std::vector<float> getComboItemAsStdFloatVector(ComboItemDescriptor desc, const ccPointCloud* cloud)
{
    int n = cloud->size();
    std::vector<float> v;
    v.resize(n);
    v.reserve(n);
    if (desc.type == ComboItemDescriptor::COORDINATE)
    {
        CCVector3 point;
        for (int i = 0; i < n; i++)
        {
            cloud->getPoint(i, point);
            v[i] = point[desc.index_in_cloud];
        }
    }
    else if (desc.type == ComboItemDescriptor::SCALAR)
    {
        CCLib::ScalarField * field = cloud->getScalarField(desc.index_in_cloud);
        for (int i = 0; i < n; i++)
            v[i] = field->getValue(i);

    }



    return v;
}

void copyScalarFields(const ccPointCloud *inCloud, ccPointCloud *outCloud, pcl::PointIndicesPtr &in2outMapping, bool overwrite = true)
{
    int n_in = inCloud->size();
    int n_out = outCloud->size();
    assert(in2outMapping->indices.size() == outCloud->size());

    int n_scalars = inCloud->getNumberOfScalarFields();
    for (int i = 0; i < n_scalars; ++i)
      {
        CCLib::ScalarField * field = inCloud->getScalarField(i);
        const char * name = field->getName();

        //we need to verify no scalar field with the same name exists in the output cloud
        int id = outCloud->getScalarFieldIndexByName(name);
        ccScalarField * new_field = new ccScalarField;

        //resize the scalar field to the outcloud size
        new_field->reserve(outCloud->size());
        new_field->setName(name);

        if (id >= 0) //a scalar field with the same name exists
          {
           if (overwrite)
               outCloud->deleteScalarField(id);
           else
              break;
          }


        //now perform point to point copy
        for (unsigned int j = 0; j < outCloud->size(); ++j)
          {
            new_field->setValue(j, field->getValue(in2outMapping->indices.at(j)));
          }


        //recompute stats
        new_field->computeMinAndMax();
        ccScalarField * casted_field = static_cast<ccScalarField *> (new_field);
        casted_field->computeMinAndMax();



        //now put back the scalar field to the outCloud
        if (id < 0)
          outCloud->addScalarField(casted_field);


      }
}

static int scalar_cb(p_ply_argument argument)
{
	CCLib::ScalarField* sf = 0;
	ply_get_argument_user_data(argument, (void**)(&sf), NULL);

	p_ply_element element;
	long instance_index;
	ply_get_argument_element(argument, &element, &instance_index);

	ScalarType scal = static_cast<ScalarType>(ply_get_argument_value(argument));
	sf->setValue(instance_index,scal);

	if ((++s_totalScalarCount % PROCESS_EVENTS_FREQ) == 0)
		QCoreApplication::processEvents();

	return 1;
}

bool cc2Point5DimEditor::RasterGrid::fillWith(	ccGenericPointCloud* cloud,
												unsigned char projectionDimension,
												cc2Point5DimEditor::ProjectionType projectionType,
												bool interpolateEmptyCells,
												cc2Point5DimEditor::ProjectionType sfInterpolation/*=INVALID_PROJECTION_TYPE*/,
												ccProgressDialog* progressDialog/*=0*/)
{
	if (!cloud)
	{
		assert(false);
		return false;
	}

	//current parameters
	unsigned gridTotalSize = width * height;
	
	//vertical dimension
	const unsigned char Z = projectionDimension;
	assert(Z >= 0 && Z <= 2);
	const unsigned char X = Z == 2 ? 0 : Z +1;
	const unsigned char Y = X == 2 ? 0 : X +1;

	//do we need to interpolate scalar fields?
	ccPointCloud* pc = cloud->isA(CC_TYPES::POINT_CLOUD) ? static_cast<ccPointCloud*>(cloud) : 0;
	bool interpolateSF = (sfInterpolation != INVALID_PROJECTION_TYPE);
	interpolateSF &= (pc && pc->hasScalarFields());
	if (interpolateSF)
	{
		unsigned sfCount = pc->getNumberOfScalarFields();

		bool memoryError = false;
		size_t previousCount = scalarFields.size();
		if (sfCount > previousCount)
		{
			try
			{
				scalarFields.resize(sfCount,0);
			}
			catch (const std::bad_alloc&)
			{
				//not enough memory
				memoryError = true;
			}
		}

		for (size_t i=previousCount; i<sfCount; ++i)
		{
			assert(scalarFields[i] == 0);
			scalarFields[i] = new double[gridTotalSize];
			if (!scalarFields[i])
			{
				//not enough memory
				memoryError = true;
				break;
			}
		}

		if (memoryError)
		{
			ccLog::Warning(QString("[Rasterize] Failed to allocate memory for scalar fields!"));
		}
	}

	//filling the grid
	unsigned pointCount = cloud->size();

	double gridMaxX = gridStep * width;
	double gridMaxY = gridStep * height;

	if (progressDialog)
	{
		progressDialog->setMethodTitle("Grid generation");
		progressDialog->setInfo(qPrintable(QString("Points: %1\nCells: %2 x %3").arg(pointCount).arg(width).arg(height)));
		progressDialog->start();
		progressDialog->show();
		QCoreApplication::processEvents();
	}
	CCLib::NormalizedProgress nProgress(progressDialog,pointCount);

	for (unsigned n=0; n<pointCount; ++n)
	{
		const CCVector3* P = cloud->getPoint(n);

		CCVector3d relativePos = CCVector3d::fromArray(P->u) - minCorner;
		int i = static_cast<int>(relativePos.u[X]/gridStep);
		int j = static_cast<int>(relativePos.u[Y]/gridStep);

		//specific case: if we fall exactly on the max corner of the grid box
		if (i == static_cast<int>(width) && relativePos.u[X] == gridMaxX)
			--i;
		if (j == static_cast<int>(height) && relativePos.u[Y] == gridMaxY)
			--j;

		//we skip points outside the box!
		if (	i < 0 || i >= static_cast<int>(width)
			||	j < 0 || j >= static_cast<int>(height) )
			continue;

		assert(i >= 0 && j >= 0);

//.........这里部分代码省略.........

