3dpcp/.svn/pristine/02/02aef3d3f9dd11c0599b9903bd46fd3e26bd106c.svn-base
2012-09-16 14:33:11 +02:00

158 lines
3.9 KiB
Text

/**
* @file
* @brief Implementation of reading 3D scans
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_xyzr.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
* This function actually implements loading of 3D scans
* in UOS + reflectance file format and will be compiled as shared lib.
*
* @param start Starts to read with this scan
* @param end Stops with this scan
* @param dir The directory from which to read
* @param maxDist Reads only Points up to this Distance
* @param minDist Reads only Points from this Distance
* @param euler Initital pose estimates (will not be applied to the points
* @param ptss Vector containing the read points
*/
int ScanIO_xyzr::readScans(int start, int end, string &dir, int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
string poseFileName;
ifstream scan_in, pose_in;
double maxDist2 = sqr(maxDist);
double minDist2 = sqr(minDist);
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
/*
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
scan_in.open(scanFileName.c_str());
pose_in.open(poseFileName.c_str());
*/
scanFileName = dir + "konv_bremenc_" + to_string(fileCounter,3) + ".txt";
scan_in.open(scanFileName.c_str());
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
pose_in.open(poseFileName.c_str());
// read 3D scan
// if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
if (!scan_in.good()) return -1; // no more files in the directory
cout << "Processing Scan " << scanFileName;
if (pose_in.good()) {
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
// convert angles from deg to rad
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
} else {
cout << endl << "No pose estimate given." << endl;
for (unsigned int i = 0; i < 6; euler[i++] = 0.0);
}
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
// convert angles from deg to rad
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
double tmp;
while (scan_in.good()) {
Point p;
try {
scan_in >> p;
p.x -= 485531.0;
p.y -= 5882078.400;
p.z -= 52;
tmp = p.z;
p.z = p.y;
p.y = tmp;
scan_in >> p.reflectance;
} catch (...) {
break;
}
// load points up to a certain distance only
// maxDist2 = -1 indicates no limitation
if ((maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) && (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2))
ptss.push_back(p);
}
scan_in.close();
scan_in.clear();
pose_in.close();
pose_in.clear();
fileCounter++;
return my_fileNr;
}
/**
* 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_xyzr;
}
/**
* 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