import struct class OneZeroHeader(object): """ 1.0版本 """ def __init__(self): self.file_signature = None # 文件签名 self.reserved = None # 预留字段 self.guid_1 = None # 项目ID1 self.guid_2 = None # 项目ID2 self.guid_3 = None # 项目ID3 self.guid_4 = None # 项目ID4 self.version_major = None # 大版本 self.version_minor = None # 小版本 self.system_identifier = None # 硬件信息 self.generating_software = None # 软件信息 self.flight_date_julian = None # 文件创建天数 self.year = None # 文件创建年份 self.header_size = None # 头文件大小 self.offset_to_data = None # 点数据记录起始位置 self.number_of_variable_length_records = None # 可变数据记录长度 self.point_data_record_format = None # 点数据记录格式 self.point_data_record_length = None # 点数据记录长度 self.number_of_point_records = None # 总共的点数量 self.number_of_points_by_return = None # 回波点数量 self.x_scale_factor = None # x比例因子 self.y_scale_factor = None # y比例因子 self.z_scale_factor = None # z比例因子 self.x_offset = None # x偏移量 self.y_offset = None # y偏移量 self.z_offset = None # z偏移量 self.max_x = None # x最大值 self.min_x = None # x最小值 self.max_y = None # y最大值 self.min_y = None # y最小值 self.max_z = None # z最大值 self.min_z = None # z最小值 def read_header(self, f): """ 读取头 :param f: :return: """ f.seek(0) self.file_signature = f.read(4).decode("utf-8") self.reserved = struct.unpack('L', f.read(4))[0] self.guid_1 = struct.unpack('L', f.read(4))[0] self.guid_2 = struct.unpack('H', f.read(2))[0] self.guid_3 = struct.unpack('H', f.read(2))[0] self.guid_4 = struct.unpack('8s', f.read(8))[0].decode("utf-8") self.version_major = struct.unpack('B', f.read(1))[0] self.version_minor = struct.unpack('B', f.read(1))[0] self.system_identifier = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.generating_software = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.flight_date_julian = struct.unpack('H', f.read(2))[0] self.year = struct.unpack('H', f.read(2))[0] self.header_size = struct.unpack('H', f.read(2))[0] self.offset_to_data = struct.unpack('L', f.read(4))[0] self.number_of_variable_length_records = struct.unpack('L', f.read(4))[0] self.point_data_record_format = struct.unpack('B', f.read(1))[0] self.point_data_record_length = struct.unpack('H', f.read(2))[0] self.number_of_point_records = struct.unpack('L', f.read(4))[0] self.number_of_points_by_return = struct.unpack('5L', f.read(20))[0] self.x_scale_factor = struct.unpack('d', f.read(8))[0] self.y_scale_factor = struct.unpack('d', f.read(8))[0] self.z_scale_factor = struct.unpack('d', f.read(8))[0] self.x_offset = struct.unpack('d', f.read(8))[0] self.y_offset = struct.unpack('d', f.read(8))[0] self.z_offset = struct.unpack('d', f.read(8))[0] self.max_x = struct.unpack('d', f.read(8))[0] self.min_x = struct.unpack('d', f.read(8))[0] self.max_y = struct.unpack('d', f.read(8))[0] self.min_y = struct.unpack('d', f.read(8))[0] self.max_z = struct.unpack('d', f.read(8))[0] self.min_z = struct.unpack('d', f.read(8))[0] class OneOneHeader(object): """ 1.1版本 """ def __init__(self): self.file_signature = None # 文件签名 self.file_source_id = None # 文件ID self.reserved = None # 预留字段 self.project_id_1 = None # 项目ID1 self.project_id_2 = None # 项目ID2 self.project_id_3 = None # 项目ID3 self.project_id_4 = None # 项目ID4 self.version_major = None # 大版本 self.version_minor = None # 小版本 self.system_identifier = None # 硬件信息 self.generating_software = None # 软件信息 self.file_creation_day_of_year = None # 文件创建天数 self.file_creation_year = None # 文件创建年份 self.header_size = None # 头文件大小 self.offset_to_point_data = None # 点数据记录起始位置 self.number_of_variable_length_records = None # 可变数据记录长度 self.point_data_record_format = None # 点数据记录格式 self.point_data_record_length = None # 点数据记录长度 self.number_of_point_records = None # 总共的点数量 