CC_FILE_ERROR LASFilter::saveToFile(ccHObject* entity, const char* filename)
{
	if (!entity || !filename)
		return CC_FERR_BAD_ARGUMENT;

	ccHObject::Container clouds;
	if (entity->isKindOf(CC_POINT_CLOUD))
		clouds.push_back(entity);
	else
		entity->filterChildren(clouds, true, CC_POINT_CLOUD);

	if (clouds.empty())
	{
		ccConsole::Error("No point cloud in input selection!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}
	else if (clouds.size()>1)
	{
		ccConsole::Error("Can't save more than one cloud per LAS file!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}

	//the cloud to save
	ccGenericPointCloud* theCloud = static_cast<ccGenericPointCloud*>(clouds[0]);
	unsigned numberOfPoints = theCloud->size();

	if (numberOfPoints==0)
	{
		ccConsole::Error("Cloud is empty!");
		return CC_FERR_BAD_ENTITY_TYPE;
	}

	//colors
	bool hasColor = theCloud->hasColors();

	//additional fields (as scalar fields)
	CCLib::ScalarField* classifSF = 0;
	CCLib::ScalarField* intensitySF = 0;
	CCLib::ScalarField* timeSF = 0;
	CCLib::ScalarField* returnNumberSF = 0;

	if (theCloud->isA(CC_POINT_CLOUD))
	{
		ccPointCloud* pc = static_cast<ccPointCloud*>(theCloud);

		//Classification
		{
			int sfIdx = pc->getScalarFieldIndexByName(CC_LAS_CLASSIFICATION_FIELD_NAME);
			if (sfIdx>=0)
			{
				classifSF = pc->getScalarField(sfIdx);
				assert(classifSF);
				if ((int)classifSF->getMin()<0 || (int)classifSF->getMax()>255) //outbounds unsigned char?
				{
					ccConsole::Warning("[LASFilter] Found a 'Classification' scalar field, but its values outbound LAS specifications (0-255)...");
					classifSF = 0;
				}
			}
		}
		//Classification end

		//intensity (as a scalar field)
		{
			int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_INTENSITY_FIELD_NAME);
			if (sfIdx>=0)
			{
				intensitySF = pc->getScalarField(sfIdx);
				assert(intensitySF);
				if ((int)intensitySF->getMin()<0 || (int)intensitySF->getMax()>65535) //outbounds unsigned short?
				{
					ccConsole::Warning("[LASFilter] Found a 'Intensity' scalar field, but its values outbound LAS specifications (0-65535)...");
					intensitySF = 0;
				}
			}
		}
		//Intensity end

		//Time (as a scalar field)
		{
			int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_TIME_FIELD_NAME);
			if (sfIdx>=0)
			{
				timeSF = pc->getScalarField(sfIdx);
				assert(timeSF);
			}
		}
		//Time end

		//Return number (as a scalar field)
		{
			int sfIdx = pc->getScalarFieldIndexByName(CC_SCAN_RETURN_INDEX_FIELD_NAME);
			if (sfIdx>=0)
			{
				returnNumberSF = pc->getScalarField(sfIdx);
				assert(returnNumberSF);
				if ((int)returnNumberSF->getMin()<0 || (int)returnNumberSF->getMax()>7) //outbounds 3 bits?
				{
					ccConsole::Warning("[LASFilter] Found a 'Return number' scalar field, but its values outbound LAS specifications (0-7)...");
					returnNumberSF = 0;
				}
//.........这里部分代码省略.........

CC_FILE_ERROR PVFilter::loadFile(QString filename, ccHObject& container, LoadParameters& parameters)
{
	//opening file
	QFile in(filename);
	if (!in.open(QIODevice::ReadOnly))
		return CC_FERR_READING;

	//we deduce the points number from the file size
	qint64 fileSize = in.size();
	qint64 singlePointSize = 4*sizeof(float);
	//check that size is ok
	if (fileSize == 0)
		return CC_FERR_NO_LOAD;
	if ((fileSize % singlePointSize) != 0)
		return CC_FERR_MALFORMED_FILE;
	unsigned numberOfPoints = static_cast<unsigned>(fileSize  / singlePointSize);

	//progress dialog
	ccProgressDialog pdlg(true); //cancel available
	CCLib::NormalizedProgress nprogress(&pdlg,numberOfPoints);
	pdlg.setMethodTitle("Open PV file");
	pdlg.setInfo(qPrintable(QString("Points: %1").arg(numberOfPoints)));
	pdlg.start();

	ccPointCloud* loadedCloud = 0;
	//if the file is too big, it will be chuncked in multiple parts
	unsigned chunkIndex = 0;
	unsigned fileChunkPos = 0;
	unsigned fileChunkSize = 0;
	//number of points read for the current cloud part
	unsigned pointsRead = 0;
	CC_FILE_ERROR result = CC_FERR_NO_ERROR;

