3dpcp/.svn/pristine/37/3725536eaceee10825f0f4fcaaae5f9a0b8b210d.svn-base

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2012-10-05 06:55:14 +00:00
/*
* point_type implementation
*
* Copyright (C) Jan Elseberg, Dorit Borrmann.
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Representation of a 3D point type
* @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany.
*/
#include "slam6d/point_type.h"
#include "slam6d/scan.h"
#include <string>
using std::string;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <fstream>
#include <string.h>
#include <stdexcept>
using std::runtime_error;
PointType::PointType() {
types = USE_NONE;
pointdim = 3;
dimensionmap[1] = dimensionmap[2] = dimensionmap[3] = dimensionmap[4] = dimensionmap[5] = dimensionmap[6] = dimensionmap[7] = 1; // choose height per default
dimensionmap[8] = 1;
dimensionmap[0] = 1; // height
}
PointType::PointType(unsigned int _types) : types(_types) {
dimensionmap[1] = dimensionmap[2] = dimensionmap[3] = dimensionmap[4] = dimensionmap[5] = dimensionmap[6] = dimensionmap[7] = dimensionmap[8] = 1; // choose height per default
dimensionmap[0] = 1; // height
pointdim = 3;
if (types & PointType::USE_REFLECTANCE) dimensionmap[1] = pointdim++;
if (types & PointType::USE_TEMPERATURE) dimensionmap[2] = pointdim++;
if (types & PointType::USE_AMPLITUDE) dimensionmap[3] = pointdim++;
if (types & PointType::USE_DEVIATION) dimensionmap[4] = pointdim++;
if (types & PointType::USE_TYPE) dimensionmap[5] = pointdim++;
if (types & PointType::USE_COLOR) dimensionmap[6] = pointdim++;
if (types & PointType::USE_TIME) dimensionmap[7] = pointdim++;
if (types & PointType::USE_INDEX) dimensionmap[8] = pointdim++;
}
bool PointType::hasReflectance() {
return hasType(USE_REFLECTANCE);
}
bool PointType::hasTemperature() {
return hasType(USE_TEMPERATURE);
}
bool PointType::hasAmplitude() {
return hasType(USE_AMPLITUDE);
}
bool PointType::hasDeviation() {
return hasType(USE_DEVIATION);
}
bool PointType::hasType() {
return hasType(USE_TYPE);
}
bool PointType::hasColor() {
return hasType(USE_COLOR);
}
bool PointType::hasTime() {
return hasType(USE_TIME);
}
bool PointType::hasIndex() {
return hasType(USE_INDEX);
}
unsigned int PointType::getReflectance() {
return dimensionmap[1];
}
unsigned int PointType::getTemperature() {
return dimensionmap[2];
}
unsigned int PointType::getAmplitude() {
return dimensionmap[3];
}
unsigned int PointType::getDeviation() {
return dimensionmap[4];
}
unsigned int PointType::getTime() {
return dimensionmap[7];
}
unsigned int PointType::getIndex() {
return dimensionmap[8];
}
unsigned int PointType::getType() {
return dimensionmap[5];
}
unsigned int PointType::getType(unsigned int type) {
if (type == USE_NONE ) {
return dimensionmap[0];
} else if (type == USE_HEIGHT) {
return dimensionmap[0];
} else if (type == USE_REFLECTANCE) {
return dimensionmap[1];
} else if (type == USE_TEMPERATURE) {
return dimensionmap[2];
} else if (type == USE_AMPLITUDE) {
return dimensionmap[3];
} else if (type == USE_DEVIATION) {
return dimensionmap[4];
} else if (type == USE_TYPE) {
return dimensionmap[5];
} else if (type == USE_COLOR) {
return dimensionmap[6];
} else if (type == USE_TIME) {
return dimensionmap[7];
} else {
return 0;
}
}
unsigned int PointType::getPointDim() { return pointdim; }
PointType PointType::deserialize(std::ifstream &f) {
unsigned int types;
f.read(reinterpret_cast<char*>(&types), sizeof(unsigned int));
return PointType(types);
}
void PointType::serialize(std::ofstream &f) {
f.write(reinterpret_cast<char*>(&types), sizeof(unsigned int));
}
unsigned int PointType::toFlags() const { return types; }
bool PointType::hasType(unsigned int type) {
return types & type;
}
const unsigned int PointType::USE_NONE = 0;
const unsigned int PointType::USE_REFLECTANCE = 1;
const unsigned int PointType::USE_TEMPERATURE = 2;
const unsigned int PointType::USE_AMPLITUDE = 4;
const unsigned int PointType::USE_DEVIATION = 8;
const unsigned int PointType::USE_HEIGHT = 16;
const unsigned int PointType::USE_TYPE = 32;
const unsigned int PointType::USE_COLOR = 64;
const unsigned int PointType::USE_TIME = 128;
const unsigned int PointType::USE_INDEX = 256;
void PointType::useScan(Scan* scan)
{
// clear pointers first
m_xyz = 0; m_rgb = 0; m_reflectance = 0; m_temperature = 0; m_amplitude = 0; m_type = 0; m_deviation = 0;
// collectively load data to avoid unneccessary loading times due to split get("") calls
unsigned int types = DATA_XYZ;
if(hasColor()) types |= DATA_RGB;
if(hasReflectance()) types |= DATA_REFLECTANCE;
if(hasTemperature()) types |= DATA_TEMPERATURE;
if(hasAmplitude()) types |= DATA_AMPLITUDE;
if(hasType()) types |= DATA_TYPE;
if(hasDeviation()) types |= DATA_DEVIATION;
scan->get(types);
// access data
try {
m_xyz = new DataXYZ(scan->get("xyz"));
if(hasColor()) m_rgb = new DataRGB(scan->get("rgb"));
if(hasReflectance()) m_reflectance = new DataReflectance(scan->get("reflectance"));
if(hasTemperature()) m_temperature = new DataTemperature(scan->get("temperature"));
if(hasAmplitude()) m_amplitude = new DataAmplitude(scan->get("amplitude"));
if(hasType()) m_type = new DataType(scan->get("type"));
if(hasDeviation()) m_deviation = new DataDeviation(scan->get("deviation"));
// check if data is available, otherwise reset pointer to indicate that the scan doesn't prove this value
if(m_rgb && !m_rgb->valid()) { delete m_rgb; m_rgb = 0; }
if(m_reflectance && !m_reflectance->valid()) { delete m_reflectance; m_reflectance = 0; }
if(m_temperature && !m_temperature->valid()) { delete m_temperature; m_temperature = 0; }
if(m_amplitude && !m_amplitude->valid()) { delete m_amplitude; m_amplitude = 0; }
if(m_type && !m_type->valid()) { delete m_type; m_type = 0; }
if(m_deviation && !m_deviation->valid()) { delete m_deviation; m_deviation = 0; }
} catch(runtime_error& e) {
// unlock everything again
clearScan();
throw e;
}
}
void PointType::clearScan()
{
// unlock data access
if(m_xyz) delete m_xyz;
if(hasColor() && m_rgb) delete m_rgb;
if(hasReflectance() && m_reflectance) delete m_reflectance;
if(hasTemperature() && m_temperature) delete m_temperature;
if(hasAmplitude() && m_amplitude) delete m_amplitude;
if(hasType() && m_type) delete m_type;
if(hasDeviation() && m_deviation) delete m_deviation;
// TODO: scan->clear() on all of these types
}
unsigned int PointType::getScanSize(Scan* scan)
{
return scan->size<DataXYZ>("xyz");
}