3dpcp/.svn/pristine/1c/1cefa281d57ddafbc607acc53445ac6ff5b2cd29.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Implementation of reading 3D scans
* @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany.
*/
#include "slam6d/Boctree.h"
#include "slam6d/scan_io_oct.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
/**
* 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 oct-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_oct::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 pose_in;
//double maxDist2 = sqr(maxDist);
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".oct";
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
// scan_in.open(scanFileName.c_str());
pose_in.open(poseFileName.c_str());
// read 3D scan
if (!pose_in.good() ) return -1; // no more files in the directory
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << 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]);
BOctTree<float>::deserialize(scanFileName, ptss);
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_oct;
}
/**
* 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