3dpcp/.svn/pristine/4c/4c0f6d151acd8ffe4591327d94b588f8ad75b234.svn-base

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2012-09-16 12:33:11 +00:00
#include "slam6d/scan_io_iais.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
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.
*
*
* @param s 3D Scan to be read. The vector of points must be filled
* @param start Starts to read with this scan
* @param end Stops with this scan
* @param maxDist Reads only Points up to this Distance
* @param dir The directory from which to read
*/
int ScanIO_iais::readScans(int start, int end, string &dir,
int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
static string poseFileName;
string scanFileName;
double maxDist2 = sqr(maxDist);
double matrix[16];
static ifstream pose_in;
ifstream scan_in;
if (fileCounter > end) return -1;
if (fileCounter == start) {
poseFileName = dir + "poses_abs_with_start.txt";
pose_in.open(poseFileName.c_str());
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
for (int i = 0; i < start; i++) {
pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12]
>> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13]
>> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14];
// >> matrix[12] >> matrix[13] >> matrix[14];
matrix[15] = 1.0;
matrix[3] = matrix[7] = matrix[11] = 0.0;
}
}
pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12]
>> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13]
>> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14];
// >> matrix[12] >> matrix[13] >> matrix[14];
matrix[15] = 1.0;
matrix[3] = matrix[7] = matrix[11] = 0.0;
Matrix4ToEuler(matrix, euler+3, euler);
euler[3] *= -1.0;
euler[5] *= -1.0;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
scan_in.open(scanFileName.c_str());
// read 3D scan
// no more files in the directory
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
while (scan_in.good()) {
Point p;
try {
scan_in >> p;
} 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();
fileCounter++;
return fileCounter-1;
}
/**
* 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_iais;
}
/**
* 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