3dpcp/.svn/pristine/dd/ddefa9bff7fd57daa456850e1bb62d848dd5dd14.svn-base

221 lines
5.8 KiB
Text
Raw Normal View History

2012-10-05 06:55:14 +00:00
/*
* scan_io_riegl_rgb implementation
*
* Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter
*
* Released under the GPL version 3.
*
*/
/**
* @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.
* @author Thomas Escher
*/
#include "scanio/scan_io_riegl_rgb.h"
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <vector>
#ifdef _MSC_VER
#include <windows.h>
#endif
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/fstream.hpp>
using namespace boost::filesystem;
#include "slam6d/globals.icc"
#define DATA_PATH_PREFIX "scan"
#define DATA_PATH_SUFFIX ".rgb"
#define POSE_PATH_PREFIX "scan"
#define POSE_PATH_SUFFIX ".dat"
std::list<std::string> ScanIO_riegl_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end)
{
std::list<std::string> identifiers;
for(unsigned int i = start; i <= end; ++i) {
// identifier is /d/d/d (000-999)
std::string identifier(to_string(i,3));
// scan consists of data (.3d) and pose (.pose) files
path data(dir_path);
data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
path pose(dir_path);
pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
// stop if part of a scan is missing or end by absence is detected
if(!exists(data) || !exists(pose))
break;
identifiers.push_back(identifier);
}
return identifiers;
}
void ScanIO_riegl_rgb::readPose(const char* dir_path, const char* identifier, double* pose)
{
unsigned int i;
path pose_path(dir_path);
pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
if(!exists(pose_path))
throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]");
// open pose file
ifstream pose_file(pose_path);
// if the file is open, read contents
if(pose_file.good()) {
double rPos[3], rPosTheta[16];
double inMatrix[16], tMatrix[16];
for (i = 0; i < 16; ++i)
pose_file >> inMatrix[i];
pose_file.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] = inMatrix[12];
tMatrix[12] = -inMatrix[7];
tMatrix[13] = inMatrix[11];
tMatrix[14] = inMatrix[3];
tMatrix[15] = inMatrix[15];
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
pose[0] = 100*rPos[0];
pose[1] = 100*rPos[1];
pose[2] = 100*rPos[2];
pose[3] = rPosTheta[0];
pose[4] = rPosTheta[1];
pose[5] = rPosTheta[2];
} else {
throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]");
}
}
bool ScanIO_riegl_rgb::supports(IODataType type)
{
return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE));
}
void ScanIO_riegl_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* temperature, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
{
unsigned int i;
// error handling
path data_path(dir_path);
data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
if(!exists(data_path))
throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]");
if(xyz != 0 || rgb != 0 || reflectance != 0) {
// open data file
ifstream data_file(data_path);
data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit);
// read the point count
unsigned int count;
data_file >> count;
// reserve enough space for faster reading
if(xyz != 0) xyz->reserve(3*count);
if(rgb != 0) rgb->reserve(3*count);
// read points
// z x y range theta phi r g b reflectance
double point[7];
unsigned int color[3];
double tmp;
while(data_file.good()) {
try {
for(i = 0; i < 6; ++i) data_file >> point[i];
for(i = 0; i < 3; ++i) data_file >> color[i];
data_file >> point[6];
} catch(std::ios_base::failure& e) {
break;
}
// the enemy's x/y/z is mapped to slam's z/x/y, shuffle time!
// invert x axis
// convert coordinate to cm
tmp = point[2];
point[2] = 100.0 * point[0];
point[0] = -100.0 * point[1];
point[1] = 100.0 * tmp;
// apply filter and insert point
if(filter.check(point)) {
if(xyz != 0) {
for(i = 0; i < 3; ++i) xyz->push_back(point[i]);
}
if(rgb != 0) {
for(i = 0; i < 3; ++i) rgb->push_back(
static_cast<unsigned char>(color[i]));
}
if(reflectance != 0) {
reflectance->push_back(point[6]);
}
}
}
data_file.close();
}
}
/**
* 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_riegl_rgb;
}
/**
* 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