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142 lines
3.0 KiB
C++
142 lines
3.0 KiB
C++
/*
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* frames_to_graph implementation
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*
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* Copyright (C) Jochen Sprickerhof
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*
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* Released under the GPL version 3.
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*
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*/
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/* @file extracts the final poses from the frame files
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* @author Jochen Sprickerhof
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*/
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#ifndef _MSC_VER
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#include <getopt.h>
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#else
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#include "XGetopt.h"
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#endif
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#include <iostream>
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using std::cout;
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using std::cerr;
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using std::endl;
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#include <string>
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using std::string;
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#include <fstream>
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using std::ifstream;
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using std::ofstream;
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#include <stdexcept>
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using std::exception;
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#include "slam6d/globals.icc"
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void read_Frame(string frameFile, ofstream &out_stream)
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{
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double transMat[16];
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int type;
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double rPos[3];
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double rPosTheta[3];
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ifstream frame(frameFile.c_str());
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while(frame) {
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try {
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frame >> transMat >> type;
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}
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catch(const exception &e) {
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break;
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}
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}
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Matrix4ToEuler(transMat, rPosTheta, rPos);
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//out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << rPosTheta[0] << " " << rPosTheta[1] << " " << rPosTheta[2] << endl;
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double quat[4];
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Matrix4ToQuat(transMat, quat);
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QuatToAA(quat);
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out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl;
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frame.close();
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}
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void readFrames(string dir, int start, int end, ofstream &out_stream)
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{
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for(;start <= end; start++) {
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read_Frame(dir + "scan" + to_string(start, 3) + ".frames", out_stream);
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}
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}
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void usage(string progname) {
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cout << "Usage: " << progname << " OPTIONS FILE" << endl <<
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"\t -s \t\t first node in loop" << endl <<
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"\t -e \t\t last node in loop" << endl <<
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"\t -o \t\t output filename (must be given)" << endl;
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}
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int main(int argc, char *argv[])
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{
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if(argc < 2) {
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usage(argv[0]);
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exit(1);
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}
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int start = 0, end = 0;
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string out_file;
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/* options descriptor */
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// 0: no arguments, 1: required argument, 2: optional argument
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static struct option longopts[] = {
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{ "end", required_argument, 0, 'e' },
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{ "out", required_argument, 0, 'o' },
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{ "start", required_argument, 0, 's' },
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{ 0, 0, 0, 0} // needed, cf. getopt.h
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};
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int c;
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while((c = getopt_long(argc, argv, "e:o:s:", longopts, NULL)) != -1) {
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switch (c) {
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case 'e':
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end = atoi(optarg);
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if(end < 0) {
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cerr << "Error: Cannot end at a negative number." << endl;
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exit(1);
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}
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break;
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case 'o':
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out_file = optarg;
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break;
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case 's':
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start = atoi(optarg);
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if(start < 0) {
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cerr << "Error: Cannot start at a negative number." << endl;
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exit(1);
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}
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break;
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case '?':
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default:
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exit(1);
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}
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}
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if(out_file.empty() || end == 0) {
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usage(argv[0]);
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exit(1);
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}
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string dir = argv[optind];
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#ifndef _MSC_VER
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if (dir[dir.length()-1] != '/') dir = dir + "/";
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#else
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if (dir[dir.length()-1] != '\\') dir = dir + "\\";
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#endif
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ofstream out_stream(out_file.c_str());
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readFrames(dir, start, end, out_stream);
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out_stream.close();
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exit(0);
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}
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