updated svn to 709
josch
12 years ago
parent
83b943ab2b
commit
d1b3dd4e0e
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Project admins
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Andreas Nuechter andreas@nuechti.de
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Kai Lingemann kai.lingemann@gmx.de
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Dorit Borrmann d.borrmann@jacobs-university.de
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List of contributors
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Andreas Nuechter andreas@nuechti.de
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Kai Lingemann kai.lingemann@gmx.de
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Dorit Borrmann d.borrmann@jacobs-university.de
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Jan Elseberg j.elseberg@jacobs-university.de
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Jochen Sprickerhof jochen@sprickerhof.de
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HamidReza Houshiar h.houshiar@jacobs-university.de
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Sven Albrecht sven.albrecht@uni-osnabrueck.de
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Stan Serebryakov cfr.ssv@gmail.com
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Thomas Escher tescher@uni-osnabrueck.de
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Thomas Wiemann twiemann@uni-osnabrueck.de
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Alexandru Tandrau alexandru@tandrau.com
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Alexandru Eugen Ichim eugen@alexichim.com
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Flavia Grosan me@flaviagrosan.com
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Deyuan Qiu deyuan.qiu@googlemail.com
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Darko Makreshanski d.makreshanski@jacobs-university.de
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Mohammad Faisal Abdullah m.faisal@jacobs-university.de
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Li Ming liming751218@whu.edu.cn
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Li Wei xpaulee@gmail.com
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Shams Feyzabadi sh.feyzabadi@gmail.co
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Vladislav Perelmann v.perelman@jacobs-university.de
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Chen Long lchen.whu@gmail.com
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Remuas Dumitru r.dumitru@jaocbs-university.de
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Billy Okal okal.billy@googlemail.com
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Further contributors
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Uwe Hebbelmann, Sebastian Stock, Andre Schemschat
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Hartmut Surmann
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Amuz Tamrakars, Ulugbek Makhmudov
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Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz
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/**
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* @file
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* @brief IO of a 3D scan
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_H__
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#define __SCAN_IO_H__
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#include <string>
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#include <list>
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#include <map>
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#include <vector>
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#include "scanserver/io_types.h"
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#include "scanserver/pointfilter.h"
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/**
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* @brief IO of a 3D scan
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*
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* This class needs to be instantiated by a class loading
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* 3D scans from different file formats.
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*/
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class ScanIO {
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public:
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/**
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* Read a directory and return all possible scans in the [start,end] interval.
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*
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* @param dir_path The directory from which to read the scans
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* @param start Starting index
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* @param end Last index
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* @return List of IO-specific identifiers of scans, matching the search
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*/
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0;
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/**
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* Reads the pose from a dedicated pose file or from the scan file.
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*
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* @param dir_path The directory the scan is contained in
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* @param scan_identifier IO-specific identifier for the particular scan
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* @param pose Pointer to an existing double[6] array where the pose is saved in
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*/
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virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0;
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/**
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* Given a scan identifier, load the contents of this particular scan.
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*
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* @param dir_path The directory the scan is contained in
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* @param identifier IO-specific identifier for the particular scan
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* @param filter Filter object which each point is tested on by its position
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*/
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virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector<double>* xyz = 0, std::vector<unsigned char>* rgb = 0, std::vector<float>* reflectance = 0, std::vector<float>* amplitude = 0, std::vector<int>* type = 0, std::vector<float>* deviation = 0) = 0;
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/**
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* Returns whether this ScanIO can load the requested data from a scan.
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*
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* @param type data channel request
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* @return whether it's supported or not
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*/
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virtual bool supports(IODataType type) = 0;
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/**
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* @brief Global mapping of io_types to single instances of ScanIOs.
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*
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* If the ScanIO doesn't exist, it will be created and saved in a map.
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* Otherwise, the matching ScanIO will be returned.
