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159 lines
4.0 KiB
Plaintext
159 lines
4.0 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_ks_rgb.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::cout;
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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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* This function actually implements loading of 3D scans
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* in UOS file format and will be compiled as shared lib.
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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_ks_rgb::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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double maxDist2 = sqr(maxDist);
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double minDist2 = sqr(mindist);
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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 + "Color_ScanPos" + to_string(fileCounter,3) + " - Scan001.txt";
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poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
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scan_in.open(scanFileName.c_str());
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pose_in.open(poseFileName.c_str());
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// read 3D scan
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if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
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if (!scan_in.good()) return -1; // no more files in the directory
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if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
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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; pose_in >> euler[i++]);
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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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// format: X[m] Y[m] Z[m] R[0..1] G[0..1] B[0..1] Amplitude[0..1] Reflectance[]
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float r, g, b;
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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.x;
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scan_in >> p.z;
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scan_in >> p.y;
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scan_in >> r;
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scan_in >> g;
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scan_in >> b;
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scan_in >> p.amplitude;
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scan_in >> p.reflectance;
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// that's REALLY not the best way to deal with a fixed offset... well, quick hack! ;-)
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// seems to hold for all of their scans
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p.x -= 70000.0;
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p.z -= 20000.0;
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p.x *= 100.0;
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p.y *= 100.0;
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p.z *= 100.0;
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p.rgb[0] = (char)(r * 255.0);
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p.rgb[1] = (char)(g * 255.0);
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p.rgb[2] = (char)(b * 255.0);
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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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if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
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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_ks_rgb;
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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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