	for (unsigned i=0;i<numberOfPoints;i++)
	{
		//if we reach the max. cloud size limit, we cerate a new chunk
		if (pointsRead == fileChunkPos+fileChunkSize)
		{
			if (loadedCloud)
			{
				int sfIdx = loadedCloud->getCurrentInScalarFieldIndex();
				if (sfIdx>=0)
				{
					CCLib::ScalarField* sf = loadedCloud->getScalarField(sfIdx);
					sf->computeMinAndMax();
					loadedCloud->setCurrentDisplayedScalarField(sfIdx);
					loadedCloud->showSF(true);
				}
				container.addChild(loadedCloud);
			}
			fileChunkPos = pointsRead;
			fileChunkSize = std::min<unsigned>(numberOfPoints-pointsRead,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);
			loadedCloud = new ccPointCloud(QString("unnamed - Cloud #%1").arg(++chunkIndex));
			if (!loadedCloud || !loadedCloud->reserveThePointsTable(fileChunkSize) || !loadedCloud->enableScalarField())
			{
				result = CC_FERR_NOT_ENOUGH_MEMORY;
				if (loadedCloud)
					delete loadedCloud;
				loadedCloud=0;
				break;
			}
		}

		//we read the 3 coordinates of the point
		float rBuff[3];
		if (in.read((char*)rBuff,3*sizeof(float))>=0)
		{
			//conversion to CCVector3
			CCVector3 P((PointCoordinateType)rBuff[0],
						(PointCoordinateType)rBuff[1],
						(PointCoordinateType)rBuff[2]);
			loadedCloud->addPoint(P);
		}
		else
		{
			result = CC_FERR_READING;
			break;
		}

		//then the scalar value
		if (in.read((char*)rBuff,sizeof(float))>=0)
		{
			loadedCloud->setPointScalarValue(pointsRead,(ScalarType)rBuff[0]);
		}
		else
		{
			//add fake scalar value for consistency then break
			loadedCloud->setPointScalarValue(pointsRead,0);
			result = CC_FERR_READING;
			break;
		}

		++pointsRead;

		if (!nprogress.oneStep())
		{
			result = CC_FERR_CANCELED_BY_USER;
			break;
		}
	}
//.........这里部分代码省略.........

//.........这里部分代码省略.........
    {
        if (numberOfPoints != numberOfColors)
        {
            ccConsole::Warning("The number of colors doesn't match the number of points!");
            delete cloud;
            ply_close(ply);
            return CC_FERR_BAD_ENTITY_TYPE;
        }
		if (!cloud->reserveTheRGBTable())
		{
            delete cloud;
            ply_close(ply);
            return CC_FERR_NOT_ENOUGH_MEMORY;
		}
		cloud->showColors(true);
    }

	/* SCALAR FIELD (SF) */

	unsigned numberOfScalars=0;

	if (sfIndex>0)
	{
		plyProperty& pp = stdProperties[sfIndex-1];
        numberOfScalars = pointElements[pp.elemIndex].elementInstances;

		//does the number of scalars matches the number of points?
		if (numberOfPoints != numberOfScalars)
		{
            ccConsole::Error("The number of scalars doesn't match the number of points (they will be ignored)!");
            ccConsole::Warning("[PLY] Scalar field ignored!");
            numberOfScalars = 0;
        }
        else if (!cloud->enableScalarField())
        {
            ccConsole::Error("Not enough memory to load scalar field (they will be ignored)!");
            ccConsole::Warning("[PLY] Scalar field ignored!");
            numberOfScalars = 0;
        }
        else
        {
			CCLib::ScalarField* sf = cloud->getCurrentInScalarField();
			if (sf)
			{
				QString qPropName(pp.propName);
				if (qPropName.startsWith("scalar_") && qPropName.length()>7)
				{
					//remove the 'scalar_' prefix added when saving SF with CC!
					qPropName = qPropName.mid(7).replace('_',' ');
					sf->setName(qPrintable(qPropName));
				}
				else
				{
					sf->setName(pp.propName);
				}
			}
            ply_set_read_cb(ply, pointElements[pp.elemIndex].elementName, pp.propName, scalar_cb, cloud, 1);
        }
		cloud->showSF(true);
	}

	/* MESH FACETS (TRI) */

	ccMesh* mesh = 0;
	unsigned numberOfFacets=0;

//.........这里部分代码省略.........
	outFile << "ASCII" << endl;
	outFile << "DATASET " << (mesh ? "POLYDATA" : "UNSTRUCTURED_GRID") << endl;

	//data type
	QString floatType = (sizeof(PointCoordinateType) == 4 ? "float" : "double");

	/*** what shall we save now? ***/

	// write the points
	{
		outFile << "POINTS " << ptsCount << " " << floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3* P = vertices->getPoint(i);
			CCVector3d Pglobal = vertices->toGlobal3d<PointCoordinateType>(*P);
			outFile << Pglobal.x << " "
					<< Pglobal.y << " "
					<< Pglobal.z << endl;
		}
	}

	// write triangles
	if (mesh)
	{
		outFile << "POLYGONS " << triCount << " " <<  4*triCount << endl;
		mesh->placeIteratorAtBegining();
		for (unsigned i=0; i<triCount; ++i)
		{
			const CCLib::VerticesIndexes* tsi = mesh->getNextTriangleVertIndexes(); //DGM: getNextTriangleVertIndexes is faster for mesh groups!
			outFile << "3 " << tsi->i1 << " " << tsi->i2  << " " << tsi->i3 << endl;
		}
	}
	else
	{
		// write cell data
		outFile << "CELLS " << ptsCount << " " <<  2*ptsCount << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << i << endl;

		outFile << "CELL_TYPES " << ptsCount  << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << endl;
	}

	outFile << "POINT_DATA " << ptsCount << endl;

