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RayImport

RayImport is designed for importing point clouds and trajectory data into the raycloud format. Currently, it supports the .ply (binary) and laz 1.2 point cloud file formats. This tool is essential for converting traditional point cloud data into a format suitable for processing and analysis with RayCloudTools.

Usage

The rayimport tool can be used in several ways, depending on the type of input data (fixed or moving) and desired transformations. Below are the primary usage patterns:

Importing Point Cloud and Trajectory File

rayimport pointcloudfile trajectoryfile
  • pointcloudfile: The point cloud file to import. Supported formats include .laz, .las, .ply, .rdbx, and .rxp.
  • trajectoryfile: A text file specifying the trajectory, using a 'time x y z' format per line.

Importing with a Transformation Matrix

rayimport pointcloudfile transform transformfile
  • transformfile: A text file containing a 4x4 transformation matrix to apply to the point cloud data.

Specifying Sensor Location

rayimport pointcloudfile 0,0,0
  • Use 0,0,0 to specify the sensor location explicitly.

Using a Constant Ray Vector

rayimport pointcloudfile ray 0,0,-10
  • 0,0,-10: Specifies a constant ray vector from the start point to the point of interest.

Optional Parameters

  • --max_intensity 100: Sets the maximum intensity value for the point cloud. The default value is 100. Setting this to 0 applies full intensity to all bounded rays.
  • --remove_start_pos: Translates the point cloud so that the first point is positioned at 0,0,0.

Output

The rayimport tool generates a .ply file with the same name as the input file, or appends _raycloud to the filename if the input was a .ply file. This file represents the ray cloud derived from the input point cloud and trajectory or transformation data.

Examples

Import a .laz point cloud and a trajectory file:

rayimport example.laz trajectory.txt

Import a .ply point cloud using a transformation matrix:

rayimport example.ply transform transformation.txt

Specify a sensor location and use a constant ray vector for an .rxp file:

rayimport example.rxp ray 0,0,-10

Additional Information

  • For more detailed information on command usage and additional options, refer to the RayImport source code at raycloudtools/rayimport/rayimport.cpp.