3dpcp/.svn/pristine/f7/f7cceefa9609a4e286be2e74a4983a42dfc79e5d.svn-base
2012-09-16 14:33:11 +02:00

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3.8 KiB
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/**
* @file
* @brief Implementation of reading 3D scans
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_asc.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#include <algorithm>
using std::swap;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory in
* the file format ZuF from Zoller+Froehlich AG
* uses. It will be compiled as shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function. Initial pose estimation works
* only with the -p switch, i.e., trusting the initial
* estimations by Riegl. Actually, the Riegl poses
* are high precise and this function puts noise
* on it.
*
* @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_asc::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;
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
poseFileName = dir + "ScanPos" + to_string(fileCounter,2) + ".DAT";
scanFileName = dir + "coordinates" + to_string(fileCounter,2) + ".asc";
scan_in.open(scanFileName.c_str());
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 (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
cout.flush();
/*
char firstline[255];
scan_in.getline(firstline, 255);
*/
double rPos[3] = { 0.0, 0.0, 0.0 };
double rPosTheta[16] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
double inMatrix[16];
/*
char dummy[255];
pose_in.getline(dummy, 255);
pose_in.getline(dummy, 255);
scan_in.getline(dummy, 255);
*/
for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
Matrix4ToEuler(inMatrix, rPosTheta, rPos);
euler[0] = inMatrix[3];
euler[1] = inMatrix[11];
euler[2] = inMatrix[7];
euler[3] = rPosTheta[0];
euler[4] = rPosTheta[2];
euler[5] = rPosTheta[1];
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
while (scan_in.good()) {
Point p;
double intensity;
scan_in >> p.y >> p.z >> p.x >> intensity;
p.x *= 100;
p.y *= 100;
p.z *= 100;
if (intensity > 0) {
cout << p << endl;
ptss.push_back(p);
}
}
cout << " done" << endl;
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_asc;
}
/**
* 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