	// write normals
	if (vertices->hasNormals())
	{
		outFile << "NORMALS Normals "<< floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3& N = vertices->getPointNormal(i);
			outFile << N.x << " " << N.y << " "  << N.z << endl;
		}
	}

	// write colors
	if (vertices->hasColors())
	{
		outFile << "COLOR_SCALARS RGB 3" << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const colorType* C = vertices->getPointColor(i);
			outFile << static_cast<float>(C[0])/ccColor::MAX << " " << static_cast<float>(C[1])/ccColor::MAX << " "  << static_cast<float>(C[2])/ccColor::MAX << endl;
		}
	}

	// write scalar field(s)?
	if (vertices->isA(CC_TYPES::POINT_CLOUD))
	{
		ccPointCloud* pointCloud = static_cast<ccPointCloud*>(vertices);
		unsigned sfCount = pointCloud->getNumberOfScalarFields();
		for (unsigned i=0;i<sfCount;++i)
		{
			CCLib::ScalarField* sf = pointCloud->getScalarField(i);

			outFile << "SCALARS " << QString(sf->getName()).replace(" ","_") << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << sf->getValue(j) << endl;
		}
	}
	else //virtual point cloud, we only have access to its currently displayed scalar field
	{
		if (vertices->hasScalarFields())
		{
			outFile << "SCALARS ScalarField" << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << vertices->getPointDisplayedDistance(j) << endl;
		}
	}

	file.close();

	return CC_FERR_NO_ERROR;
}

//.........这里部分代码省略.........
	outFile << "ASCII" << endl;
	outFile << "DATASET " << (mesh ? "POLYDATA" : "UNSTRUCTURED_GRID") << endl;

	//data type
	QString floatType = (sizeof(PointCoordinateType) == 4 ? "float" : "double");

	/*** what shall we save now? ***/

	// write the points
	{
		outFile << "POINTS " << ptsCount << " " << floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3* P = vertices->getPoint(i);
			CCVector3d Pglobal = vertices->toGlobal3d<PointCoordinateType>(*P);
			outFile << Pglobal.x << " "
					<< Pglobal.y << " "
					<< Pglobal.z << endl;
		}
	}

	// write triangles
	if (mesh)
	{
		outFile << "POLYGONS " << triCount << " " <<  4*triCount << endl;
		mesh->placeIteratorAtBegining();
		for (unsigned i=0; i<triCount; ++i)
		{
			const CCLib::TriangleSummitsIndexes* tsi = mesh->getNextTriangleIndexes(); //DGM: getNextTriangleIndexes is faster for mesh groups!
			outFile << "3 " << tsi->i1 << " " << tsi->i2  << " " << tsi->i3 << endl;
		}
	}
	else
	{
		// write cell data
		outFile << "CELLS " << ptsCount << " " <<  2*ptsCount << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << i << endl;

		outFile << "CELL_TYPES " << ptsCount  << endl;
		for (unsigned i=0; i<ptsCount; ++i)
			outFile << "1 " << endl;
	}

	outFile << "POINT_DATA " << ptsCount << endl;

	// write normals
	if (vertices->hasNormals())
	{
		outFile << "NORMALS Normals "<< floatType << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const CCVector3& N = vertices->getPointNormal(i);
			outFile << N.x << " " << N.y << " "  << N.z << endl;
		}
	}

	// write colors
	if (vertices->hasColors())
	{
		outFile << "COLOR_SCALARS RGB 3" << endl;
		for (unsigned i=0; i<ptsCount; ++i)
		{
			const colorType* C = vertices->getPointColor(i);
			outFile << (float)C[0]/(float)MAX_COLOR_COMP << " " << (float)C[1]/(float)MAX_COLOR_COMP << " "  << (float)C[2]/(float)MAX_COLOR_COMP << endl;
		}
	}

	// write scalar field(s)?
	if (vertices->isA(CC_TYPES::POINT_CLOUD))
	{
		ccPointCloud* pointCloud = static_cast<ccPointCloud*>(vertices);
		unsigned sfCount = pointCloud->getNumberOfScalarFields();
		for (unsigned i=0;i<sfCount;++i)
		{
			CCLib::ScalarField* sf = pointCloud->getScalarField(i);

			outFile << "SCALARS " << QString(sf->getName()).replace(" ","_") << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << sf->getValue(j) << endl;
		}
	}
	else //virtual point cloud, we only have access to its currently displayed scalar field
	{
		if (vertices->hasScalarFields())
		{
			outFile << "SCALARS ScalarField" << (sizeof(ScalarType)==4 ? " float" : " double") << " 1" << endl;
			outFile << "LOOKUP_TABLE default" << endl;

			for (unsigned j=0;j<ptsCount; ++j)
				outFile << vertices->getPointDisplayedDistance(j) << endl;
		}
	}

	file.close();

	return CC_FERR_NO_ERROR;
}

CC_FILE_ERROR PVFilter::saveToFile(ccHObject* entity, const char* filename)
{
	if (!entity || !filename)
        return CC_FERR_BAD_ARGUMENT;

	ccHObject::Container clouds;
	if (entity->isKindOf(CC_POINT_CLOUD))
        clouds.push_back(entity);
    else
        entity->filterChildren(clouds, true, CC_POINT_CLOUD);

    if (clouds.empty())
    {
        ccConsole::Error("No point cloud in input selection!");
        return CC_FERR_BAD_ENTITY_TYPE;
    }
    else if (clouds.size()>1)
    {
        ccConsole::Error("Can't save more than one cloud per PV file!");
        return CC_FERR_BAD_ENTITY_TYPE;
    }

