3dpcp/.svn/pristine/cd/cdad19f553129d14cb9f8b2aa36797ec434dfe00.svn-base
2012-09-16 14:33:11 +02:00

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#include "slam6d/scan_io_rts.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#ifdef _MSC_VER
#include <windows.h>
#endif
/** define invalid type */
#define TYPE_INVALID 0x10
/**
* Reads specified scans from given directory.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
*
* @param s 3D Scan to be read. The vector of points must be filled
* @param start Starts to read with this scan
* @param end Stops with this scan
* @param maxDist Reads only Points up to this Distance
* @param dir The directory from which to read
*/
int ScanIO_rts::readScans(int start, int end, string &dir,
int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
static string poseFileName;
string scanFileName;
double timestamp;
static ifstream pose_in;
ifstream scan_in;
if (end > -1 && fileCounter > end) return -1;
if (fileCounter == start) {
poseFileName = dir + "odometry_0_sync_interpol.dat";
pose_in.open(poseFileName.c_str());
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
for (int i = 0; i < start; i++) {
pose_in >> timestamp
>> euler[2] >> euler[0] >> euler[1] // x, y, z
>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
}
}
pose_in >> timestamp
>> euler[2] >> euler[0] >> euler[1] // x, y, z
>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
scanFileName = dir + "scan3d_0_" + to_string(fileCounter) + ".3d";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) {
pose_in.close();
pose_in.clear();
return -1;
}
cerr << "Processing Scan " << scanFileName;
euler[3] = euler[5] = euler[1] = 0;
cerr << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1;
while (scan_in.good()) {
Point p;
int type, dummy;
scan_in >> p.z >> p.x >> p.y >> type >> dummy >> dummy;
if (type & TYPE_INVALID) {
continue;
} else {
p.x *= 0.1;
p.y *= -0.1;
p.z *= 0.1;
p.type = type;
if (scan_in.good()) ptss.push_back(p);
}
}
scan_in.close();
scan_in.clear();
fileCounter++;
return fileCounter-1;
}
/**
* class factory for object construction
*
* @return Pointer to new object
*/
#ifdef _MSC_VER
extern "C" __declspec(dllexport) ScanIO* create()
#else
extern "C" ScanIO* create()
#endif
{
return new ScanIO_rts;
}
/**
* class factory for object construction
*
* @return Pointer to new object
*/
#ifdef _MSC_VER
extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
#else
extern "C" void destroy(ScanIO *sio)
#endif
{
delete sio;
}
#ifdef _MSC_VER
BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
{
return TRUE;
}
#endif