3dpcp/.svn/pristine/e5/e52c8faa3f690bcaf0d48b579e82a5f31e47ff72.svn-base

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2012-09-16 12:33:11 +00:00
/*
* pose2frames implementation
*
* Copyright (C) Dorit Borrmann, Jan Elseberg
*
* Released under the GPL version 3.
*
*/
#include <fstream>
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
using std::ifstream;
using std::ofstream;
#include "slam6d/scan.h"
#include "slam6d/globals.icc"
#include <string.h>
#ifndef _MSC_VER
#include <getopt.h>
#include <unistd.h>
#else
#include "XGetopt.h"
#endif
int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){
start = 0;
end = -1; // -1 indicates no limitation
int c;
// from unistd.h
extern char *optarg;
extern int optind;
cout << endl;
while ((c = getopt (argc, argv, "s:e:")) != -1)
switch (c)
{
case 's':
start = atoi(optarg);
if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
break;
case 'e':
end = atoi(optarg);
if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
break;
}
if (optind != argc-1) {
cerr << "\n*** Directory missing ***\n" << endl;
cout << endl
<< "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl;
cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl
<< " [ATTENTION: counting starts with 0]" << endl
<< " -e NR end after scan NR" << "" << endl
<< endl;
cout << "Reads pose files from directory/scan???.pose and converts them to directory/scan???.frames to be used by show." << endl;
abort();
}
strncpy(dir,argv[optind],255);
#ifndef _MSC_VER
if (dir[strlen(dir)-1] != '/') strcat(dir,"/");
#else
if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\");
#endif
return 0;
}
int main(int argc, char **argv)
{
int start = 0, end = -1;
char dir[255];
parseArgs(argc, argv, dir, start, end);
int fileCounter = start;
char poseFileName[255];
char frameFileName[255];
ifstream pose_in;
ofstream pose_out;
double rPos[3],rPosTheta[3];
for (;;) {
if (end > -1 && fileCounter > end) break; // 'nuf read
#ifndef _MSC_VER
snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++);
# else
sprintf(frameFileName,"%sscan%.3d.frames",dir,fileCounter);
sprintf(poseFileName,"%sscan%.3d.pose",dir,fileCounter++);
#endif
pose_in.open(poseFileName);
// read 3D scan
if (!pose_in.good()) break; // no more files in the directory
cout << "Reading pose " << poseFileName << "..." << endl;
for (unsigned int i = 0; i < 3; pose_in >> rPos[i++]);
for (unsigned int i = 0; i < 3; pose_in >> rPosTheta[i++]);
// convert angles from deg to rad
for (unsigned int i=0; i < 3; i++) rPosTheta[i] = rad(rPosTheta[i]);
cerr << rPos[0] << " " << rPos[1] << " " << rPos[2] << endl;
pose_in.close();
pose_in.clear();
cout << rPos[0] << " "<< rPos[1] << " "<< rPos[2] << endl;
cout << rPosTheta[0] << " "<< rPosTheta[1] << " "<< rPosTheta[2] << endl;
double tempR[16];
EulerToMatrix4(rPos, rPosTheta, tempR); // convert previous rPosTheta
pose_out.open(frameFileName);
cout << "Writing frame... " << frameFileName << endl;
for (int j=0;j<10;j++) {
for (int i=0; i < 16; i++) {
pose_out << tempR[i] << " ";
}
pose_out << " 3" << endl;
}
pose_out.close();
pose_out.clear();
cout << " done." << endl;
}
}