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129 lines
2.9 KiB
Plaintext
129 lines
2.9 KiB
Plaintext
/**
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* @file
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* @brief Implementation of reading 3D scans in colored XYZ format (i.e., pure
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* 3D data points and RGB color information)
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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_xyz_rgb.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::cerr;
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using std::endl;
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#include <algorithm>
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using std::swap;
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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 in the colored XYZ file format
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* (i.e., pure 3D data points and RGB color * information only)
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* It 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_xyz_rgb::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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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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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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scanFileName = dir + to_string(fileCounter,3) + ".xyz";
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scan_in.open(scanFileName.c_str());
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// read 3D scan
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if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
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cout << "Processing Scan " << scanFileName;
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char firstline[255];
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scan_in.getline(firstline, 255);
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euler[0] = 0.0;
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euler[1] = 0.0;
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euler[2] = 0.0;
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euler[3] = 0.0;
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euler[4] = 0.0;
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euler[5] = 0.0;
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while (scan_in.good()) {
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Point p;
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int r, g, b;
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scan_in >> p.x >> p.z >> p.y >> r >> g >> b;
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p.x *= 100;
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p.y *= 100;
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p.z *= 100;
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p.rgb[0] = (char)r;
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p.rgb[1] = (char)g;
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p.rgb[2] = (char)b;
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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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cout << " done" << endl;
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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 1;
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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_xyz_rgb;
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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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