    //the cloud to save
    ccGenericPointCloud* theCloud = static_cast<ccGenericPointCloud*>(clouds[0]);
    //and its scalar field
	CCLib::ScalarField* sf = 0;
	if (theCloud->isA(CC_POINT_CLOUD))
	    sf = static_cast<ccPointCloud*>(theCloud)->getCurrentDisplayedScalarField();

    if (!sf)
        ccConsole::Warning("No displayed scalar field! Values will all be 0!\n");

    unsigned numberOfPoints = theCloud->size();
	if (numberOfPoints==0)
	{
        ccConsole::Error("Cloud is empty!");
        return CC_FERR_BAD_ENTITY_TYPE;
	}

    //open binary file for writing
	FILE* theFile = fopen(filename , "wb");
	if (!theFile)
        return CC_FERR_WRITING;

    //Has the cloud been recentered?
	const double* shift = theCloud->getOriginalShift();
	if (fabs(shift[0])+fabs(shift[0])+fabs(shift[0])>0.0)
        ccConsole::Warning(QString("[PVFilter::save] Can't recenter cloud %1 on PV file save!").arg(theCloud->getName()));

	//progress dialog
	ccProgressDialog pdlg(true); //cancel available
	CCLib::NormalizedProgress nprogress(&pdlg,numberOfPoints);
	pdlg.setMethodTitle("Save PV file");
	char buffer[256];
	sprintf(buffer,"Points: %i",numberOfPoints);
	pdlg.setInfo(buffer);
	pdlg.start();

	float wBuff[3];
	float val=0.0;

	for (unsigned i=0;i<numberOfPoints;i++)
	{
	    //conversion to float
	    const CCVector3* P = theCloud->getPoint(i);
	    wBuff[0]=float(P->x);
	    wBuff[1]=float(P->y);
	    wBuff[2]=float(P->z);

		if (fwrite(wBuff,sizeof(float),3,theFile) < 0)
			{fclose(theFile);return CC_FERR_WRITING;}

		if (sf)
            val = (float)sf->getValue(i);

        if (fwrite(&val,sizeof(float),1,theFile) < 0)
            {fclose(theFile);return CC_FERR_WRITING;}

		if (!nprogress.oneStep())
			break;
	}

	fclose(theFile);

	return CC_FERR_NO_ERROR;
}

//.........这里部分代码省略.........
	{
		return CC_FERR_NO_LOAD;
	}

	//load shapes
	CC_FILE_ERROR error = CC_FERR_NO_ERROR;
	ccPointCloud* singlePoints = 0;
	qint64 pos = file.pos();
	while (fileLength >= 12)
	{
		file.seek(pos);
		assert(pos + fileLength == file.size());
		//load shape record in main SHP file
		{
			file.read(header,8);
			//Byte 0: Record Number
			int32_t recordNumber = qFromBigEndian<int32_t>(*reinterpret_cast<const int32_t*>(header)); //Record numbers begin at 1
			//Byte 4: Content Length
			int32_t recordSize = qFromBigEndian<int32_t>(*reinterpret_cast<const int32_t*>(header+4)); //Record numbers begin at 1
			recordSize *= 2; //recordSize is measured in 16-bit words
			fileLength -= 8;
			pos += 8;
			
			if (fileLength < recordSize)
			{
				assert(false);
				error = CC_FERR_MALFORMED_FILE;
				break;
			}
			fileLength -= recordSize;
			pos += recordSize;

			//Record start (byte 0): Shape Type
			if (recordSize < 4)
			{
				assert(false);
				error = CC_FERR_MALFORMED_FILE;
				break;
			}
			file.read(header,4);
			recordSize -= 4;
			int32_t shapeTypeInt = qToLittleEndian<int32_t>(*reinterpret_cast<const int32_t*>(header));
			ccLog::Print(QString("[SHP] Record #%1 - type: %2 (%3 bytes)").arg(recordNumber).arg(ToString(static_cast<ESRI_SHAPE_TYPE>(shapeTypeInt))).arg(recordSize));

			switch (shapeTypeInt)
			{
			case SHP_POLYLINE:
			case SHP_POLYLINE_Z:
			case SHP_POLYGON:
			case SHP_POLYGON_Z:
				error = LoadPolyline(file,container,recordNumber,static_cast<ESRI_SHAPE_TYPE>(shapeTypeInt),Pshift);
				break;
			case SHP_MULTI_POINT:
			case SHP_MULTI_POINT_Z:
			case SHP_MULTI_POINT_M:
				error = LoadCloud(file,container,recordNumber,static_cast<ESRI_SHAPE_TYPE>(shapeTypeInt),Pshift);
				break;
			case SHP_POINT:
			case SHP_POINT_Z:
			case SHP_POINT_M:
				error = LoadSinglePoint(file,singlePoints,static_cast<ESRI_SHAPE_TYPE>(shapeTypeInt),Pshift);
				break;
			//case SHP_MULTI_PATCH:
			//	error = LoadMesh(file,recordSize);
			//	break;
			case SHP_NULL_SHAPE:
				//ignored
				break;
			default:
				//unhandled entity
				ccLog::Warning("[SHP] Unhandled type!");
				break;
			}
		}

		if (error != CC_FERR_NO_ERROR)
			break;
	}

	if (singlePoints)
	{
		if (singlePoints->size() == 0)
		{
			delete singlePoints;
			singlePoints = 0;
		}
		else
		{
			CCLib::ScalarField* sf = singlePoints->getScalarField(0);
			if (sf)
			{
				sf->computeMinAndMax();
				singlePoints->showSF(true);
			}
			container.addChild(singlePoints);
		}
	}

	return error;
}

CC_FILE_ERROR UltFilter::loadFile(const char* filename, ccHObject& container, bool alwaysDisplayLoadDialog/*=true*/, bool* coordinatesShiftEnabled/*=0*/, double* coordinatesShift/*=0*/)
{
	//ccConsole::Print("[BinFilter::loadFile] Opening binary file '%s'...\n",filename);

	assert(filename);

