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R/readLAS.r
In rLiDAR: LiDAR Data Processing and Visualization
Defines functions
readLAS
Documented in
readLAS
#'Reading LiDAR data
#'
#'@description This function reads and returns values associated with the LAS file format. The LAS file is a public file format for the interchange of LiDAR 3-dimensional point cloud data (American Society of Photogrammetry and Remote Sensing - ASPRS)
#'
#'@usage readLAS(LASfile, short=TRUE)
#'
#'@param LASfile A standard LAS data file (ASPRS)
#'@param short Logical, if TRUE it will return only a 5-column matrix with information on the returned point x, y, z locations, point intensity and the number of return within an individual discrete-return system laser pulse.
#'@return Returns a matrix listing the information stored in the LAS file.
#'@author Michael Sumner and Carlos Alberto Silva.
#'@examples
#'
#'#=======================================================================#
#'# Importing LAS file:
#'#=======================================================================#
#'LASfile <- system.file("extdata", "LASexample1.las", package="rLiDAR")
#'
#'# Reading LAS file
#'rLAS<-readLAS(LASfile,short=TRUE)
#'
#'# Summary of the LAS file
#'summary(rLAS)
#'
#'#=======================================================================#
#'# LAS file visualization:
#'#=======================================================================#
#'
#'# 01 Set a single color
#'
#'col<-"forestgreen"
#'
#'# plot 2D
#'plot(rLAS[,1],rLAS[,2], col=col,xlab="UTM.Easting", ylab="UTM.Northing", main="Single color")
#'
#'# plot 3D
#'library(rgl)
#'points3d(rLAS[,1:3], col=col, axes=FALSE,xlab="", ylab="", zlab="")
#'axes3d(c("x+", "y-", "z-")) # axes
#'grid3d(side=c('x+', 'y-', 'z'), col="gray") # grid
#'title3d(xlab = "UTM.Easting", ylab = "UTM.Northing",zlab = "Height(m)", col="red") # title
#'planes3d(0, 0, -1, 0.001, col="gray", alpha=0.7) # terrain
#'
#'
#'# 02 Set a color by height
#'
#'# color ramp
#'myColorRamp <- function(colors, values) {
#'v <- (values - min(values))/diff(range(values))
#'x <- colorRamp(colors)(v)
#'rgb(x[,1], x[,2], x[,3], maxColorValue = 255)
#'}
#'
#'# Color by height
#'col <- myColorRamp(c("blue","green","yellow","red"),rLAS[,3])
#'
#'# plot 2D
#'plot(rLAS[,1], rLAS[,2], col=col, xlab="UTM.Easting", ylab="UTM.Northing", main="Color by height")
#'
#'# plot 3D
#'points3d(rLAS[,1:3], col=col, axes=FALSE, xlab="", ylab="", zlab="")
#'axes3d(c("x+", "y-", "z-")) # axes
#'grid3d(side=c('x+', 'y-', 'z'), col="gray") # grid
#'title3d(xlab = "UTM.Easting", ylab = "UTM.Northing",zlab = "Height(m)", col="red") # title
#'planes3d(0, 0, -1, 0.001, col="gray",alpha=0.7) # terrain
#'
#'@export
#'@importFrom bitops bitAnd bitShiftR
readLAS<- function(LASfile, short=TRUE) {
if (class(short)!="logical") {stop("The short parameter is invalid. It must to be a TRUE or FALSE logical statement")}
skip <- 0
nrows <- NULL
hd <- publicHeaderDescription()
pheader <- vector("list", nrow(hd))
names(pheader) <- hd$Item
con <- file(LASfile, open = "rb")
isLASFbytes <- readBin(con, "raw", size = 1, n = 4, endian = "little")
pheader[[hd$Item[1]]] <- readBin(isLASFbytes, "character", size = 4, endian = "little")
if (! pheader[[hd$Item[1]]] == "LASF") {
stop("The LASfile input is not a valid LAS file")
}
for (i in 2:nrow(hd)) {
pheader[[hd$Item[i]]] <- readBin(con, what = hd$what[i], size = hd$Rsize[i], endian = "little", n = hd$n[i])
}
close(con)
numberPointRecords <- pheader[["Number of point records"]]
offsetToPointData <- pheader[["Offset to point data"]]
pointDataRecordLength <-pheader[["Point Data Record Length"]]
xyzScaleOffset <- cbind(unlist(pheader[c("X scale factor", "Y scale factor", "Z scale factor")]),
unlist(pheader[c("X offset", "Y offset", "Z offset")]))
con <- file(LASfile, open = "rb")
junk <- readBin(con, "raw", size = 1, n = offsetToPointData)
if (skip > 0) {
junk <- readBin(con, "raw", size = 1, n = pointDataRecordLength * skip)
numberPointRecords <- numberPointRecords - skip
}
if (!is.null(nrows)) {
if (numberPointRecords > nrows) numberPointRecords <- nrows
}
if (numberPointRecords < 1) stop("no records left to read")
allbytes <- matrix(readBin(con, "raw", n = pointDataRecordLength * numberPointRecords, size = 1, endian = "little"),
ncol= pointDataRecordLength, nrow = numberPointRecords, byrow = TRUE)
