177 lines
4.9 KiB
Text
177 lines
4.9 KiB
Text
/*
|
|
* scan_io_uos_rrgbt implementation
|
|
*
|
|
* Copyright (C) Dorit Borrmann, Thomas Escher, Kai Lingemann, Andreas Nuechter
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
*/
|
|
|
|
|
|
/**
|
|
* @file
|
|
* @brief Implementation of reading 3D scans
|
|
* @author Dorit Borrmann. School of Engineering and Science, Jacobs University * Bremen, Germany.
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#include "scanio/scan_io_uos_rrgbt.h"
|
|
|
|
#include <iostream>
|
|
using std::cout;
|
|
using std::cerr;
|
|
using std::endl;
|
|
#include <vector>
|
|
|
|
#ifdef _MSC_VER
|
|
#include <windows.h>
|
|
#endif
|
|
|
|
#include <boost/filesystem/operations.hpp>
|
|
#include <boost/filesystem/fstream.hpp>
|
|
using namespace boost::filesystem;
|
|
|
|
#include "slam6d/globals.icc"
|
|
|
|
|
|
|
|
#define DATA_PATH_PREFIX "scan"
|
|
#define DATA_PATH_SUFFIX ".3d"
|
|
#define POSE_PATH_PREFIX "scan"
|
|
#define POSE_PATH_SUFFIX ".pose"
|
|
|
|
|
|
|
|
std::list<std::string> ScanIO_uos_rrgbt::readDirectory(const char* dir_path, unsigned int start, unsigned int end)
|
|
{
|
|
std::list<std::string> identifiers;
|
|
for(unsigned int i = start; i <= end; ++i) {
|
|
// identifier is /d/d/d (000-999)
|
|
std::string identifier(to_string(i,3));
|
|
// scan consists of data (.3d) and pose (.pose) files
|
|
path data(dir_path);
|
|
data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
|
|
path pose(dir_path);
|
|
pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
|
|
// stop if part of a scan is missing or end by absence is detected
|
|
if(!exists(data) || !exists(pose))
|
|
break;
|
|
identifiers.push_back(identifier);
|
|
}
|
|
return identifiers;
|
|
}
|
|
|
|
void ScanIO_uos_rrgbt::readPose(const char* dir_path, const char* identifier, double* pose)
|
|
{
|
|
unsigned int i;
|
|
|
|
path pose_path(dir_path);
|
|
pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
|
|
if(!exists(pose_path))
|
|
throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]");
|
|
|
|
// open pose file
|
|
ifstream pose_file(pose_path);
|
|
|
|
// if the file is open, read contents
|
|
if(pose_file.good()) {
|
|
// read 6 plain doubles
|
|
for(i = 0; i < 6; ++i) pose_file >> pose[i];
|
|
pose_file.close();
|
|
|
|
// convert angles from deg to rad
|
|
for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]);
|
|
} else {
|
|
throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]");
|
|
}
|
|
}
|
|
|
|
bool ScanIO_uos_rrgbt::supports(IODataType type)
|
|
{
|
|
return !!(type & (DATA_XYZ | DATA_REFLECTANCE | DATA_RGB | DATA_TEMPERATURE));
|
|
}
|
|
|
|
void ScanIO_uos_rrgbt::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* temperature, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
|
|
{
|
|
unsigned int i;
|
|
|
|
// error handling
|
|
path data_path(dir_path);
|
|
data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
|
|
if(!exists(data_path))
|
|
throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]");
|
|
|
|
if(xyz != 0 && rgb != 0 && reflectance != 0 && temperature != 0) {
|
|
// open data file
|
|
ifstream data_file(data_path);
|
|
data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit);
|
|
|
|
// overread the first line ignoring the header information
|
|
char dummy[255];
|
|
data_file.getline(dummy, 255);
|
|
|
|
// read points
|
|
double point[4];
|
|
unsigned int color[3];
|
|
double temp;
|
|
while(data_file.good()) {
|
|
try {
|
|
for(i = 0; i < 4; ++i) data_file >> point[i];
|
|
for(i = 0; i < 3; ++i) data_file >> color[i];
|
|
data_file >> temp;
|
|
} catch(std::ios_base::failure& e) {
|
|
break;
|
|
}
|
|
|
|
// apply filter and insert point
|
|
if(filter.check(point)) {
|
|
for(i = 0; i < 3; ++i) xyz->push_back(point[i]);
|
|
reflectance->push_back(point[3]);
|
|
for(i = 0; i < 3; ++i) rgb->push_back(
|
|
static_cast<unsigned char>(color[i]));
|
|
temperature->push_back(temp);
|
|
}
|
|
}
|
|
data_file.close();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
* 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_uos_rrgbt;
|
|
}
|
|
|
|
|
|
/**
|
|
* 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
|