    //file size
    long size = QFileInfo(filename).size();

    if ( size == 0 || ((size % sizeof(MarkersFrame)) != 0))
		return CC_FERR_MALFORMED_FILE;

    //number of transformations in file
    long count = size / sizeof(MarkersFrame);
	ccConsole::Print("[TransBuffer] Found %i trans. in file '%s'",count,filename);
	if (count<1)
		return CC_FERR_NO_LOAD;

	ccPointCloud* cloud = new ccPointCloud();
	if (!cloud->reserve(count) || !cloud->enableScalarField())
	{
		delete cloud;
		return CC_FERR_NOT_ENOUGH_MEMORY;
	}

    ccProgressDialog pdlg(true);
    pdlg.setMethodTitle("Open Ult File");
	CCLib::NormalizedProgress nprogress(&pdlg,count);
	pdlg.reset();
	pdlg.setInfo(qPrintable(QString("Transformations: %1").arg(count)));
	pdlg.start();
	QApplication::processEvents();

    FILE* fp = fopen(filename,"rb");
    if (!fp)
	{
		delete cloud;
        return CC_FERR_READING;
	}

	//which marker is the reference?
	QMessageBox::StandardButton tibiaIsRef = QMessageBox::question(0, "Choose reference", "Tibia as reference (yes)? Or femur (no)? Or none (no to all)", QMessageBox::Yes | QMessageBox::No | QMessageBox::NoToAll, QMessageBox::Yes );
	MARKER_ROLE referenceRole = MARKER_LOCALIZER;
	if (tibiaIsRef == QMessageBox::Yes)
		referenceRole = MARKER_TIBIA;
	else if (tibiaIsRef == QMessageBox::No)
		referenceRole = MARKER_FEMUR;

	//To apply a predefined pointer tip
	//CCVector3 tip(0,0,0);
	CCVector3 tip(-90.07f, -17.68f, 18.29f);

	MarkersFrame currentframe;
	MarkerState& currentMarker = currentframe.states[MARKER_POINTER];
	MarkerState* referenceMarker = 0;
	if (referenceRole != MARKER_LOCALIZER)
		referenceMarker = currentframe.states+referenceRole;

	unsigned MarkersFrameSize = sizeof(MarkersFrame);
	unsigned realCount=0;
	for (long i=0;i<count;++i)
	{
		if (fread(&currentframe,MarkersFrameSize,1,fp)==0)
		{
			fclose(fp);
			delete cloud;
			return CC_FERR_READING;
		}

		if (currentMarker.visible && (!referenceMarker || referenceMarker->visible))
		{
			CCVector3 P(tip);
			ccGLMatrix trans = currentMarker.pos;
			if (referenceMarker)
				trans = referenceMarker->pos.inverse() * trans;
			trans.apply(P);

			cloud->addPoint(P);
			cloud->setPointScalarValue(realCount,currentMarker.pos.timestamp);
			++realCount;
		}

		if (!nprogress.oneStep())
			break;
	}

	fclose(fp);

	if (realCount==0)
	{
		delete cloud;
		return CC_FERR_NO_LOAD;
	}

	cloud->resize(realCount);
    //we update scalar field
	CCLib::ScalarField* sf = cloud->getCurrentInScalarField();
    if (sf)
    {
        sf->setPositive(true);
//.........这里部分代码省略.........

void ccRasterizeTool::generateRaster() const
{
#ifdef CC_GDAL_SUPPORT

	if (!m_cloud || !m_grid.isValid())
		return;

	GDALAllRegister();
	ccLog::PrintDebug("(GDAL drivers: %i)", GetGDALDriverManager()->GetDriverCount());

	const char *pszFormat = "GTiff";
	GDALDriver *poDriver = GetGDALDriverManager()->GetDriverByName(pszFormat);
	if (!poDriver)
	{
		ccLog::Error("[GDAL] Driver %s is not supported", pszFormat);
		return;
	}

	char** papszMetadata = poDriver->GetMetadata();
	if( !CSLFetchBoolean( papszMetadata, GDAL_DCAP_CREATE, FALSE ) )
	{
		ccLog::Error("[GDAL] Driver %s doesn't support Create() method", pszFormat);
		return;
	}

	//which (and how many) bands shall we create?
	bool heightBand = true; //height by default
	bool densityBand = false;
	bool allSFBands = false;
	int sfBandIndex = -1; //scalar field index
	int totalBands = 0;

	bool interpolateSF = (getTypeOfSFInterpolation() != INVALID_PROJECTION_TYPE);
	ccPointCloud* pc = m_cloud->isA(CC_TYPES::POINT_CLOUD) ? static_cast<ccPointCloud*>(m_cloud) : 0;

	bool hasSF =  interpolateSF && pc && !m_grid.scalarFields.empty();
	
