3dpcp/.svn/pristine/48/48ea53d98fb338b11dddd30e55b728978dc11945.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Implementation of reading 3D scans
* @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_leica_txt.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 scan in the leica
* format. This resembles the UOS + reflectance file format (see
* scan_io_xyzr) but features a flipped y-axis (height) 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_leica_txt::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);
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
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() && !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]);
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
double x, y, z;
while (scan_in.good()) {
Point p;
try {
scan_in >> x >> z >> y;
x *= 100.0;
y *= 100.0;
z *= 100.0;
p = Point (x, y, z);
scan_in >> p.reflectance;
} catch (...) {
break;
}
// 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)
ptss.push_back(p);
}
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_leica_txt;
}
/**
* 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