3dpcp/.svn/pristine/1f/1f86c92d761f35552d5275b33b99a0dec4ea25c4.svn-base

/**
 * @file
 * @brief Implementation of reading 3D scans
 * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
 * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
 */

#include "slam6d/scan_io_stl.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;

#ifdef _MSC_VER
#include <windows.h>
#endif

#include<stdint.h>
typedef float real32_t;

/**
 * Reads specified scans from given directory.
 *
 * Scan poses will NOT be initialized after a call
 * to this function.
 *
 * This function actually implements loading of 3D scans
 * in UOS file format and will be compiled as shared lib.
 * 
 * @param start Starts to read with this scan
 * @param end Stops with this scan
 * @param dir The directory from which to read
 * @param maxDist Reads only Points up to this Distance
 * @param mindist Reads only Points from this Distance
 * @param euler Initital pose estimates (will not be applied to the points
 * @param ptss Vector containing the read points
 */
int ScanIO_stl::readScans(int start, int end, string &dir, int maxDist, int mindist,
			  double *euler, vector<Point> &ptss)
{
  static int fileCounter = start;
  string scanFileName;
  string poseFileName;

  ifstream scan_in, pose_in;

  double maxDist2 = sqr(maxDist);
  double minDist2 = sqr(mindist);

  int my_fileNr = fileCounter;
  
  if (end > -1 && fileCounter > end) return -1; // 'nuf read
  scanFileName = dir + "scan" + to_string(fileCounter,3) + ".stl";
  poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";

  scan_in.open(scanFileName.c_str(), std::ios::binary);
  pose_in.open(poseFileName.c_str());

  // read 3D scan
  if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
  if (!scan_in.good()) return -1; // no more files in the directory
  if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
  if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
  cout << "Processing Scan " << scanFileName;

  for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);

  cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
	  << "," << euler[3] << "," << euler[4] << ","  << euler[5] << ")" << endl;
                                                            
  // convert angles from deg to rad
  for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);

  
  // read the STL data:
  uint8_t header[80];
  uint32_t number;

  scan_in.read((char*)header, sizeof(header));
  scan_in.read((char*)&number, sizeof(number));

  real32_t normal[3];
  real32_t v1[3], v2[3], v3[3];
  uint16_t attrib;

  for (unsigned int i=0; i < number; i++) {
    Point p;
    scan_in.read((char*)normal, sizeof(normal));
    scan_in.read((char*)v1, sizeof(v1));
    scan_in.read((char*)v2, sizeof(v2));
    scan_in.read((char*)v3, sizeof(v3));
    scan_in.read((char*)&attrib, sizeof(attrib));

    // forget the other vertices
    p.x = v1[0];
    p.y = v1[1];
    p.z = v1[2];
    
    // load points up to a certain distance only
    // maxDist2 = -1 indicates no limitation
    if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
    if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
	 ptss.push_back(p);
  }
  cout << "Read  " << ptss.size() << " points." << endl;
  
  scan_in.close();
  scan_in.clear();
  pose_in.close();
  pose_in.clear();
  fileCounter++;
  
  return  my_fileNr;
}


/**
 * class factory for object construction
 *
 * @return Pointer to new object
 */
#ifdef _MSC_VER
extern "C" __declspec(dllexport) ScanIO* create()
#else
extern "C" ScanIO* create()
#endif
{
  return new ScanIO_stl;
}


/**
 * class factory for object construction
 *
 * @return Pointer to new object
 */
#ifdef _MSC_VER
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
#else
extern "C" void destroy(ScanIO *sio)
#endif
{
  delete sio;
}

#ifdef _MSC_VER
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
{
	return TRUE;
}
#endif