 46 | */ 47 | virtual void LASModel_PointsDense(ILASDataset* dataset, float cubeRange); 48 | 49 | /** 50 | * 根据点密度模型构建模型 51 | */ 52 | void LASModel_Build(ILASDataset* dataset, float cubeRange, const char* pathExport); 53 | 54 | private: 55 | LASDense m_model; 56 | }; 57 | 58 | /** 59 | * 激光点云不变性特征提取 60 | */ 61 | class LASInvarianceFeatureExtract 62 | { 63 | public: 64 | /** 65 | * 提取局部点云 66 | * ILASDataset* dataset：点云数据集 67 | * int pointIdx：中心点坐标 68 | * int num：点云个数 69 | **/ 70 | Point3Ds LASInvariancePointsPart(ILASDataset* dataset,int pointIdx,int num); 71 | 72 | 73 | /** 74 | * 计算距离直方图 75 | * Point3Ds part：点集 76 | * double *histro：距离直方图 77 | **/ 78 | long LASInvariancePointsLASDisHistroCal(Point3Ds part,double *histro); 79 | 80 | 81 | /** 82 | * 计算角度直方图 83 | * Point3Ds part：点集 84 | * double *histro：距离直方图 85 | **/ 86 | long LASInvariancePointsLASAngleHistroCal(Point3Ds part,double *histro); 87 | 88 | }; 89 | 90 | 91 | #endif //LASGUI_LASMODEL_H 92 | -------------------------------------------------------------------------------- /src/LidarService/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # find all files in the current directory 2 | aux_source_directory(. DIR_LIDARBASE_SRCS) 3 | add_library(libservice ${DIR_LIDARBASE_SRCS}) -------------------------------------------------------------------------------- /src/LidarService/LidarController.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-12-02 00:15:10 6 | * @LastEditors: Frank.Wu 7 | * @LastEditTime: 2020-07-11 09:54:04 8 | */ 9 | #include "LidarController.h" 10 | 11 | using namespace rapidjson; 12 | using namespace httplib; 13 | 14 | 15 | void LidarService::LidarService_Run() 16 | { 17 | for(int i=0;iLidarController_Run(); 19 | } 20 | 21 | int port=1234; 22 | printf("http://106.52.133.33/:%d\n",port); 23 | 24 | //the max parallel connection count 25 | set_keep_alive_max_count(500); 26 | set_base_dir("./www"); 27 | listen("http://106.52.133.33/", port); 28 | } 29 | 30 | void LidarService::LidarService_Register(LidarController* controller) 31 | { 32 | controllerList.push_back(controller); 33 | } -------------------------------------------------------------------------------- /src/LidarUnitTest.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-12-02 00:15:10 6 | * @LastEditors: Frank.Wu 7 | * @LastEditTime: 2020-11-25 14:59:36 8 | */ 9 | /** 10 | * @brief 运行单元测试，在代码编译完成后直接运行单元测试对代码进行测试 11 | * @note 12 | * @param argc: 13 | * @param argv[]: 14 | * @retval 15 | */ 16 | #include 17 | #include 18 | int main(int argc ,char* argv[]) 19 | { 20 | testing::InitGoogleTest(&argc,argv); 21 | testing::GTEST_FLAG(filter) = "LASSKELETONLineInteractive*"; 22 | return RUN_ALL_TESTS(); 23 | } 24 | 25 | -------------------------------------------------------------------------------- /src/LidarUnitTest/LidarUtilTest.cpp: -------------------------------------------------------------------------------- 1 | #include "../LidarUtil/FileHelper.h" 2 | #include 3 | #include 4 | #include 5 | #include 6 | using namespace std; 7 | 8 | /* 9 | Testing class for file helper class 10 | */ 11 | class FileHelperTest : public testing::Test 12 | { 13 | protected: 14 | virtual void SetUp() 15 | { 16 | printf("file helper funcion class test startup\n"); 17 | } 18 | 19 | virtual void TearDown() 20 | { 21 | printf("file helper function class test end\n"); 22 | } 23 | }; 24 | 25 | TEST_F(FileHelperTest,PrintFilesIncludeSubDirs) 26 | { 27 | EXPECT_EQ(0 ,FileHelper::listFilesIncludeSubDir("../src/LidarBase/")); 28 | EXPECT_EQ(-2 ,FileHelper::listFilesIncludeSubDir("../LidarFault/")); 29 | } 30 | 31 | TEST_F(FileHelperTest,ListFiles) 32 | { 33 | vector filenameLists; 34 | EXPECT_EQ(0 ,FileHelper::listFiles("../src/LidarBase/",filenameLists)); 35 | EXPECT_EQ(9 ,filenameLists.size()); 36 | EXPECT_EQ(-2 ,FileHelper::listFiles("../LidarFault/",filenameLists)); 37 | EXPECT_EQ(9 ,filenameLists.size()); 38 | } 39 | 40 | TEST_F(FileHelperTest,ListFilesExt) 41 | { 42 | vector filenameLists; 43 | EXPECT_EQ(0 ,FileHelper::listFiles("../src/LidarBase/",filenameLists,"h")); 44 | EXPECT_EQ(4 ,filenameLists.size()); 45 | EXPECT_EQ(-2 ,FileHelper::listFiles("../LidarFault/",filenameLists,"h")); 46 | EXPECT_EQ(4 ,filenameLists.size()); 47 | } 48 | -------------------------------------------------------------------------------- /src/LidarUtil/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | aux_source_directory(. UTILITY_DIR_SRCS) 2 | add_definitions(-DLINUX) 3 | add_library(libutility ${UTILITY_DIR_SRCS}) 4 | -------------------------------------------------------------------------------- /src/LidarUtil/FileHelper.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | using namespace std; 5 | class FileHelper 6 | { 7 | public: 8 | FileHelper(); 9 | ~FileHelper(); 10 | 11 | /* 12 | 遍历目录中所有文件（包括目录和子目录） 13 | @param dir：输入目录以 \\结束 14 | */ 15 | static long listFilesIncludeSubDir(const char * dir); //遍历目录中的所有文件(包括子目录) 16 | 17 | /* 18 | 遍历目录下的所有文件(不包括子目录) 19 | @param dir：输入文件目录 以\\结束 20 | @param fileNameList：将文件目录保存到数据中 21 | */ 22 | static long listFiles(const char * dir, vector& fileNameList); //遍历目录下的所有文件(不包括子目录) 23 | /* 24 | 遍历目录下的所有文件(不包括子目录) 25 | @param dir：输入文件目录 以\\结束 26 | @param files：将文件目录保存到数据中-文件全部路径 27 | @param ext：后缀名.xxx 28 | */ 29 | static long listFiles(string cate_dir, vector &files, string ext);//获取文件夹下所有特定后缀的目录 30 | 31 | /* 32 | 遍历目录下的所有文件(不包括子目录) 33 | @param dir：输入文件目录 以\\结束 34 | @param files：将文件目录保存到数据中-文件名 35 | @param ext：后缀名.xxx 36 | */ 37 | static long listNames(string cate_dir, vector &files, string ext);//获取文件名 38 | 39 | /** 40 | 解析文件路径下的文件名 41 | @param filePath：文件全路径 42 | @param isExt：是否添加后缀 43 | */ 44 | static string getFileName(string filePath,bool isExt=false); 45 | 46 | /** 47 | 列出文件夹下所有文件夹名称 48 | @param dirPath：文件夹路径 49 | @param dirNames: 文件夹名称 50 | */ 51 | static long listDirNames(string dirPath,vector &dirNames); 52 | }; 53 | 54 | -------------------------------------------------------------------------------- /src/LidarUtil/Simulation.h: -------------------------------------------------------------------------------- 1 | /* 2 | * @Descripttion: 数据模拟 3 | * @version: 1.0版本 4 | * @Author: Frank.Wu 5 | * @Date: 2019-12-26 15:12:36 6 | * @LastEditors : Frank.Wu 7 | * @LastEditTime : 2019-12-28 09:29:04 8 | */ 9 | #include "Eigen/Eigen" 10 | #include "../LidarBase/LASPoint.h" 11 | using namespace Eigen; 12 | /** 13 | * @name: 点云配准算法的数据模拟 14 | * @msg: 15 | * @param {type} 16 | * @return: 17 | */ 18 | class LidarRegistrationUtil 19 | { 20 | public: 21 | /** 22 | * @name: 23 | * @msg: 24 | * @param {type} 25 | * @return: 26 | */ 27 | LidarRegistrationUtil(double vx,double vy,double vz,double vrx,double vry,double vrz); 28 | 29 | LidarRegistrationUtil(const LidarRegistrationUtil &util); 30 | 31 | LidarRegistrationUtil(); 32 | 33 | /** 34 | * @name: 配准模拟，根据旋转角和平移向量 35 | * @msg: 36 | * @param {type} 37 | * const char* pathSrc：输入数据集 38 | * const char* pathTrans：模拟转换后数据集 39 | * @return: 40 | */ 41 | long LidarRegistration_Simulation(const char* pathSrc,const char* pathTrans); 42 | 43 | private: 44 | /** 45 | * @name: 根据旋转角度计算旋转矩阵 46 | * @msg: 47 | * @return: 48 | */ 49 | long LidarRegistration_RotCalculate(bool deg); 50 | 51 | /** 52 | * @name: 转换一个点 53 | * @msg: 54 | * @param Point3D &pt 三维点 55 | * @param Point3D ¢erPt 中心点 56 | * @return: 57 | */ 58 | long LidarRegistration_TransPer(Point3D &pt,Point3D centerPt); 59 | 60 | double mx; 61 | double my; 62 | double mz; 63 | double rx; 64 | double ry; 65 | double rz; 66 | MatrixXd rotMat; 67 | }; -------------------------------------------------------------------------------- /src/LidarUtil/json.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2018-2020 jsonxx - Nomango 2 | // 3 | // Permission is hereby granted, free of charge, to any person obtaining a copy 4 | // of this software and associated documentation files (the "Software"), to deal 5 | // in the Software without restriction, including without limitation the rights 6 | // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 7 | // copies of the Software, and to permit persons to whom the Software is 8 | // furnished to do so, subject to the following conditions: 9 | // 10 | // The above copyright notice and this permission notice shall be included in 11 | // all copies or substantial portions of the Software. 12 | // 13 | // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 14 | // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 15 | // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 16 | // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 17 | // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 18 | // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 19 | // THE SOFTWARE. 20 | 21 | #pragma once 22 | #include "json_exception.hpp" 23 | #include "json_value.hpp" 24 | #include "json_iterator.hpp" 25 | #include "json_parser.hpp" 26 | #include "json_serializer.hpp" 27 | #include "json_basic.hpp" 28 | 29 | namespace jsonxx 30 | { 31 | using json = basic_json<>; 32 | } 33 | 34 | namespace std 35 | { 36 | template <> 37 | struct hash<::jsonxx::json> 38 | { 39 | std::size_t operator()(const ::jsonxx::json &json) const 40 | { 41 | return hash<::jsonxx::json::string_type>{}(json.dump()); 42 | } 43 | }; 44 | 45 | template <> 46 | inline void swap<::jsonxx::json>(::jsonxx::json &lhs, ::jsonxx::json &rhs) 47 | { 48 | lhs.swap(rhs); 49 | } 50 | } // namespace std 51 | -------------------------------------------------------------------------------- /src/config/classtype.txt: -------------------------------------------------------------------------------- 1 | -1, low point(noise) 2 | 0, never classified 3 | 1, unclassified 4 | 2, ground 5 | 3, low vegetation 6 | 4, medium vegetation 7 | 5, high vegetation 8 | 6, building 9 | 8, key-point 10 | 9, water 11 | 12, overlap --------------------------------------------------------------------------------