3dpcp/.svn/pristine/69/69fa1da294976f7a032d69154c14548896fb1e5f.svn-base

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2012-09-16 12:33:11 +00:00
/*
* pcddump implementation
*
* Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter,
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Main programm for dynamic Velodyne SLAM
*
* @author Andreas Nuechter. Jacobs University Bremen, Germany
* @author YuanJun, Wuhan University, China
* @author ZhangLiang, Wuhan University, China
* @author Li Wei, Wuhan University, China
* @author Li Ming, Wuhan University, China
*/
#ifdef _MSC_VER
#ifdef OPENMP
#define _OPENMP
#endif
#endif
#include <fstream>
using std::ifstream;
using std::ofstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <sstream>
using std::stringstream;
#include "veloslam/veloscan.h"
#include "veloslam/pcddump.h"
#ifdef _OPENMP
#include <omp.h>
#endif
#ifdef _MSC_VER
#include <windows.h>
#else
#include <dlfcn.h>
#endif
#ifdef _MSC_VER
#define strcasecmp _stricmp
#define strncasecmp _strnicmp
#else
#include <strings.h>
#endif
#include <cstring>
using std::flush;
void DumpPointtoFile(cluster &gluData1, string filename)
{
cell* pCell;
ofstream redptsout(filename.c_str());
for(int j=0; j<gluData1.size();++j)
{
pCell=gluData1[j]->pCell;
for(int k=0; k<pCell->size();++k)
{
redptsout <<(*pCell)[k]->x << " "
<<(*pCell)[k]->y<< " "
<<(*pCell)[k]->z<< endl;
}
}
redptsout.close();
redptsout.clear();
}
void DumpFeaturetoFile(clusterFeature &glu, string filename)
{
ofstream redptsout(filename.c_str(), ios::app);
redptsout <<glu.size_x << " "<< glu.size_y << " "<< glu.size_z <<" "<<
glu.speed<< " "<< glu.speed_x<< " "<< glu.speed_y<<" "<< glu.pointNumber <<endl;
redptsout.close();
redptsout.clear();
}