/**
* Read a point of BIN file
*
* @param input input file to read
* @param Offset Offset to data
* @param index index of points to read
* @return true if success else return false
*/
public void readPoint(BigByteBuffer2 input, LidarHeader hdr, long index) {
try {
if (index > hdr.getNumPointsRecord() || index < 0) {
throw new UnexpectedPointException("Out of Index");
}
if (index == lasIndex) return;
else lasIndex = index;
int auxIndex;
byte[] punto = new byte[getSizeFormat()];
byte[] aux = new byte[2];
input.position(hdr.getOffsetData() + getSizeFormat() * index);
input.get(punto);
setClassification((char) (punto[0] & 0xFF));
setFlightLine((char) (punto[1] & 0xFF));
aux[0] = punto[2];
aux[1] = (byte) (punto[3] & 0X3F);
setIntensity(ByteUtilities.arr2Unsignedshort(aux, 0)); // bits de 0-13
setEchoInformation((byte) ((punto[3] & 0xC0) >> 2)); // bits 14 y 15
setX(ByteUtilities.arr2Int(punto, 4));
setY(ByteUtilities.arr2Int(punto, 8));
setZ(ByteUtilities.arr2Int(punto, 12));
auxIndex = 16;
// si hay gps leelo
if (isTimeGPS) {
setTime(ByteUtilities.arr2Int(punto, auxIndex));
auxIndex += 4;
}
// si hay color leelo
if (isColor) {
char[] c = new char[4];
c[0] = (char) (punto[auxIndex] & 0xFF);
c[1] = (char) (punto[auxIndex + 1] & 0xFF);
c[2] = (char) (punto[auxIndex + 2] & 0xFF);
c[3] = (char) (punto[auxIndex + 3] & 0xFF);
setcolor(c);
}
} catch (UnexpectedPointException e) {
e.printStackTrace();
}
}