self.number_of_points_by_return = None # 回波点数量 self.x_scale_factor = None # x比例因子 self.y_scale_factor = None # y比例因子 self.z_scale_factor = None # z比例因子 self.x_offset = None # x偏移量 self.y_offset = None # y偏移量 self.z_offset = None # z偏移量 self.max_x = None # x最大值 self.min_x = None # x最小值 self.max_y = None # y最大值 self.min_y = None # y最小值 self.max_z = None # z最大值 self.min_z = None # z最小值 def read_header(self, f): f.seek(0) self.file_signature = f.read(4).decode("utf-8") self.file_source_id = struct.unpack('H', f.read(2))[0] self.reserved = struct.unpack('H', f.read(2))[0] self.project_id_1 = struct.unpack('L', f.read(4))[0] self.project_id_2 = struct.unpack('H', f.read(2))[0] self.project_id_3 = struct.unpack('H', f.read(2))[0] self.project_id_4 = struct.unpack('8s', f.read(8))[0].decode("utf-8") self.version_major = struct.unpack('B', f.read(1))[0] self.version_minor = struct.unpack('B', f.read(1))[0] self.system_identifier = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.generating_software = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.file_creation_day_of_year = struct.unpack('H', f.read(2))[0] self.file_creation_year = struct.unpack('H', f.read(2))[0] self.header_size = struct.unpack('H', f.read(2))[0] self.offset_to_point_data = struct.unpack('L', f.read(4))[0] self.number_of_variable_length_records = struct.unpack('L', f.read(4))[0] self.point_data_record_format = struct.unpack('B', f.read(1))[0] self.point_data_record_length = struct.unpack('H', f.read(2))[0] self.number_of_point_records = struct.unpack('L', f.read(4))[0] self.number_of_points_by_return = struct.unpack('5L', f.read(20))[0] self.x_scale_factor = struct.unpack('d', f.read(8))[0] self.y_scale_factor = struct.unpack('d', f.read(8))[0] self.z_scale_factor = struct.unpack('d', f.read(8))[0] self.x_offset = struct.unpack('d', f.read(8))[0] self.y_offset = struct.unpack('d', f.read(8))[0] self.z_offset = struct.unpack('d', f.read(8))[0] self.max_x = struct.unpack('d', f.read(8))[0] self.min_x = struct.unpack('d', f.read(8))[0] self.max_y = struct.unpack('d', f.read(8))[0] self.min_y = struct.unpack('d', f.read(8))[0] self.max_z = struct.unpack('d', f.read(8))[0] self.min_z = struct.unpack('d', f.read(8))[0] class OneTwoHeader(object): """ 1.2版本 """ def __init__(self): self.file_signature = None # 文件签名 self.file_source_id = None # 文件ID self.global_encoding = None # 全球编码 self.project_id_1 = None # 项目ID1 self.project_id_2 = None # 项目ID2 self.project_id_3 = None # 项目ID3 self.project_id_4 = None # 项目ID4 self.version_major = None # 大版本 self.version_minor = None # 小版本 self.system_identifier = None # 硬件信息 self.generating_software = None # 软件信息 self.file_creation_day_of_year = None # 文件创建天数 self.file_creation_year = None # 文件创建年份 self.header_size = None # 头文件大小 self.offset_to_point_data = None # 点数据记录起始位置 self.number_of_variable_length_records = None # 可变数据记录长度 self.point_data_record_format = None # 点数据记录格式 self.point_data_record_length = None # 点数据记录长度 self.number_of_point_records = None # 总共的点数量 self.number_of_points_by_return = None # 回波点数量 self.x_scale_factor = None # x比例因子 self.y_scale_factor = None # y比例因子 self.z_scale_factor = None # z比例因子 self.x_offset = None # x偏移量 self.y_offset = None # y偏移量 self.z_offset = None # z偏移量 self.max_x = None # x最大值 self.min_x = None # x最小值 self.max_y = None # y最大值 self.min_y = None # y最小值 self.max_z = None # z最大值 self.min_z = None # z最小值 def read_header(self, f): f.seek(0) self.file_signature = f.read(4).decode("utf-8") self.file_source_id = struct.unpack('H', f.read(2))[0] self.global_encoding = struct.unpack('H', f.read(2))[0] self.project_id_1 = struct.unpack('L', f.read(4))[0] self.project_id_2 = struct.unpack('H', f.read(2))[0] self.project_id_3 = struct.unpack('H', f.read(2))[0] self.project_id_4 = struct.unpack('8s', f.read(8))[0].decode("utf-8") self.version_major = struct.unpack('B', f.read(1))[0] self.version_minor = struct.unpack('B', f.read(1))[0] self.system_identifier = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.generating_software = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.file_creation_day_of_year = struct.unpack('H', f.read(2))[0] self.file_creation_year = struct.unpack('H', f.read(2))[0] self.header_size = struct.unpack('H', f.read(2))[0] self.offset_to_point_data = struct.unpack('L', f.read(4))[0] self.number_of_variable_length_records = struct.unpack('L', f.read(4))[0] self.point_data_record_format = struct.unpack('B', f.read(1))[0] self.point_data_record_length = struct.unpack('H', f.read(2))[0] self.number_of_point_records = struct.unpack('L', f.read(4))[0] self.number_of_points_by_return = struct.unpack('5L', f.read(20))[0] self.x_scale_factor = struct.unpack('d', f.read(8))[0] self.y_scale_factor = struct.unpack('d', f.read(8))[0] self.z_scale_factor = struct.unpack('d', f.read(8))[0] self.x_offset = struct.unpack('d', f.read(8))[0] self.y_offset = struct.unpack('d', f.read(8))[0] self.z_offset = struct.unpack('d', f.read(8))[0] self.max_x = struct.unpack('d', f.read(8))[0] self.min_x = struct.unpack('d', f.read(8))[0] self.max_y = struct.unpack('d', f.read(8))[0] self.min_y = struct.unpack('d', f.read(8))[0] self.max_z = struct.unpack('d', f.read(8))[0] self.min_z = struct.unpack('d', f.read(8))[0] class OneThreeHeader(object): """ 1.3版本 """ def __init__(self): self.file_signature = None # 文件签名 self.file_source_id = None # 文件ID self.global_encoding = None # 全球编码 self.project_id_1 = None # 项目ID1 self.project_id_2 = None # 项目ID2 self.project_id_3 = None # 项目ID3 self.project_id_4 = None # 项目ID4 self.version_major = None # 大版本 self.version_minor = None # 小版本 self.system_identifier = None # 硬件信息 self.generating_software = None # 软件信息 self.file_creation_day_of_year = None # 文件创建天数 self.file_creation_year = None # 文件创建年份 self.header_size = None # 头文件大小 self.offset_to_point_data = None # 点数据记录起始位置 self.number_of_variable_length_records = None # 可变数据记录长度 self.point_data_record_format = None # 点数据记录格式 self.point_data_record_length = None # 点数据记录长度 self.number_of_point_records = None # 总共的点数量 self.number_of_points_by_return = None # 回波点数量 self.x_scale_factor = None # x比例因子 self.y_scale_factor = None # y比例因子 self.z_scale_factor = None # z比例因子 self.x_offset = None # x偏移量 self.y_offset = None # y偏移量 self.z_offset = None # z偏移量 self.max_x = None # x最大值 self.min_x = None # x最小值 self.max_y = None # y最大值 self.min_y = None # y最小值 self.max_z = None # z最大值 self.min_z = None # z最小值 self.start_of_waveform_data_packet_record = None # 波形数据包记录的开始位置 def read_header(self, f): f.seek(0) self.file_signature = f.read(4).decode("utf-8") self.file_source_id = struct.unpack('H', f.read(2))[0] self.global_encoding = struct.unpack('H', f.read(2))[0] self.project_id_1 = struct.unpack('L', f.read(4))[0] self.project_id_2 = struct.unpack('H', f.read(2))[0] self.project_id_3 = struct.unpack('H', f.read(2))[0] self.project_id_4 = struct.unpack('8s', f.read(8))[0].decode("utf-8") self.version_major = struct.unpack('B', f.read(1))[0] self.version_minor = struct.unpack('B', f.read(1))[0] self.system_identifier = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.generating_software = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.file_creation_day_of_year = struct.unpack('H', f.read(2))[0] self.file_creation_year = struct.unpack('H', f.read(2))[0] self.header_size = struct.unpack('H', f.read(2))[0] self.offset_to_point_data = struct.unpack('L', f.read(4))[0] self.number_of_variable_length_records = struct.unpack('L', f.read(4))[0] self.point_data_record_format = struct.unpack('B', f.read(1))[0] self.point_data_record_length = struct.unpack('H', f.read(2))[0] self.number_of_point_records = struct.unpack('L', f.read(4))[0] self.number_of_points_by_return = struct.unpack('5L', f.read(20))[0] self.x_scale_factor = struct.unpack('d', f.read(8))[0] self.y_scale_factor = struct.unpack('d', f.read(8))[0] self.z_scale_factor = struct.unpack('d', f.read(8))[0] self.x_offset = struct.unpack('d', f.read(8))[0] self.y_offset = struct.unpack('d', f.read(8))[0] self.z_offset = struct.unpack('d', f.read(8))[0] self.max_x = struct.unpack('d', f.read(8))[0] self.min_x = struct.unpack('d', f.read(8))[0] self.max_y = struct.unpack('d', f.read(8))[0] self.min_y = struct.unpack('d', f.read(8))[0] self.max_z = struct.unpack('d', f.read(8))[0] self.min_z = struct.unpack('d', f.read(8))[0] self.start_of_waveform_data_packet_record = struct.unpack('Q', f.read(8))[0] class OneFourHeader(object): """ 1.4版本 """ def __init__(self): self.file_signature = None # 文件签名 self.file_source_id = None # 文件ID self.global_encoding = None # 全球编码 self.project_id_1 = None # 项目ID1 self.project_id_2 = None # 项目ID2 self.project_id_3 = None # 项目ID3 self.project_id_4 = None # 项目ID4 self.version_major = None # 大版本 self.version_minor = None # 小版本 self.system_identifier = None # 硬件信息 self.generating_software = None # 软件信息 self.file_creation_day_of_year = None # 文件创建天数 self.file_creation_year = None # 文件创建年份 self.header_size = None # 头文件大小 self.offset_to_point_data = None # 点数据记录起始位置 self.number_of_variable_length_records = None # 可变数据记录长度 self.point_data_record_format = None # 点数据记录格式 self.point_data_record_length = None # 点数据记录长度 self.legacy_number_of_point_records = None # 老格式总共的点数量 self.legacy_number_of_points_by_return = None # 老格式回波点数量 self.x_scale_factor = None # x比例因子 self.y_scale_factor = None # y比例因子 self.z_scale_factor = None # z比例因子 self.x_offset = None # x偏移量 self.y_offset = None # y偏移量 self.z_offset = None # z偏移量 self.max_x = None # x最大值 self.min_x = None # x最小值 self.max_y = None # y最大值 self.min_y = None # y最小值 self.max_z = None # z最大值 self.min_z = None # z最小值 self.start_of_waveform_data_packet_record = None # 波形数据记录起始点 self.start_of_first_extended_variable_length_record = None # 扩展变长记录起始 self.number_of_extended_variable_length_records = None # 扩展变长记录数目 self.number_of_point_records = None # 点记录总数 self.number_of_points_by_return = None # 回波点数量 def read_header(self, f): f.seek(0) self.file_signature = f.read(4).decode("utf-8") self.file_source_id = struct.unpack('H', f.read(2))[0] self.global_encoding = struct.unpack('H', f.read(2))[0] self.project_id_1 = struct.unpack('L', f.read(4))[0] self.project_id_2 = struct.unpack('H', f.read(2))[0] self.project_id_3 = struct.unpack('H', f.read(2))[0] self.project_id_4 = struct.unpack('8s', f.read(8))[0].decode("utf-8") self.version_major = struct.unpack('B', f.read(1))[0] self.version_minor = struct.unpack('B', f.read(1))[0] self.system_identifier = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.generating_software = struct.unpack('32s', f.read(32))[0].decode("utf-8") self.file_creation_day_of_year = struct.unpack('H', f.read(2))[0] self.file_creation_year = struct.unpack('H', f.read(2))[0] self.header_size = struct.unpack('H', f.read(2))[0] self.offset_to_point_data = struct.unpack('L', f.read(4))[0] self.number_of_variable_length_records = struct.unpack('L', f.read(4))[0] self.point_data_record_format = struct.unpack('B', f.read(1))[0] self.point_data_record_length = struct.unpack('H', f.read(2))[0] self.legacy_number_of_point_records = struct.unpack('L', f.read(4))[0] self.legacy_number_of_points_by_return = struct.unpack('5L', f.read(20))[0] self.x_scale_factor = struct.unpack('d', f.read(8))[0] self.y_scale_factor = struct.unpack('d', f.read(8))[0] self.z_scale_factor = struct.unpack('d', f.read(8))[0] self.x_offset = struct.unpack('d', f.read(8))[0] self.y_offset = struct.unpack('d', f.read(8))[0] self.z_offset = struct.unpack('d', f.read(8))[0] self.max_x = struct.unpack('d', f.read(8))[0] self.min_x = struct.unpack('d', f.read(8))[0] self.max_y = struct.unpack('d', f.read(8))[0] self.min_y = struct.unpack('d', f.read(8))[0] self.max_z = struct.unpack('d', f.read(8))[0] self.min_z = struct.unpack('d', f.read(8))[0] self.start_of_waveform_data_packet_record = struct.unpack('Q', f.read(8))[0] self.start_of_first_extended_variable_length_record = struct.unpack('Q', f.read(8))[0] self.number_of_extended_variable_length_records = struct.unpack('L', f.read(4))[0] self.number_of_point_records = struct.unpack('Q', f.read(8))[0] self.number_of_points_by_return = struct.unpack('15Q', f.read(120))[0] def get_header(f, version): if version == (1, 0): new_header = OneZeroHeader() elif version == (1, 1): new_header = OneOneHeader() elif version == (1, 2): new_header = OneTwoHeader() elif version == (1, 3): new_header = OneThreeHeader() elif version == (1, 4): new_header = OneFourHeader() else: raise Exception("未找到对应文件版本") new_header.read_header(f) return new_header class Point(object): def __init__(self, x_s_f, y_s_f, z_s_f, x_o, y_o, z_o): self.x_scale_factor = x_s_f self.y_scale_factor = y_s_f self.z_scale_factor = z_s_f self.x_offset = x_o self.y_offset = y_o self.z_offset = z_o def get_offset_bytes(self, point_data_record_format): """ 根据不同的点格式跳过的字节数 :param point_data_record_format:点格式0~10 :return: """ # x,y,z共占12字节 data_format = { 0: 8, # 点格式0 共20字节 1: 16, # 点格式1 共28字节 2: 14, # 点格式2 共26字节 3: 22, # 点格式3 共34字节 4: 45, # 点格式4 共57字节 5: 51, # 点格式5 共63字节 6: 18, # 点格式6 共30字节 7: 24, # 点格式7 共36字节 8: 26, # 点格式8 共38字节 9: 47, # 点格式9 共59字节 10: 55, # 点格式10 共67字节 } offset_bytes = data_format.get(point_data_record_format, None) if offset_bytes is None: raise Exception(f"不存在当前的点格式{point_data_record_format}") return offset_bytes def read_point(self, f, offset_to_point_data, point_data_record_format, num): """ 读取当前文件中的点数据 :param f: 数据文件 :param offset_to_point_data: 点数据开始读取的地方 :param point_data_record_format: 点数据格式0~10 :param num: 读取多少个点 :return: 读取的数据点 """ offset_bytes = self.get_offset_bytes(point_data_record_format) f.seek(offset_to_point_data) points = list() i = 0 while i < num: point_bytes = f.read(12) x_record, y_record, z_record = struct.unpack_from('3l', point_bytes) x = x_record * self.x_scale_factor + self.x_offset y = y_record * self.y_scale_factor + self.y_offset z = z_record * self.z_scale_factor + self.z_offset i += 1 f.read(offset_bytes) points.append((x, y, z)) return points def get_version(f): f.read(24) version_major, version_minor = struct.unpack('2B', f.read(2)) print(f"las版本:{version_major}.{version_minor}") return version_major, version_minor if __name__ == '__main__': f = open(r'D:\实验数据\3Dpoint\Tile_+000_+001.las', 'rb') version = get_version(f) header = get_header(f, version) print(header.__dict__) points = Point(header.x_scale_factor, header.y_scale_factor, header.z_scale_factor, header.x_offset, header.y_offset, header.z_offset, ) data = points.read_point(f, header.offset_to_point_data, header.point_data_record_format, header.number_of_point_records) f.close() with open("point.txt", 'a+') as f: for item in data: f.write(f'{item[0]},{item[1]},{item[2]}\n')
