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146 lines
3.2 KiB
Plaintext
146 lines
3.2 KiB
Plaintext
/**
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* @file
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* @brief Implementation of reading 3D scans
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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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*/
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#include "slam6d/scan_io_ifp.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_ifp::readScans(int start, int end, string &dir, 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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string scanFileName;
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string poseFileName;
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ifstream scan_in, pose_in;
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int my_fileNr = fileCounter;
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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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scanFileName = dir + "ScanWorld " + to_string(fileCounter) + ".pts";
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scan_in.open(scanFileName.c_str());
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// read 3D scan
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if (!scan_in.good()) {
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scanFileName = dir + "SW" + to_string(fileCounter) + ".pts";
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scan_in.open(scanFileName.c_str());
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}
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if (!scan_in.good()) {
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return -1;
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}
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cout << "Processing Scan " << scanFileName;
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euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
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cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
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<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
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// convert angles from deg to rad
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for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
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// some noise for the pose estimations
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/*
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double t1 = (double)(rand() % 100);
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double t2 = (double)(rand() % 100);
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double t3 = (double)(rand() % 100);
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double t4 = (double)(rand() % 5) * 0.025;
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euler[4] = t4;
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cout << "dx " << t1 << " dy " << t2 << " dz " << t3 << " dtheta_y " << t4 << endl;
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*/
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int dummy;
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scan_in >> dummy;
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while (scan_in.good()) {
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Point p;
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int intensity, red, green, blue;
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scan_in >> p.z >> p.x >> p.y >> intensity >> red >> green >> blue;
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p.z -= 3515165;
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p.x -= 5407003;
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p.y -= 254;
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p.x *= -100;
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p.y *= 100;
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p.z *= 100;
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/*
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p.z += t1;
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p.x += t2;
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p.y += t3;
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*/
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//cout << p << endl;
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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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pose_in.close();
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pose_in.clear();
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fileCounter++;
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return my_fileNr;
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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_ifp;
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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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