	RasterExportOptionsDlg reoDlg;
	reoDlg.dimensionsLabel->setText(QString("%1 x %2").arg(m_grid.width).arg(m_grid.height));
	reoDlg.exportHeightsCheckBox->setChecked(heightBand);
	reoDlg.exportDensityCheckBox->setChecked(densityBand);
	reoDlg.exportDisplayedSFCheckBox->setEnabled(hasSF);
	reoDlg.exportAllSFCheckBox->setEnabled(hasSF);
	reoDlg.exportAllSFCheckBox->setChecked(allSFBands);

	if (!reoDlg.exec())
		return;

	//we ask the output filename AFTER displaying the export parameters ;)
	QString outputFilename;
	{
		QSettings settings;
		settings.beginGroup(ccPS::HeightGridGeneration());
		QString imageSavePath = settings.value("savePathImage",QApplication::applicationDirPath()).toString();
		outputFilename = QFileDialog::getSaveFileName(0,"Save height grid raster",imageSavePath+QString("/raster.tif"),"geotiff (*.tif)");

		if (outputFilename.isNull())
			return;

		//save current export path to persistent settings
		settings.setValue("savePathImage",QFileInfo(outputFilename).absolutePath());
	}

	heightBand = reoDlg.exportHeightsCheckBox->isChecked();
	densityBand = reoDlg.exportDensityCheckBox->isChecked();
	if (hasSF)
	{
		assert(pc);
		allSFBands = reoDlg.exportAllSFCheckBox->isChecked() && hasSF;
		if (!allSFBands && reoDlg.exportDisplayedSFCheckBox->isChecked())
		{
			sfBandIndex = pc->getCurrentDisplayedScalarFieldIndex();
			if (sfBandIndex < 0)
				ccLog::Warning("[Rasterize] Cloud has no active (displayed) SF!");
		}
	}

	totalBands = heightBand ? 1 : 0;
	if (densityBand)
	{
		++totalBands;
	}
	if (allSFBands)
	{
		assert(hasSF);
		for (size_t i=0; i<m_grid.scalarFields.size(); ++i)
			if (m_grid.scalarFields[i])
				++totalBands;
	}
	else if (sfBandIndex >= 0)
	{
		++totalBands;
	}
	
	if (totalBands == 0)
	{
		ccLog::Warning("[Rasterize] Warning, can't output a raster with no band! (check export parameters)");
		return;
	}

//.........这里部分代码省略.........

//.........这里部分代码省略.........
		{
			delete cloud;
			ply_close(ply);
			return CC_FERR_NOT_ENOUGH_MEMORY;
		}
		cloud->showColors(true);
	}

	/* SCALAR FIELDS (SF) */
	{
		for (size_t i=0; i<sfPropIndexes.size(); ++i)
		{
			int sfIndex = sfPropIndexes[i];
			plyProperty& pp = stdProperties[sfIndex-1];
			
			unsigned numberOfScalars = pointElements[pp.elemIndex].elementInstances;

			//does the number of scalars matches the number of points?
			if (numberOfPoints != numberOfScalars)
			{
				ccLog::Error(QString("Scalar field #%1: the number of scalars doesn't match the number of points (they will be ignored)!").arg(i+1));
				ccLog::Warning(QString("[PLY] Scalar field #%1 ignored!").arg(i+1));
				numberOfScalars = 0;
			}
			else 
			{
				QString qPropName(pp.propName);
				if (qPropName.startsWith("scalar_") && qPropName.length() > 7)
				{
					//remove the 'scalar_' prefix added when saving SF with CC!
					qPropName = qPropName.mid(7).replace('_',' ');
				}

				int sfIdx = cloud->addScalarField(qPrintable(qPropName));
				if (sfIdx >= 0)
				{
					CCLib::ScalarField* sf = cloud->getScalarField(sfIdx);
					assert(sf);
					if (sf->reserve(numberOfScalars))
					{
						ply_set_read_cb(ply, pointElements[pp.elemIndex].elementName, pp.propName, scalar_cb, sf, 1);
					}
					else
					{
						cloud->deleteScalarField(sfIdx);
						sfIdx = -1;
					}
				}
				
				if (sfIdx < 0)
				{
					ccLog::Error(QString("Scalar field #%1: not enough memory to load scalar field (they will be ignored)!").arg(i+1));
					ccLog::Warning(QString("[PLY] Scalar field #%1 ignored!").arg(i+1));
				}
			}
		}
	}

	/* MESH FACETS (TRI) */

	ccMesh* mesh = 0;
	unsigned numberOfFacets = 0;

	if (facesIndex > 0)
	{
		plyProperty& pp = listProperties[facesIndex-1];

ccPointCloud* cc2Point5DimEditor::convertGridToCloud(	const std::vector<ExportableFields>& exportedFields,
														bool interpolateSF,
														bool resampleInputCloud,
														ccGenericPointCloud* inputCloud,
														bool fillEmptyCells,
														double emptyCellsHeight) const
{
	if (!m_grid.isValid())
		return 0;

	unsigned pointsCount = (fillEmptyCells ? m_grid.width * m_grid.height : m_grid.validCellCount);
	if (pointsCount == 0)
	{
		ccLog::Warning("[Rasterize] Empty grid!");
		return 0;
	}

	ccPointCloud* cloudGrid = 0;
	if (resampleInputCloud)
	{
		CCLib::ReferenceCloud refCloud(inputCloud);
		if (refCloud.reserve(m_grid.nonEmptyCellCount))
		{
			for (unsigned j=0; j<m_grid.height; ++j)
			{
				for (unsigned i=0; i<m_grid.width; ++i)
				{
					const RasterCell& cell = m_grid.data[j][i];
					if (cell.nbPoints) //non empty cell
					{
						refCloud.addPointIndex(cell.pointIndex);
					}
				}
			}

			assert(refCloud.size() != 0);
			cloudGrid = inputCloud->isA(CC_TYPES::POINT_CLOUD) ? static_cast<ccPointCloud*>(inputCloud)->partialClone(&refCloud) : ccPointCloud::From(&refCloud,inputCloud);
			cloudGrid->setPointSize(0); //to avoid display issues

