3dpcp/.svn/pristine/cb/cb4f95cbf10aca9c622ab1e5d59597d1e7cc4aac.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @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_pcl.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 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_pcl::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
// read 3D scan
poseFileName = dir + "scan" + to_string(fileCounter,4) + ".pose";
scanFileName = dir + "scan" + to_string(fileCounter,4) + ".pcl";
scan_in.open(scanFileName.c_str());
if (!scan_in.good()) {
cerr << "ERROR: Missing file" << scanFileName << endl;
scan_in.close();
return -1;
}
pose_in.open(poseFileName.c_str());
double inMatrix[16], tMatrix[16];
double rPosTheta[3], rPos[3];
if (!pose_in.good()) {
cerr << "using default pose 0,0,0 !!!" << endl;
M4identity(inMatrix);
} else {
for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
}
// transform input pose
tMatrix[0] = inMatrix[5];
tMatrix[1] = -inMatrix[9];
tMatrix[2] = -inMatrix[1];
tMatrix[3] = -inMatrix[13];
tMatrix[4] = -inMatrix[6];
tMatrix[5] = inMatrix[10];
tMatrix[6] = inMatrix[2];
tMatrix[7] = inMatrix[14];
tMatrix[8] = -inMatrix[4];
tMatrix[9] = inMatrix[8];
tMatrix[10] = inMatrix[0];
tMatrix[11] = inMatrix[12];
tMatrix[12] = -inMatrix[7];
tMatrix[13] = inMatrix[11];
tMatrix[14] = inMatrix[3];
tMatrix[15] = inMatrix[15];
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
euler[0] = 100*rPos[0];
euler[1] = 100*rPos[1];
euler[2] = 100*rPos[2];
euler[3] = rPosTheta[0];
euler[4] = rPosTheta[1];
euler[5] = rPosTheta[2];
cout << "Processing Scan " << scanFileName;
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
while (scan_in.good()) {
Point q;
Point p;
try {
scan_in >> q;
} catch (...) {
break;
}
p.x = q.y*-100.0;
p.y = q.z*100.0;
p.z = q.x*100.0;
// 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)
if (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_pcl;
}
/**
* 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