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150 lines
3.4 KiB
C++
150 lines
3.4 KiB
C++
/*
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* toGlobal implementation
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*
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* Copyright (C) Jan Elseberg, Dorit Borrmann
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*
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* Released under the GPL version 3.
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*
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*/
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#include <fstream>
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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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using std::ifstream;
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using std::ofstream;
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#include "slam6d/point.h"
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#include "slam6d/globals.icc"
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#include <string.h>
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#include <exception>
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using std::exception;
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#ifndef _MSC_VER
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#include <unistd.h>
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#endif
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#ifdef _MSC_VER
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#include "XGetopt.h"
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#else
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#include <getopt.h>
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#endif
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#if WIN32
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#define snprintf sprintf_s
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#endif
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int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){
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start = 0;
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end = -1; // -1 indicates no limitation
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int c;
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// from unistd.h
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extern char *optarg;
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extern int optind;
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cout << endl;
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while ((c = getopt (argc, argv, "s:e:")) != -1)
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switch (c)
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{
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case 's':
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start = atoi(optarg);
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if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
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break;
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case 'e':
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end = atoi(optarg);
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if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
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if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
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break;
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}
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if (optind != argc-1) {
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cerr << "\n*** Directory missing ***" << endl;
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exit(0);
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}
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strncpy(dir,argv[optind],255);
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#ifndef _MSC_VER
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if (dir[strlen(dir)-1] != '/') strcat(dir,"/");
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#else
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if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\");
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#endif
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return 0;
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}
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int main(int argc, char **argv)
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{
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int start = 0, end = -1;
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char dir[255];
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parseArgs(argc, argv, dir, start, end);
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int fileCounter = start;
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char frameFileName[255];
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char scanFileName[255];
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ifstream frame_in;
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ifstream scan_in;
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for (;;) {
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if (end > -1 && fileCounter > end) break; // 'nuf read
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snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
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snprintf(scanFileName,255,"%sscan%.3d.3d",dir,fileCounter++);
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scan_in.open(scanFileName);
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frame_in.open(frameFileName);
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double tmp;
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// read 3D scan
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if (!frame_in.good()) break; // no more files in the directory
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cerr << "Reading frame " << frameFileName << "..." << endl;
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int frameCounter = 0;
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double transMat[16];
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//double transMatOpenGL[16];
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while (frame_in.good()) {
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frameCounter++;
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try {
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frame_in >> transMat;
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frame_in >> tmp;
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} catch (const exception &e) {
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break;
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}
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}
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Point p;
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// double range, theta, phi, reflectance;
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cout.precision(10);
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while(scan_in.good()) {
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/* scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance;
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*/ //scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance;
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scan_in >> p.x >> p.y >> p.z; // >> p.reflectance;
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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.transform(transMat);
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//Matrix4ToEuler(transMat,rPosTheta,rPos);
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//cout << p.y << " " << p.z << " " << -p.x << " " << reflectance << endl;
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//cout << p.y << " " << p.z << " " << -p.x << endl;
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//cout << p.x*0.01 << " " << p.z*0.01 << " " << p.y*0.01 << " " << p.reflectance << endl;
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//cout << (int)p.x << " " << (int)p.y << " " << (int)p.z << endl;// << " " << p.reflectance << endl;
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cout << p.x << " " << p.y << " " << p.z << endl;// << " " << p.reflectance << endl;
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}
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scan_in.close();
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scan_in.clear();
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frame_in.close();
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frame_in.clear();
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cerr << " done." << endl;
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}
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}
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