Method read

io/OptechReader.cpp:155–246

point_count_t OptechReader::read(PointViewPtr data,
                                 point_count_t countRequested)
{
    point_count_t numRead = 0;
    point_count_t dataIndex = data->size();

    while (numRead < countRequested)
    {
        if (m_returnIndex == 0)
        {
            if (!m_extractor.good())
            {
                if (m_recordIndex >= m_header.numRecords)
                {
                    break;
                }
                m_recordIndex += fillBuffer();
            }

            m_extractor >> m_pulse.gpsTime >> m_pulse.returnCount >>
                m_pulse.range[0] >> m_pulse.range[1] >> m_pulse.range[2] >>
                m_pulse.range[3] >> m_pulse.intensity[0] >>
                m_pulse.intensity[1] >> m_pulse.intensity[2] >>
                m_pulse.intensity[3] >> m_pulse.scanAngle >> m_pulse.roll >>
                m_pulse.pitch >> m_pulse.heading >> m_pulse.latitude >>
                m_pulse.longitude >> m_pulse.elevation;

            if (m_pulse.returnCount == 0)
            {
                m_returnIndex = 0;
                continue;
            }

            // In all the csd files that we've tested, the longitude
            // values have been less than -2pi.
            if (m_pulse.longitude < -M_PI * 2)
            {
                m_pulse.longitude = m_pulse.longitude + M_PI * 2;
            }
            else if (m_pulse.longitude > M_PI * 2)
            {
                m_pulse.longitude = m_pulse.longitude - M_PI * 2;
            }
        }

        georeference::Xyz gpsPoint = georeference::Xyz(
            m_pulse.longitude, m_pulse.latitude, m_pulse.elevation);
        georeference::RotationMatrix rotationMatrix =
            createOptechRotationMatrix(m_pulse.roll, m_pulse.pitch,
                                       m_pulse.heading);
        georeference::Xyz point = pdal::georeference::georeferenceWgs84(
            m_pulse.range[m_returnIndex], m_pulse.scanAngle,
            m_boresightMatrix, rotationMatrix, gpsPoint);

        data->setField(Dimension::Id::X, dataIndex, point.X * 180 / M_PI);
        data->setField(Dimension::Id::Y, dataIndex, point.Y * 180 / M_PI);
        data->setField(Dimension::Id::Z, dataIndex, point.Z);
        data->setField(Dimension::Id::GpsTime, dataIndex, m_pulse.gpsTime);