3dpcp/.svn/pristine/cb/cbd80577c63ee423a83bbc1023c55fdfe42db72f.svn-base

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2012-09-16 12:33:11 +00:00
/*
* riegl2frames 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 "scan.h"
#include "slam6d/globals.icc"
#include <string.h>
#ifndef _MSC_VER
#include <unistd.h>
#else
#include "XGetopt.h"
#endif
#if WIN32
#define snprintf sprintf_s
#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 dat files (RIEGL pose files) from directory/scan???.dat and converts them to directory/scan???.frames and directory/scan???.pose in the slam6D standard file format." << 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 rieglFileName[255];
char poseFileName[255];
char frameFileName[255];
ifstream riegl_in;
ofstream pose_out;
ofstream frames_out;
for(;;) {
if (end > -1 && fileCounter > end) break; // 'nuf read
snprintf(rieglFileName,255,"%sscan%.3d.dat",dir,fileCounter);
snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++);
riegl_in.open(rieglFileName);
// read pose
if (!riegl_in.good()) return -1; // no more files in the directory
cout << "Processing Scan " << rieglFileName;
cout.flush();
double rPos[3], rPosTheta[16];
double inMatrix[16], tMatrix[16];
for (unsigned int i = 0; i < 16; riegl_in >> inMatrix[i++]);
riegl_in.close();
// transform input pose
tMatrix[0] = inMatrix[5];
tMatrix[1] = -inMatrix[9];
tMatrix[2] = -inMatrix[1];
tMatrix[3] = -inMatrix[13];
tMatrix[4] = -inMatrix[6];
tMatrix[5] = inMatrix[10];
tMatrix[6] = inMatrix[2];
tMatrix[7] = inMatrix[14];
tMatrix[8] = -inMatrix[4];
tMatrix[9] = inMatrix[8];
tMatrix[10] = inMatrix[0];
tMatrix[11] = 100*inMatrix[12];
tMatrix[12] = -100*inMatrix[7];
tMatrix[13] = 100*inMatrix[11];
tMatrix[14] = 100*inMatrix[3];
tMatrix[15] = inMatrix[15];
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
double euler[6];
euler[0] = rPos[0];
euler[1] = rPos[1];
euler[2] = rPos[2];
euler[3] = rPosTheta[0];
euler[4] = rPosTheta[1];
euler[5] = rPosTheta[2];
pose_out.open(poseFileName);
frames_out.open(frameFileName);
cout << "Writing pose... " << poseFileName << endl;
for(int i = 0; i < 3; i++) {
pose_out << euler[i] << " ";
}
pose_out << endl;
for(int i = 3; i < 6; i++) {
pose_out << deg(euler[i]) << " ";
}
pose_out << endl;
cout << "Writing frames... " << poseFileName << endl;
for(int j = 0; j < 2; j++) {
for (int i=0; i < 16; i++) {
frames_out << tMatrix[i] << " ";
}
frames_out << "2" << endl;
}
pose_out.close();
pose_out.clear();
frames_out.close();
frames_out.clear();
cout << " done." << endl;
}
}