3dpcp/.svn/pristine/94/94e3ef8254fc325c698f0279ff4d9ed2d5526339.svn-base

220 lines
5.5 KiB
Text
Raw Normal View History

2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Implementation of reading 3D scans
* @author Andreas Nuechter. Jacobs University Bremen gGmbH
* @author Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
*/
#include "slam6d/scan_io_rxp.h"
#include "riegl/scanlib.hpp"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#include <algorithm>
using std::swap;
#ifdef _MSC_VER
#include <windows.h>
#endif
using namespace scanlib;
using namespace std;
using namespace std::tr1;
/**
* Reads specified scans from given directory in
* the file format Riegl Laser Measurement GmbH
* uses. It will be compiled as shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function. Initial pose estimation works
* only with the -p switch, i.e., trusting the initial
* estimations by Riegl.
*
* @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_rxp::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 pose_in;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
string rxp = ".rxp";
if (dir.rfind(rxp) == dir.length() - rxp.length() - 1) { // dir is a .rxp file
string shortdir = dir;
shortdir.erase(shortdir.length() -1); // erase last character
if (!dec) {
rc = basic_rconnection::create(shortdir);
rc->open();
// decoder splits the binary file into readable chunks
dec = new decoder_rxpmarker(rc);
// importer interprets the chunks
imp = new importer(&ptss, maxDist, minDist, start);
}
buffer buf;
// skip the first scans
if (imp->getCurrentScan() < start ) {
for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) {
imp->dispatch(buf.begin(), buf.end());
if (imp->getCurrentScan() >= start) break;
}
}
if (dec->eoi()) return -1;
int cscan = imp->getCurrentScan();
// iterate over chunks, until the next scan is reached
for ( dec->get(buf); !dec->eoi() ; dec->get(buf) ) {
imp->dispatch(buf.begin(), buf.end());
if (imp->getCurrentScan() != cscan) break;
}
for (unsigned int i = 0; i < 6; euler[i++] = 0.0);
//done
} else {
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
scanFileName = "file://" + dir + "scan" + to_string(fileCounter,3) + ".rxp";
pose_in.open(poseFileName.c_str());
// read 3D scan
if (!pose_in.good()) return -1; // no more files in the directory
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
cout.flush();
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
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]);
pose_in.close();
pose_in.clear();
// open scanfile
rc = basic_rconnection::create(scanFileName);
rc->open();
// decoder splits the binary file into readable chunks
dec = new decoder_rxpmarker(rc);
// importer interprets the chunks
imp = new importer(&ptss, maxDist, minDist);
// iterate over chunks
buffer buf;
for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) {
imp->dispatch(buf.begin(), buf.end());
}
//done
rc->close();
}
fileCounter++;
return fileCounter-1;
}
void importer::on_echo_transformed(echo_type echo)
{
if (currentscan < start) return;
// targets is a member std::vector that contains all
// echoes seen so far, i.e. the current echo is always
// indexed by target_count-1.
target& t(targets[target_count - 1]);
// target.reflectance
// target.amplitude
// target.deviation
// target.time
// target.vertex point coordinates
//
Point p;
p.x = t.vertex[1]*-100.0;
p.y = t.vertex[2]*100.0;
p.z = t.vertex[0]*100.0;
p.reflectance = t.reflectance;
p.amplitude = t.amplitude;
p.deviation = t.deviation;
if ( pointcloud::first == echo ) {
p.type = 0;
} else if ( pointcloud::interior == echo ) {
p.type = 1;
} else if ( pointcloud::last == echo ) {
p.type = 10;
} else if ( pointcloud::single == echo ){
p.type = 9;
}
if(maxD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxD*maxD) {
if(minD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minD*minD) {
{
if((sqr(p.x) + sqr(p.y) + sqr(p.z)) > 0.1)o->push_back(p);
}
}
}
}
/**
* 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_rxp;
}
/**
* 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