close(con)
mm <- matrix(readBin(t(allbytes[,1:(3*4)]), "integer", size = 4, n = 3 * numberPointRecords, endian = "little"), ncol = 3, byrow = TRUE)
mm[,1] <- mm[ ,1] * xyzScaleOffset[1,1] + xyzScaleOffset[1, 2]
mm[,2] <- mm[ ,2] * xyzScaleOffset[2,1] + xyzScaleOffset[2, 2]
mm[,3] <- mm[ ,3] * xyzScaleOffset[3,1] + xyzScaleOffset[3, 2]
colnames(mm) <- c("X", "Y", "Z")
Intensity <- readBin(t(allbytes[, 13:14]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
bytesList <- readBin(t(allbytes[,15]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
if (pheader[17][[1]]==00) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID)) }}
if (pheader[17][[1]]==01) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
if (ncol(allbytes) == 28) gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, gpstime)) }}
if (pheader[17][[1]]==02) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
R <- readBin(t(allbytes[, 21:22]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 23:24]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 25:26]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, R,G,B)) }}
if (pheader[17][[1]]==03) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
R <- readBin(t(allbytes[, 29:30]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 31:32]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 33:34]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, R,G,B)) }}
if (pheader[17][[1]]==04) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
WavePacket_Descriptor_Index <- readBin(t(allbytes[, 29]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
Byte_offset_to_waveform_data <- readBin(t(allbytes[, 30:37]), "integer", size = 8, n = numberPointRecords, signed = FALSE, endian = "little")
Waveform_packet_size_in_bytes <- readBin(t(allbytes[, 38:41]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Return_Point_Waveform_Location<- readBin(t(allbytes[, 42:45]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
X.t<- readBin(t(allbytes[, 46:49]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Y.t<- readBin(t(allbytes[, 50:53]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Z.t<- readBin(t(allbytes[, 54:57]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID,gpstime,
WavePacket_Descriptor_Index,Byte_offset_to_waveform_data,Waveform_packet_size_in_bytes,
Return_Point_Waveform_Location,X.t,Y.t,Z.t)) }}
if (pheader[17][[1]]==05) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
R <- readBin(t(allbytes[, 29:30]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 31:32]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 33:34]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
WavePacket_Descriptor_Index <- readBin(t(allbytes[, 35]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
Byte_offset_to_waveform_data <- readBin(t(allbytes[, 36:43]), "integer", size = 8, n = numberPointRecords, signed = FALSE, endian = "little")
Waveform_packet_size_in_bytes <- readBin(t(allbytes[, 44:47]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Return_Point_Waveform_Location<- readBin(t(allbytes[, 48:51]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
X.t<- readBin(t(allbytes[, 52:55]), "intege", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Y.t<- readBin(t(allbytes[, 56:59]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Z.t<- readBin(t(allbytes[, 60:63]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID,gpstime,
R, G, B, WavePacket_Descriptor_Index,Byte_offset_to_waveform_data,Waveform_packet_size_in_bytes,
Return_Point_Waveform_Location,X.t,Y.t,Z.t)) }}
}
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Defines functions readLAS
Documented in readLAS
#'Reading LiDAR data
#'
#'@description This function reads and returns values associated with the LAS file format. The LAS file is a public file format for the interchange of LiDAR 3-dimensional point cloud data (American Society of Photogrammetry and Remote Sensing - ASPRS)
#'
#'@usage readLAS(LASfile, short=TRUE)
#'
#'@param LASfile A standard LAS data file (ASPRS)
#'@param short Logical, if TRUE it will return only a 5-column matrix with information on the returned point x, y, z locations, point intensity and the number of return within an individual discrete-return system laser pulse.
#'@return Returns a matrix listing the information stored in the LAS file.
