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139 lines
3.4 KiB
Plaintext
139 lines
3.4 KiB
Plaintext
#include "slam6d/scan_io_iais.h"
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#include "slam6d/globals.icc"
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#include <fstream>
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using std::ifstream;
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#include <iostream>
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using std::cerr;
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using std::endl;
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#ifdef _MSC_VER
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#include <windows.h>
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#endif
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/**
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* Reads specified scans from given directory.
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*
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* Scan poses will NOT be initialized after a call
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* to this function.
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*
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*
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* @param s 3D Scan to be read. The vector of points must be filled
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* @param start Starts to read with this scan
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* @param end Stops with this scan
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* @param maxDist Reads only Points up to this Distance
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* @param dir The directory from which to read
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*/
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int ScanIO_iais::readScans(int start, int end, string &dir,
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int maxDist, int minDist,
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double *euler, vector<Point> &ptss)
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{
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static int fileCounter = start;
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static string poseFileName;
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string scanFileName;
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double maxDist2 = sqr(maxDist);
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double matrix[16];
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static ifstream pose_in;
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ifstream scan_in;
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if (fileCounter > end) return -1;
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if (fileCounter == start) {
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poseFileName = dir + "poses_abs_with_start.txt";
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pose_in.open(poseFileName.c_str());
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if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
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for (int i = 0; i < start; i++) {
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pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12]
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>> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13]
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>> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14];
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// >> matrix[12] >> matrix[13] >> matrix[14];
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matrix[15] = 1.0;
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matrix[3] = matrix[7] = matrix[11] = 0.0;
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}
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}
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pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12]
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>> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13]
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>> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14];
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// >> matrix[12] >> matrix[13] >> matrix[14];
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matrix[15] = 1.0;
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matrix[3] = matrix[7] = matrix[11] = 0.0;
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Matrix4ToEuler(matrix, euler+3, euler);
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euler[3] *= -1.0;
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euler[5] *= -1.0;
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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
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scan_in.open(scanFileName.c_str());
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// read 3D scan
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// no more files in the directory
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if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
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cout << "Processing Scan " << scanFileName;
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cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
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<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
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// overread the first line
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char dummy[255];
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scan_in.getline(dummy, 255);
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while (scan_in.good()) {
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Point p;
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try {
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scan_in >> p;
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} catch (...) {
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break;
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}
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// load points up to a certain distance only
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// maxDist2 = -1 indicates no limitation
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if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
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ptss.push_back(p);
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}
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scan_in.close();
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scan_in.clear();
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fileCounter++;
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return fileCounter-1;
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}
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/**
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* class factory for object construction
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*
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* @return Pointer to new object
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*/
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#ifdef _MSC_VER
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extern "C" __declspec(dllexport) ScanIO* create()
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#else
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extern "C" ScanIO* create()
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#endif
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{
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return new ScanIO_iais;
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}
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/**
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* class factory for object construction
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*
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* @return Pointer to new object
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*/
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#ifdef _MSC_VER
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extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
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#else
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extern "C" void destroy(ScanIO *sio)
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#endif
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{
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delete sio;
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}
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#ifdef _MSC_VER
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BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
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{
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return TRUE;
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}
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#endif
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