Method decodeHeader

plugins/e57/io/Scan.cpp:104–166

}

void Scan::decodeHeader()
{
    m_numPoints = m_rawPoints->childCount();

    auto supportedFields = pdal::e57plugin::supportedE57Types();
    e57::StructureNode prototype(m_rawPoints->prototype());

    // Extract fields that can be extracted
    for (auto& field: supportedFields)
    {
        if (prototype.isDefined(field))
        {
            m_e57TypeToPdalDimension.insert(field);
        }
    }
    // Get pose estimation
    getPose();

    // Get rescale factors for new scan, These factors are only for
    // dimensions with limits. This is required Since,
    // 1. E57 support colors in uint8 as well as uint16. This is specified
    //    in header as "colorLimits".
    //      - If colorLimits is 0-255 then it is uint8 and if 0-65535 then
    // it
    // is uint16.
    //      - To make this consistant, We are rescaling colors to 0-65535
    //        range, Since default types for colors in PDAL are Unsigned16.
    // 2. E57 supports intensity in float ranging 0-1.  This is specified in
    //    header as "intensityLimits".
    //      - Since default type for intensity in PDAL is Unsigned16, E57
    //        intensity (between 0-1) need to be rescaled in uint16 (between
    //        0-65535).
    // To do the rescaling we need the rescale factors so that we can
    // directly multiply them with colors and intensity values. E.g. - If
    // color limit is 0-255 then rescale factor would be 257.00
    //        (double value) i.e 65535/(255-0)=257.
    //      - If color limit is 0-65535 then rescale factor would be 1.00
    //        (double value) i.e 65535/(65535-0)= 1.

    std::fill_n(m_rescaleFactors, pdal::Dimension::COUNT, 1.0f);

    auto scalableFields = pdal::e57plugin::scalableE57Types();
    for (auto& field : scalableFields)
    {
        auto minmax = std::make_pair(0.0, 0.0);
        if (pdal::e57plugin::getLimits(*m_rawData, field, minmax))
        {
            auto dim = pdal::e57plugin::e57ToPdal(field);
            m_rescaleFactors[(int)dim] =
                (float)(pdal::e57plugin::getPdalBounds(dim).second / (minmax.second - minmax.first));
        }
    }

    // Cartesian Bounds
    auto minMaxx = std::make_pair(0.0, 0.0);
    auto minMaxy = std::make_pair(0.0, 0.0);
    auto minMaxz = std::make_pair(0.0, 0.0);
    pdal::e57plugin::getLimits(*m_rawData, "x", minMaxx);