86 lines
2 KiB
C
86 lines
2 KiB
C
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/**
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* @file
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* @brief IO of 3D scans in Riegl file format
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __SCAN_IO_RXP_H__
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#define __SCAN_IO_RXP_H__
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#include <string>
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using std::string;
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#include <vector>
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using std::vector;
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#include "scan_io.h"
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#include "riegl/scanlib.hpp"
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using namespace scanlib;
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using namespace std;
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using namespace std::tr1;
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class importer;
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/**
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* @brief 3D scan loader for Riegl scans in the binary rxp format
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_rxp : public ScanIO {
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std::tr1::shared_ptr<basic_rconnection> rc;
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decoder_rxpmarker *dec;
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importer *imp;
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public:
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ScanIO_rxp() : dec(0), imp(0) {}
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virtual int readScans(int start, int end, string &dir, int maxDist, int mindist,
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double *euler, vector<Point> &ptss);
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};
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/**
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* The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class.
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*
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* Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com .
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*/
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class importer
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: public pointcloud
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{
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vector<Point> *o;
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public:
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importer(vector<Point> *o_, int maxDist, int minDist, int _s = 0 )
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: pointcloud(false) // set this to true if you need gps aligned timing
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, o(o_), start(_s)
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{
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maxD = maxDist;
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minD = minDist;
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currentscan = 0;
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}
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int getCurrentScan() {return currentscan;};
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protected:
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int start;
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int maxD;
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int minD;
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int currentscan;
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// overridden from pointcloud class
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void on_echo_transformed(echo_type echo);
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void on_frame_stop(const frame_stop<iterator_type>& arg) {
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basic_packets::on_frame_stop(arg);
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currentscan++;
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}
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};
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// Since this shared object file is loaded on the fly, we
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// need class factories
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// the types of the class factories
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typedef ScanIO* create_sio();
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typedef void destroy_sio(ScanIO*);
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#endif
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