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260 lines
6.5 KiB
Plaintext
260 lines
6.5 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_rts_map.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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/** define invalid type */
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#define TYPE_INVALID 0x10
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/**
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* Reads specified scans from given directory in
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* the file format Uni Hannover uses. The first scan
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* is a 3D point cloud, computed from the 2D line map.
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* The class will be compiled 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_rts_map::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 - 1;
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static ifstream pose_in;
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string scanFileName;
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string poseFileName;
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double timestamp;
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ifstream scan_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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if (fileCounter == start - 1) {
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poseFileName = dir + "odometry_0_sync_interpol.dat";
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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 >> timestamp
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>> euler[2] >> euler[0] >> euler[1] // x, y, z
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>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
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}
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double c, s;
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// read map as first 3D scan
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//
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// A given 2D ground truth map, is extrapolated to 3D.
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// Details are given in (jfr2008.pdf):
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//
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// Oliver Wulf, Andreas Nüchter, Joachim Hertzberg,
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// and Bernardo Wagner. Benchmarking Urban Six-Degree-
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// of-Freedom Simultaneous Localization and Mapping.
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// Journal of Field Robotics (JFR), Wiley & Son,
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// ISSN 1556-4959, Volume 25, Issue 3, pages 148 - 163,
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// March 2008
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#define READ_MAP
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#ifdef READ_MAP
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scanFileName = dir + "Uni_Hannover.map";
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scan_in.open(scanFileName.c_str());
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if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
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cout << "Processing 3D Map " << scanFileName << endl;
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euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
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c = cos(rad(-191.0));
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s = sin(rad(-191.0));
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while (scan_in.good()) {
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double x1, x2, z1, z2;
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double x1_t, x2_t, z1_t, z2_t;
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scan_in >> x1_t >> z1_t >> x2_t >> z2_t;
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x1_t = (x1_t - 113.07) * 100;
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x2_t = (x2_t - 113.07) * 100;
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z1_t = (z1_t + 64.05) * 100;
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z2_t = (z2_t + 64.05) * 100;
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x1 = x1_t * c + z1_t * s;
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z1 = - x1_t * s + z1_t * c;
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x2 = x2_t * c + z2_t * s;
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z2 = - x2_t * s + z2_t * c;
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double length = sqrt(sqr(x2-x1) + sqr(z2-z1));
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double n_x = (x2 - x1) / length;
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double n_z = (z2 - z1) / length;
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for (double t = 0.0; t < length; t += 25.0) {
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Point p;
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p.x = x1 + t * n_x;
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p.z = z1 + t * n_z;
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for (double y = -15.0; y < 1000; y += 25) {
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p.y = y;
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ptss.push_back(p);
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}
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}
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}
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cout << ptss.size() << endl;
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scan_in.close();
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scan_in.clear();
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#endif
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// read map as first 3D scan
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// A aerial lidar scan is loaded
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// Details are given in (ecmr2009.pdf):
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//
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// Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann,
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// Joachim Hertzberg. An Explicit Loop Closing Technique
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// for 6D SLAM, In Proceedings of the 4th European
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// Conference on Mobile Robots (ECMR '09), Mlini/Dubrovnic,
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// Croatia, September 2009
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#define READ_AERIAL
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#ifdef READ_AERIAL
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scanFileName = dir + "bereich_uni.txt";
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scan_in.open(scanFileName.c_str());
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if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
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cout << "Processing 3D Aerial Map " << scanFileName << endl;
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euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
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c = cos(rad(-191.0));
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s = sin(rad(-191.0));
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while (scan_in.good()) {
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double x1, z1;
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double x1_t, y1_t, z1_t;
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scan_in >> x1_t >> z1_t >> y1_t;
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x1_t = (x1_t - 3548500 - 113.07) * 100;
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z1_t = (z1_t - 5806400 + 64.05) * 100;
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y1_t = (y1_t - 55.0) * 100;
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x1 = x1_t * c + z1_t * s;
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z1 = - x1_t * s + z1_t * c;
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Point p;
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p.x = x1;
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p.z = z1;
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p.y = y1_t;
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ptss.push_back(p);
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}
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cout << "Map containts " << ptss.size() << " points" << endl;
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scan_in.close();
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scan_in.clear();
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#endif
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cout << "DONE" << endl;
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fileCounter++;
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return 1;
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}
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// read remaining 3D scans
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pose_in >> timestamp
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>> euler[2] >> euler[0] >> euler[1] // x, y, z
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>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
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scanFileName = dir + "scan3d_0_" + to_string(fileCounter) + ".3d";
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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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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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for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1;
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while (scan_in.good()) {
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Point p;
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int type, dummy;
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scan_in >> p.z >> p.x >> p.y >> type >> dummy >> dummy;
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if (type & TYPE_INVALID) {
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continue;
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} else {
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p.x *= 0.1;
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p.y *= -0.1;
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p.z *= 0.1;
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p.type = type;
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ptss.push_back(p);
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}
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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_rts_map;
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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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