174 lines
4.1 KiB
Text
174 lines
4.1 KiB
Text
/**
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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_pcl.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::cout;
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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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/**
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* Reads specified scans from given directory.
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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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* This function actually implements loading of 3D scans
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* in UOS file format and will be compiled as shared lib.
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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_pcl::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 scan_in, pose_in;
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double maxDist2 = sqr(maxDist);
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double minDist2 = sqr(mindist);
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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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// read 3D scan
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poseFileName = dir + "scan" + to_string(fileCounter,4) + ".pose";
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scanFileName = dir + "scan" + to_string(fileCounter,4) + ".pcl";
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scan_in.open(scanFileName.c_str());
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if (!scan_in.good()) {
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cerr << "ERROR: Missing file" << scanFileName << endl;
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scan_in.close();
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return -1;
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}
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pose_in.open(poseFileName.c_str());
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double inMatrix[16], tMatrix[16];
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double rPosTheta[3], rPos[3];
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if (!pose_in.good()) {
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cerr << "using default pose 0,0,0 !!!" << endl;
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M4identity(inMatrix);
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} else {
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for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
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}
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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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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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// overread the first line
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char dummy[255];
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scan_in.getline(dummy, 255);
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while (scan_in.good()) {
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Point q;
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Point p;
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try {
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scan_in >> q;
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} catch (...) {
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break;
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}
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p.x = q.y*-100.0;
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p.y = q.z*100.0;
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p.z = q.x*100.0;
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// load points up to a certain distance only
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// maxDist2 = -1 indicates no limitation
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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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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 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_pcl;
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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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