142 lines
3.5 KiB
Text
142 lines
3.5 KiB
Text
/**
|
|
* @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.
|
|
* @author Jochen Sprickerhof
|
|
*/
|
|
|
|
#include "slam6d/scan_io_uos_frames.h"
|
|
#include "slam6d/globals.icc"
|
|
#include <fstream>
|
|
using std::ifstream;
|
|
#include <iostream>
|
|
using std::cout;
|
|
using std::cerr;
|
|
using std::endl;
|
|
#include <stdexcept>
|
|
using std::exception;
|
|
|
|
#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_uos_frames::readScans(int start, int end, string &dir, int maxDist, int mindist,
|
|
double *euler, vector<Point> &ptss)
|
|
{
|
|
static int fileCounter = start;
|
|
string scanFileName;
|
|
string framesFileName;
|
|
|
|
ifstream scan_in, frames_in;
|
|
|
|
double maxDist2 = sqr(maxDist);
|
|
|
|
int my_fileNr = fileCounter;
|
|
double transMat[16];
|
|
int type;
|
|
|
|
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
|
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
|
|
framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames";
|
|
|
|
scan_in.open(scanFileName.c_str());
|
|
frames_in.open(framesFileName.c_str());
|
|
|
|
// read 3D scan
|
|
if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory
|
|
if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); }
|
|
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
|
|
cout << "Processing Scan " << scanFileName;
|
|
|
|
while(frames_in) {
|
|
try {
|
|
frames_in >> transMat >> type;
|
|
}
|
|
catch(const exception &e) {
|
|
break;
|
|
}
|
|
}
|
|
Matrix4ToEuler(transMat, &euler[3], euler);
|
|
|
|
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
|
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
|
|
|
|
// overread the first line
|
|
char dummy[255];
|
|
scan_in.getline(dummy, 255);
|
|
|
|
while (scan_in.good()) {
|
|
Point p;
|
|
try {
|
|
scan_in >> p;
|
|
} catch (...) {
|
|
break;
|
|
}
|
|
// 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)
|
|
ptss.push_back(p);
|
|
}
|
|
scan_in.close();
|
|
scan_in.clear();
|
|
frames_in.close();
|
|
frames_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_uos_frames;
|
|
}
|
|
|
|
|
|
/**
|
|
* 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
|