3dpcp/.svn/pristine/a0/a0ae9e742ca67ba8bb3527df55adc1998757b02e.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @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_txyzr.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
static double X;
static double Y;
static double Z;
static bool FIRST_POINT = true;
/**
* 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 + reflectance 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_txyzr::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
ifstream scan_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) + ".xyz";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) return -1; // no more files in the directory
cout << "Processing Scan " << scanFileName;
for (unsigned int i = 0; i < 6; euler[i++] = 0.0);
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
// overread the first line
char dummy[255];
double ddummy,x,y,z;
scan_in.getline(dummy, 255);
while (scan_in.good()) {
Point p;
try {
scan_in >> ddummy;
scan_in >> x;
scan_in >> y;
scan_in >> z;
p.x = 100.0*x;
p.y = 100.0*z;
p.z = 100.0*y;
if (FIRST_POINT) {
X = p.x;
Y = p.y;
Z = p.z;
FIRST_POINT = false;
}
// scan_in >> p;
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) {
if (!ptss.empty()) {
//p -= ptss[0];
p.x -= X;
p.y -= Y;
p.z -= Z;
}
ptss.push_back(p);
}
}
if (!ptss.empty()) {
ptss[0].x = ptss[0].y = ptss[0].z = 0.0;
}
scan_in.close();
scan_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_txyzr;
}
/**
* 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