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*
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* @param type Key identifying the ScanIO
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* @return The newly created or found ScanIO
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*/
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static ScanIO* getScanIO(IOType iotype);
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//! Delete all ScanIO instances and (lazy) try to unload the libraries.
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static void clearScanIOs();
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private:
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static std::map<IOType, ScanIO *> m_scanIOs;
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};
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// Since the shared object files are loaded on the fly, we
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// need class factories
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// the types of the class factories
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typedef ScanIO* create_sio();
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typedef void destroy_sio(ScanIO*);
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_KS_H__
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#define __SCAN_IO_KS_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for KS scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_ks : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_KS_RGB_H__
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#define __SCAN_IO_KS_RGB_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for KS RGB scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_ks_rgb : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_RIEGL_RGB_H__
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#define __SCAN_IO_RIEGL_RGB_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for Riegl scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_riegl_rgb : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_RIEGL_H__
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#define __SCAN_IO_RIEGL_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for Riegl scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_riegl_txt : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in rts file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_UOS_H__
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#define __SCAN_IO_UOS_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for RTS scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_rts : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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private:
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std::string cached_dir;
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std::vector<double> cached_poses;
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};
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#endif
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/**
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* @file
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* @brief IO of a 3D scan in rxp file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_RXP_H__
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#define __SCAN_IO_RXP_H__
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#include "scan_io.h"
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#include "slam6d/point.h"
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#include "riegl/scanlib.hpp"
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using namespace scanlib;
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using namespace std;
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using namespace std::tr1;
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class importer;
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/**
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* @brief 3D scan loader for RXP scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_rxp : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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ScanIO_rxp() : dec(0), imp(0) {}
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private:
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std::tr1::shared_ptr<basic_rconnection> rc;
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decoder_rxpmarker *dec;
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importer *imp;
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std::string old_path;
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};
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/**
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* The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class.
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*
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* Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com .
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*/
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class importer : public scanlib::pointcloud
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{
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public:
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importer(PointFilter& filter, int start, std::vector<double>* xyz, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation) :
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pointcloud(false), // set this to true if you need gps aligned timing
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filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation),
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start(start), currentscan(0)
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{}
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inline int getCurrentScan() { return currentscan; }
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inline void set(PointFilter& filter, std::vector<double>* xyz, std::vector<float>* reflectance, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
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{
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this->filter = &filter;
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this->xyz = xyz;
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this->reflectance = reflectance;
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this->amplitude = amplitude;
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this->type = type;
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this->deviation = deviation;
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}
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protected:
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PointFilter* filter;
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std::vector<double> *xyz;
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std::vector<float> *reflectance;
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std::vector<float> *amplitude;
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std::vector<int> *type;
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std::vector<float> *deviation;
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int start;
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int currentscan;
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// overridden from pointcloud class
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void on_echo_transformed(echo_type echo);
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void on_frame_stop(const scanlib::frame_stop<iterator_type>& arg) {
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scanlib::basic_packets::on_frame_stop(arg);
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currentscan++;
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}
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};
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#endif
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@ -1,27 +0,0 @@
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_UOS_H__
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#define __SCAN_IO_UOS_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for UOS scans
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_uos : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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@ -1,27 +0,0 @@
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/**
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* @file
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* @brief IO of a 3D scan in uos file format
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* @author Thomas Escher
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*/
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#ifndef __SCAN_IO_UOS_RGB_H__
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#define __SCAN_IO_UOS_RGB_H__
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#include "scan_io.h"
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/**
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* @brief 3D scan loader for UOS scans with color information
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*
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* The compiled class is available as shared object file
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*/
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class ScanIO_uos_rgb : public ScanIO {
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public:
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virtual std::list<std::string> readDirectory(const char* dir_path, unsigned int start, unsigned int end);
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virtual void readPose(const char* dir_path, const char* identifier, double* pose);
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virtual void 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>* amplitude, std::vector<int>* type, std::vector<float>* deviation);
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virtual bool supports(IODataType type);
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};
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#endif
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