			//even if we have already resampled the original cloud we may have to create new points and/or scalar fields
			//if (!interpolateSF && !fillEmptyCells)
			//	return cloudGrid;
		}
		else
		{
			ccLog::Warning("[Rasterize] Not enough memory!");
			return 0;
		}
	}
	else
	{
		cloudGrid = new ccPointCloud("grid");
	}
	assert(cloudGrid);
	
	//shall we generate per-cell fields as well?
	std::vector<CCLib::ScalarField*> exportedSFs;
	if (!exportedFields.empty())
	{
		exportedSFs.resize(exportedFields.size(),0);
		for (size_t i=0; i<exportedFields.size(); ++i)
		{
			int sfIndex = -1;
			switch (exportedFields[i])
			{
			case PER_CELL_HEIGHT:
			case PER_CELL_COUNT:
			case PER_CELL_MIN_HEIGHT:
			case PER_CELL_MAX_HEIGHT:
			case PER_CELL_AVG_HEIGHT:
			case PER_CELL_HEIGHT_STD_DEV:
			case PER_CELL_HEIGHT_RANGE:
				sfIndex = cloudGrid->addScalarField(qPrintable(GetDefaultFieldName(exportedFields[i])));
				break;
			default:
				assert(false);
				break;
			}
			if (sfIndex < 0)
			{
				ccLog::Warning("[Rasterize] Couldn't allocate scalar field(s)! Try to free some memory ...");
				break;
			}

			exportedSFs[i] = cloudGrid->getScalarField(sfIndex);
			assert(exportedSFs[i]);
		}
	}

	//the resampled cloud already contains the points corresponding to 'filled' cells so we will only
	//need to add the empty ones (if requested)
	if ((!resampleInputCloud || fillEmptyCells) && !cloudGrid->reserve(pointsCount))
	{
		ccLog::Warning("[Rasterize] Not enough memory!");
		delete cloudGrid;
		return 0;
	}

	//vertical dimension
	const unsigned char Z = getProjectionDimension();
//.........这里部分代码省略.........

//.........这里部分代码省略.........
					ccLog::Warning("[VTK] Not enough memory to load RGB colors!");
				for (unsigned i=0; i<ptsCount; ++i)
				{
					nextline = inFile.readLine();
					if (loadRGBColors)
					{
						QStringList parts = nextline.split(" ",QString::SkipEmptyParts);
						if (parts.size() != 3)
						{
							error = CC_FERR_MALFORMED_FILE;
							break;
						}
						colorType rgb[3];
						for (unsigned char j=0; j<3; ++j)
						{
							bool ok;
							rgb[j] = (colorType)(parts[j].toDouble(&ok) * (double)MAX_COLOR_COMP);
							if (!ok)
							{
								ccLog::Warning("[VTK] Element #%1 of COLOR_SCALARS data is corrupted!",i);
								error = CC_FERR_MALFORMED_FILE;
								break;
							}
						}
						vertices->addRGBColor(rgb);
					}
				}
			}
		//end COLOR_SCALARS
		}
		else if (nextline.startsWith("SCALARS"))
		{
			QStringList parts = nextline.split(" ",QString::SkipEmptyParts);
			lastSfName = "ScalarField";
			if (parts.size() > 1)
				lastSfName = parts[1].replace("_"," ");

			//SF already exists?
			if (vertices->getScalarFieldIndexByName(qPrintable(lastSfName)) >= 0)
				lastSfName += QString(" (%1)").arg(vertices->getNumberOfScalarFields());
			//end of SCALARS
		}
		else if (nextline.startsWith("LOOKUP_TABLE") || nextline.startsWith("VECTORS"))
		{
			unsigned ptsCount = vertices->size();

			QStringList parts = nextline.split(" ",QString::SkipEmptyParts);
			QString itemName = parts[0];
			if (parts.size() > 2)
			{
				bool ok = false;
				int valCount = parts[2].toUInt(&ok);
				if (ok)
					ptsCount = valCount;
			}

			bool createSF = (vertices->size() == ptsCount && vertices->size() != 0);
			if (acceptLookupTables && !createSF)
			{
				ccLog::Warning(QString("[VTK] field %1 has not the right number of points (will be ignored)").arg(itemName));
			}
			createSF &= acceptLookupTables;
			if (createSF && lastSfName.isNull())
			{
				ccLog::Warning(QString("[VTK] field %1 has no name (will be ignored)").arg(itemName));
				createSF = false;

//.........这里部分代码省略.........
					return CC_FERR_READING;
				}
				if (sfName[i] == 0)
					break;
			}
			//we force the end of the name in case it is too long!
			sfName[1023] = 0;
		}
		else
		{
			strcpy(sfName,"Loaded scalar field");
		}
		
		//Creation
		ccPointCloud* loadedCloud = new ccPointCloud(cloudName);
		if (!loadedCloud)
			return CC_FERR_NOT_ENOUGH_MEMORY;

		unsigned fileChunkPos = 0;
		unsigned fileChunkSize = std::min(nbOfPoints,CC_MAX_NUMBER_OF_POINTS_PER_CLOUD);

		loadedCloud->reserveThePointsTable(fileChunkSize);
		if (header.colors)
		{
			loadedCloud->reserveTheRGBTable();
			loadedCloud->showColors(true);
		}
		if (h