#'@author Michael Sumner and Carlos Alberto Silva.
#'@examples
#'
#'#=======================================================================#
#'# Importing LAS file:
#'#=======================================================================#
#'LASfile <- system.file("extdata", "LASexample1.las", package="rLiDAR")
#'
#'# Reading LAS file
#'rLAS<-readLAS(LASfile,short=TRUE)
#'
#'# Summary of the LAS file
#'summary(rLAS)
#'
#'#=======================================================================#
#'# LAS file visualization:
#'#=======================================================================#
#'
#'# 01 Set a single color
#'
#'col<-"forestgreen"
#'
#'# plot 2D
#'plot(rLAS[,1],rLAS[,2], col=col,xlab="UTM.Easting", ylab="UTM.Northing", main="Single color")
#'
#'# plot 3D
#'library(rgl)
#'points3d(rLAS[,1:3], col=col, axes=FALSE,xlab="", ylab="", zlab="")
#'axes3d(c("x+", "y-", "z-")) # axes
#'grid3d(side=c('x+', 'y-', 'z'), col="gray") # grid
#'title3d(xlab = "UTM.Easting", ylab = "UTM.Northing",zlab = "Height(m)", col="red") # title
#'planes3d(0, 0, -1, 0.001, col="gray", alpha=0.7) # terrain
#'
#'
#'# 02 Set a color by height
#'
#'# color ramp
#'myColorRamp <- function(colors, values) {
#'v <- (values - min(values))/diff(range(values))
#'x <- colorRamp(colors)(v)
#'rgb(x[,1], x[,2], x[,3], maxColorValue = 255)
#'}
#'
#'# Color by height
#'col <- myColorRamp(c("blue","green","yellow","red"),rLAS[,3])
#'
#'# plot 2D
#'plot(rLAS[,1], rLAS[,2], col=col, xlab="UTM.Easting", ylab="UTM.Northing", main="Color by height")
#'
#'# plot 3D
#'points3d(rLAS[,1:3], col=col, axes=FALSE, xlab="", ylab="", zlab="")
#'axes3d(c("x+", "y-", "z-")) # axes
#'grid3d(side=c('x+', 'y-', 'z'), col="gray") # grid
#'title3d(xlab = "UTM.Easting", ylab = "UTM.Northing",zlab = "Height(m)", col="red") # title
#'planes3d(0, 0, -1, 0.001, col="gray",alpha=0.7) # terrain
#'
#'@export
#'@importFrom bitops bitAnd bitShiftR
readLAS<- function(LASfile, short=TRUE) {
if (class(short)!="logical") {stop("The short parameter is invalid. It must to be a TRUE or FALSE logical statement")}
skip <- 0
nrows <- NULL
hd <- publicHeaderDescription()
pheader <- vector("list", nrow(hd))
names(pheader) <- hd$Item
con <- file(LASfile, open = "rb")
isLASFbytes <- readBin(con, "raw", size = 1, n = 4, endian = "little")
pheader[[hd$Item[1]]] <- readBin(isLASFbytes, "character", size = 4, endian = "little")
if (! pheader[[hd$Item[1]]] == "LASF") {
stop("The LASfile input is not a valid LAS file")
}
for (i in 2:nrow(hd)) {
pheader[[hd$Item[i]]] <- readBin(con, what = hd$what[i], size = hd$Rsize[i], endian = "little", n = hd$n[i])
}
close(con)
numberPointRecords <- pheader[["Number of point records"]]
offsetToPointData <- pheader[["Offset to point data"]]
pointDataRecordLength <-pheader[["Point Data Record Length"]]
xyzScaleOffset <- cbind(unlist(pheader[c("X scale factor", "Y scale factor", "Z scale factor")]),
unlist(pheader[c("X offset", "Y offset", "Z offset")]))
con <- file(LASfile, open = "rb")
junk <- readBin(con, "raw", size = 1, n = offsetToPointData)
if (skip > 0) {
junk <- readBin(con, "raw", size = 1, n = pointDataRecordLength * skip)
numberPointRecords <- numberPointRecords - skip
}
if (!is.null(nrows)) {
if (numberPointRecords > nrows) numberPointRecords <- nrows
}
if (numberPointRecords < 1) stop("no records left to read")
allbytes <- matrix(readBin(con, "raw", n = pointDataRecordLength * numberPointRecords, size = 1, endian = "little"),
ncol= pointDataRecordLength, nrow = numberPointRecords, byrow = TRUE)
close(con)
mm <- matrix(readBin(t(allbytes[,1:(3*4)]), "integer", size = 4, n = 3 * numberPointRecords, endian = "little"), ncol = 3, byrow = TRUE)
mm[,1] <- mm[ ,1] * xyzScaleOffset[1,1] + xyzScaleOffset[1, 2]
mm[,2] <- mm[ ,2] * xyzScaleOffset[2,1] + xyzScaleOffset[2, 2]
mm[,3] <- mm[ ,3] * xyzScaleOffset[3,1] + xyzScaleOffset[3, 2]
colnames(mm) <- c("X", "Y", "Z")
Intensity <- readBin(t(allbytes[, 13:14]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
bytesList <- readBin(t(allbytes[,15]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
