180 lines
4.6 KiB
Text
180 lines
4.6 KiB
Text
/**
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* @file
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* @brief Implementation of reading 3D scans
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* @author Andreas Nuechter. Jacobs University Bremen gGmbH
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* @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
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*/
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#include "slam6d/scan_io_riegl_txt.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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#include <algorithm>
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using std::swap;
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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 in
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* the file format Riegl Laser Measurement GmbH
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* uses. It 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. Initial pose estimation works
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* only with the -p switch, i.e., trusting the initial
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* estimations by Riegl.
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*
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* The scans have to be exported from the Riegl software
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* as follows:
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* 1. Export point cloud data to ASCII
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* Use Scanners own Coordinate System (SOCS)
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* X Y Z Range Theta Phi Reflectance
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* 2. Export acqusition location (after you have registered
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* with the Riegl software)
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* Export SOP
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* Write out as .dat file
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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_riegl_txt::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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double maxDist2 = sqr(maxDist);
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double minDist2 = sqr(minDist);
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ifstream scan_in, pose_in;
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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat";
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scanFileName = dir + "scan" + to_string(fileCounter,3) + ".txt";
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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 (!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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cout.flush();
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double rPos[3], rPosTheta[16];
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double inMatrix[16], tMatrix[16];
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for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
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// transform input pose
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tMatrix[0] = inMatrix[5];
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tMatrix[1] = -inMatrix[9];
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tMatrix[2] = -inMatrix[1];
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tMatrix[3] = -inMatrix[13];
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tMatrix[4] = -inMatrix[6];
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tMatrix[5] = inMatrix[10];
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tMatrix[6] = inMatrix[2];
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tMatrix[7] = inMatrix[14];
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tMatrix[8] = -inMatrix[4];
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tMatrix[9] = inMatrix[8];
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tMatrix[10] = inMatrix[0];
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tMatrix[11] = inMatrix[12];
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tMatrix[12] = -inMatrix[7];
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tMatrix[13] = inMatrix[11];
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tMatrix[14] = inMatrix[3];
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tMatrix[15] = inMatrix[15];
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Matrix4ToEuler(tMatrix, rPosTheta, rPos);
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euler[0] = 100*rPos[0];
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euler[1] = 100*rPos[1];
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euler[2] = 100*rPos[2];
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euler[3] = rPosTheta[0];
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euler[4] = rPosTheta[1];
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euler[5] = rPosTheta[2];
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long num_pts = 0;
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if (scan_in.good()) {
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scan_in >> num_pts;
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cout << " with " << num_pts << " Points";
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cout.flush();
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ptss.reserve(num_pts);
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}
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// read point data and transform into slam6D coordinate system
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while (scan_in.good()) {
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Point p;
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double range, theta, phi, reflectance;
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scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> 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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p.reflectance = reflectance;
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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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cout << " done" << endl;
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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 fileCounter-1;
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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_riegl_txt;
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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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