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3dpcp/.svn/pristine/83/83c644cf4bd8d8ac99735df4cce...

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/**
* @file
* @brief Implementation of reading 3D scans
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_ply.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#include <string.h>
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory in
* the PLY file format. It will be compiled as
* shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
*
* @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_ply::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
string poseFileName;
int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist));
int my_fileNr = fileCounter;
ifstream scan_in, pose_in;
for (int i=0; i < 6; i++) euler[i] = 0;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".ply";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) return -1; // no more scans to read
bool binary = false;
char dummy[256];
char str[20]; // whatever size
double matrix[16];
int matrixPos = 0;
int nr;
float d1,d2,d3,d4;
sscanf(dummy,"%s %*s %d",str,&nr);
// header
int counter = -2;
do {
if(counter > -2) counter++;
scan_in.getline(dummy, 255);
if (strncmp(dummy, "format", 6) == 0) {
if (dummy[7] == 'a') binary = false;
else if (dummy[7] == 'b') binary = true;
else { cerr << "Don't recognize the format!" << endl; exit(1); }
}
else if (strncmp(dummy, "element vertex", 14) == 0) {
sscanf(dummy,"%s %*s %d",str,&nr);
counter++;
}
else if (strncmp(dummy, "matrix", 6) == 0) {
sscanf(dummy,"%s %f %f %f %f", str, &d1, &d2, &d3, &d4);
matrix[matrixPos++] = d1;
matrix[matrixPos++] = d2;
matrix[matrixPos++] = d3;
matrix[matrixPos++] = d4;
}
} while (!(strncmp(dummy, "end_header",10) == 0 || !scan_in.good()));
if (matrixPos > 0) {
double rPosTheta[3];
double rPos[3];
Matrix4ToEuler(matrix, rPosTheta, rPos);
}
for (int i=0; i < nr; i++) {
Point p;
float data, confidence, intensity;
float dummy;
int r, g, b;
if (!binary) {
//scan_in >> p.z >> p.x >> p.y >> r >> g >> b;
switch(counter) {
case 6:
case 12:
scan_in >> p.z >> p.y >> p.x >> r >> g >> b;
break;
case 9:
//scan_in >> p.z >> p.x >> p.y >> dummy >> dummy >> dummy >> r >> g >> b;
scan_in >> p.z >> p.y >> p.x >> dummy >> dummy >> dummy >> r >> g >> b;
break;
default:
scan_in >> p.z >> p.x >> p.y >> confidence >> intensity;
break;
}
if(counter == 6 || counter == 9 || counter == 12) {
p.rgb[0] = (char)r;
p.rgb[1] = (char)g;
p.rgb[2] = (char)b;
} else {
p.reflectance = intensity;
}
} else {
scan_in.read((char*)&data, sizeof(float));
p.z = (double)data;
scan_in.read((char*)&data, sizeof(float));
p.x = (double)data;
scan_in.read((char*)&data, sizeof(float));
p.y = (double)data;
scan_in.read((char*)&confidence, sizeof(float));
scan_in.read((char*)&intensity, sizeof(float));
}
if (maxDist2 == -1 || (int)(sqr(p.x) + sqr(p.y) + sqr(p.z)) < maxDist2)
ptss.push_back(p);
}
cout << "Processing Scan " << scanFileName;
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << 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_ply;
}
/**
* 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