copc-lib is a library which provides an easy-to-use reader and writer interface for COPC point clouds. The end goal of this project is to provide a complete interface for handling COPC files, without having to use other laz or las libraries.
Note: This library is in beta and API may change
copc-lib depends on laz-perf 2.1.0 or greater. See the laz-perf repo for installation instructions.
With the dependencies installed, we can now build copc-lib:
git clone https://github.com/RockRobotic/copc-lib.git
cd copc-lib
mkdir build && cd build
cmake ..
make
sudo make installThe copc::Copc object provides a complete interface for reading COPC files. For common use cases, use the example and test folders as reference.
#include <copc-lib/copc/copc.hpp>
using namespace copc;
// Create a new Copc library object
Copc copc("MyCopcFile.copc.laz");
// Get the LAS header from the file
// The `file` object contains all metadata for both COPC and LAS formats
auto lasHeader = copc.file->GetLasHeader();
// Get the WKT from the file
std::string wkt = copc.file->GetWkt();
// Use VoxelKeys to query the hierarchy
hierarchy::VoxelKey loadKey(1, 1, 1, 1);
// FindNode queries the hierarchy to get the requested Entry
auto node = copc.hierarchy->FindNode(loadKey);
// Once we have the node, we can load it using GetPoints
std::vector<las::Point> nodeData = node->GetPoints();
// The las::Point interface gives us access to all LAS attributes
std::cout << nodeData[0].X() << ", " << nodeData[0].Y() << nodeData[0].Z();You can see an example of g++ and cmake build processes here.
If other library functionality is needed, feel free to open an issue to see about getting it added.
- Basic C++ Reader Interface
- Return Point structures from the reader rather than raw char* arrays, to support a more familiar laspy-like interface.
- Add writer for COPC data
- Spatial querying for nodes (given spatial coordinates, retrieve the appropriate Entry object)
- Python bindings
- Javascript (emscripten) bindings
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.
Please make sure to update tests as appropriate.
Please see LICENSE.md
copc-lib is created and maintained by Chris Lee, Leo Stanislas and other members of RockRobotic.
The COPC file format is created and maintained by HOBU Inc. Some code has been adopted from PDAL and lazperf, both of which are maintained by HOBU Inc.