3dpcp/.svn/pristine/bf/bfe3f8d5f9595e4b9c1e091691da16d617a769f5.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_ks.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 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_ks::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 + "ScanPos" + to_string(fileCounter,3) + " - Scan001.txt";
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 (!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++]);
// CAD map -> pose correction:
double tmp;
tmp = euler[0];
euler[0] = -euler[2];
euler[2] = tmp;
euler[0] *= 100;
euler[1] *= 100;
euler[2] *= 100;
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);
// format: X[m] Y[m] Z[m] R[0..1] G[0..1] B[0..1] Amplitude[0..1] Reflectance[]
while (scan_in.good()) {
Point p;
try {
scan_in >> p.x;
scan_in >> p.z;
scan_in >> p.y;
/*
scan_in >> r;
scan_in >> g;
scan_in >> b;
scan_in >> p.amplitude;
scan_in >> p.reflectance;
*/
// const offset (heaven only knows why)
p.x -= 70000.0;
p.z -= 20000.0;
// m -> cm
p.x *= 100.0;
p.y *= 100.0;
p.z *= 100.0;
} 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 (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
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_ks;
}
/**
* 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