if (pheader[17][[1]]==00) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID)) }}
if (pheader[17][[1]]==01) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
if (ncol(allbytes) == 28) gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, gpstime)) }}
if (pheader[17][[1]]==02) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
R <- readBin(t(allbytes[, 21:22]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 23:24]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 25:26]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, R,G,B)) }}
if (pheader[17][[1]]==03) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
R <- readBin(t(allbytes[, 29:30]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 31:32]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 33:34]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID, R,G,B)) }}
if (pheader[17][[1]]==04) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
WavePacket_Descriptor_Index <- readBin(t(allbytes[, 29]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
Byte_offset_to_waveform_data <- readBin(t(allbytes[, 30:37]), "integer", size = 8, n = numberPointRecords, signed = FALSE, endian = "little")
Waveform_packet_size_in_bytes <- readBin(t(allbytes[, 38:41]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Return_Point_Waveform_Location<- readBin(t(allbytes[, 42:45]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
X.t<- readBin(t(allbytes[, 46:49]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Y.t<- readBin(t(allbytes[, 50:53]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Z.t<- readBin(t(allbytes[, 54:57]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID,gpstime,
WavePacket_Descriptor_Index,Byte_offset_to_waveform_data,Waveform_packet_size_in_bytes,
Return_Point_Waveform_Location,X.t,Y.t,Z.t)) }}
if (pheader[17][[1]]==05) {
ReturnNumber <- bitAnd(7, bytesList)
NumberOfReturns <- bitShiftR(bitAnd(56, bytesList), 3)
ScanDirectionFlag <- bitShiftR(bitAnd(bytesList, 64), 6)
EdgeofFlightLine <- bitShiftR(bitAnd(bytesList, 128), 7)
Classification <- readBin(t(allbytes[, 16]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
ScanAngleRank <-readBin(t(allbytes[, 17]), "integer", size = 1, n = numberPointRecords, signed = TRUE, endian = "little")
UserData <-readBin(t(allbytes[, 18]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
PointSourceID <-readBin(t(allbytes[, 19:20]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
gpstime <- NULL
gpstime <- readBin(t(allbytes[ , 21:28]), "numeric", size = 8, n = numberPointRecords, endian = "little")
R <- readBin(t(allbytes[, 29:30]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
G <- readBin(t(allbytes[, 31:32]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
B <- readBin(t(allbytes[, 33:34]), "integer", size = 2, n = numberPointRecords, signed = FALSE, endian = "little")
WavePacket_Descriptor_Index <- readBin(t(allbytes[, 35]), "integer", size = 1, n = numberPointRecords, signed = FALSE, endian = "little")
Byte_offset_to_waveform_data <- readBin(t(allbytes[, 36:43]), "integer", size = 8, n = numberPointRecords, signed = FALSE, endian = "little")
Waveform_packet_size_in_bytes <- readBin(t(allbytes[, 44:47]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Return_Point_Waveform_Location<- readBin(t(allbytes[, 48:51]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
X.t<- readBin(t(allbytes[, 52:55]), "intege", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Y.t<- readBin(t(allbytes[, 56:59]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
Z.t<- readBin(t(allbytes[, 60:63]), "integer", size = 4, n = numberPointRecords, signed = FALSE, endian = "little")
if (short==TRUE) {return(cbind(mm, Intensity, ReturnNumber))} else {
return(cbind(mm, Intensity, ReturnNumber,NumberOfReturns,ScanDirectionFlag,EdgeofFlightLine,Classification,ScanAngleRank,UserData,PointSourceID,gpstime,
R, G, B, WavePacket_Descriptor_Index,Byte_offset_to_waveform_data,Waveform_packet_size_in_bytes,
Return_Point_Waveform_Location,X.t,Y.t,Z.t)) }}
}
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