You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
133 lines
3.4 KiB
Plaintext
133 lines
3.4 KiB
Plaintext
/**
|
|
* @file
|
|
* @brief Implementation of reading 3D scans
|
|
* from the Autonomous Intelligent Systems Group from the University of Freiburg
|
|
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#include "slam6d/scan_io_ais.h"
|
|
#include "slam6d/globals.icc"
|
|
#include <fstream>
|
|
using std::ifstream;
|
|
#include <iostream>
|
|
using std::cout;
|
|
using std::cerr;
|
|
using std::endl;
|
|
|
|
#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 AIS 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_ais::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;
|
|
|
|
double maxDist2 = sqr(maxDist);
|
|
|
|
int my_fileNr = fileCounter;
|
|
|
|
if (end > -1 && fileCounter > end) return -1; // 'nuf read
|
|
scanFileName = dir + "scan_" + to_string(fileCounter,3) + "_points.dat";
|
|
poseFileName = dir + "scan_" + to_string(fileCounter,3) + "_robotPoses.dat";
|
|
|
|
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;
|
|
|
|
pose_in >> euler[2] >> euler[0] >> euler[1] // x, y, z
|
|
>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
|
|
|
|
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
|
|
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
|
|
|
|
for (unsigned int i = 0; i < 3; i++) euler[i] *= 100;
|
|
|
|
double dummy;
|
|
while (scan_in.good()) {
|
|
Point p;
|
|
try {
|
|
scan_in >> dummy >> dummy >> dummy >> p.z >> p.x >> p.y;
|
|
p.x *= 100;
|
|
p.y *= 100;
|
|
p.z *= 100;
|
|
} 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();
|
|
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_ais;
|
|
}
|
|
|
|
|
|
/**
|
|
* 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
|