219 lines
5.5 KiB
Text
219 lines
5.5 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 Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
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*/
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#include "slam6d/scan_io_rxp.h"
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#include "riegl/scanlib.hpp"
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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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using namespace scanlib;
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using namespace std;
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using namespace std::tr1;
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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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* @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_rxp::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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ifstream pose_in;
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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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string rxp = ".rxp";
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if (dir.rfind(rxp) == dir.length() - rxp.length() - 1) { // dir is a .rxp file
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string shortdir = dir;
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shortdir.erase(shortdir.length() -1); // erase last character
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if (!dec) {
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rc = basic_rconnection::create(shortdir);
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rc->open();
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// decoder splits the binary file into readable chunks
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dec = new decoder_rxpmarker(rc);
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// importer interprets the chunks
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imp = new importer(&ptss, maxDist, minDist, start);
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}
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buffer buf;
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// skip the first scans
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if (imp->getCurrentScan() < start ) {
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for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) {
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imp->dispatch(buf.begin(), buf.end());
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if (imp->getCurrentScan() >= start) break;
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}
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}
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if (dec->eoi()) return -1;
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int cscan = imp->getCurrentScan();
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// iterate over chunks, until the next scan is reached
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for ( dec->get(buf); !dec->eoi() ; dec->get(buf) ) {
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imp->dispatch(buf.begin(), buf.end());
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if (imp->getCurrentScan() != cscan) break;
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}
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for (unsigned int i = 0; i < 6; euler[i++] = 0.0);
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//done
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} else {
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poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
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scanFileName = "file://" + dir + "scan" + to_string(fileCounter,3) + ".rxp";
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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()) 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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cout << "Processing Scan " << scanFileName;
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cout.flush();
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for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
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cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
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<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
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// convert angles from deg to rad
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for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
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pose_in.close();
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pose_in.clear();
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// open scanfile
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rc = basic_rconnection::create(scanFileName);
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rc->open();
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// decoder splits the binary file into readable chunks
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dec = new decoder_rxpmarker(rc);
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// importer interprets the chunks
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imp = new importer(&ptss, maxDist, minDist);
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// iterate over chunks
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buffer buf;
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for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) {
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imp->dispatch(buf.begin(), buf.end());
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}
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//done
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rc->close();
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}
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fileCounter++;
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return fileCounter-1;
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}
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void importer::on_echo_transformed(echo_type echo)
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{
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if (currentscan < start) return;
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// targets is a member std::vector that contains all
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// echoes seen so far, i.e. the current echo is always
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// indexed by target_count-1.
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target& t(targets[target_count - 1]);
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// target.reflectance
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// target.amplitude
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// target.deviation
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// target.time
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// target.vertex point coordinates
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//
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Point p;
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p.x = t.vertex[1]*-100.0;
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p.y = t.vertex[2]*100.0;
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p.z = t.vertex[0]*100.0;
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p.reflectance = t.reflectance;
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p.amplitude = t.amplitude;
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p.deviation = t.deviation;
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if ( pointcloud::first == echo ) {
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p.type = 0;
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} else if ( pointcloud::interior == echo ) {
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p.type = 1;
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} else if ( pointcloud::last == echo ) {
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p.type = 10;
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} else if ( pointcloud::single == echo ){
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p.type = 9;
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}
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if(maxD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxD*maxD) {
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if(minD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minD*minD) {
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{
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if((sqr(p.x) + sqr(p.y) + sqr(p.z)) > 0.1)o->push_back(p);
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}
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}
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}
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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_rxp;
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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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