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148 lines
3.6 KiB
Plaintext
148 lines
3.6 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_x3d.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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#ifdef _MSC_VER
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#include <windows.h>
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#endif
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using std::cerr;
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/**
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* Reads specified scans from given directory in
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* the x3d file format. It will be compiled
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* as shared lib.
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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 start Starts to read with this scan
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* @param end Stops with this scan
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* @param dir The directory from which to read
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* @param maxDist Reads only Points up to this Distance
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* @param minDist Reads only Points from this Distance
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* @param euler Initital pose estimates (will not be applied to the points
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* @param ptss Vector containing the read points
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*/
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int ScanIO_x3d::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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string scanFileName;
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ifstream scan_in;
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double maxDist2 = sqr(maxDist);
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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 + "scan" + to_string(fileCounter,3) + ".x3d";
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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()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
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cout << "Processing Scan " << scanFileName;
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for (unsigned int i = 0; i < 6; euler[i++] = 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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// overread the first line
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char dummy[255];
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scan_in.getline(dummy, 255);
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scan_in.getline(dummy, 255);
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scan_in.getline(dummy, 255);
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scan_in.getline(dummy, 255);
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scan_in.getline(dummy, 255);
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scan_in.get(dummy, 255, '"'); // read to beginning of first point
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scan_in.get(); // and throw away the "
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while (scan_in.good()) {
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double f[3];
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scan_in.get(dummy, 255, ' ');
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scan_in.get(); // and throw away the ' '
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std::stringstream ssx ( dummy );
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ssx >> f[0];
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scan_in.get(dummy, 255, ' ');
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scan_in.get(); // and throw away the ' '
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std::stringstream ssy ( dummy );
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ssy >> f[1];
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scan_in.get(dummy, 255, ',');
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scan_in.get(); // and throw away the ','
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scan_in.get(); // and the ' '
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std::stringstream ssz ( dummy );
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ssz >> f[2];
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// scale to cm
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for (int i=0; i<3; i++) {
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f[i] *= 100.0;
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}
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Point p(f);
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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 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_x3d;
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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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