152 lines
3.6 KiB
Text
152 lines
3.6 KiB
Text
/*
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* frames2riegl implementation
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*
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* Copyright (C) Dorit Borrmann
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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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#include <fstream>
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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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using std::ifstream;
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using std::ofstream;
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#include "slam6d/globals.icc"
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#include <string.h>
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#ifndef _MSC_VER
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#include <unistd.h>
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#else
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#include "XGetopt.h"
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#endif
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#if WIN32
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#define snprintf sprintf_s
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#endif
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int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){
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start = 0;
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end = -1; // -1 indicates no limitation
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int c;
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// from unistd.h
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extern char *optarg;
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extern int optind;
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cout << endl;
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while ((c = getopt (argc, argv, "s:e:")) != -1)
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switch (c)
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{
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case 's':
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start = atoi(optarg);
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if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
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break;
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case 'e':
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end = atoi(optarg);
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if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
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if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
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break;
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}
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if (optind != argc-1) {
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cerr << "\n*** Directory missing ***\n" << endl;
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cout << endl
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<< "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl;
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cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl
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<< " [ATTENTION: counting starts with 0]" << endl
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<< " -e NR end after scan NR" << "" << endl
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<< endl;
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cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.4x4 in the RIEGL pose file format." << endl;
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abort();
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}
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strncpy(dir,argv[optind],255);
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#ifndef _MSC_VER
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if (dir[strlen(dir)-1] != '/') strcat(dir,"/");
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#else
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if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\");
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#endif
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return 0;
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}
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int main(int argc, char **argv)
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{
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int start = 0, end = -1;
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char dir[255];
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parseArgs(argc, argv, dir, start, end);
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int fileCounter = start;
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char poseFileName[255];
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char frameFileName[255];
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ifstream pose_in;
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ofstream pose_out;
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double inMatrix[16];
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double tMatrix[17];
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for (;;) {
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if (end > -1 && fileCounter > end) break; // 'nuf read
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snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
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snprintf(poseFileName,255,"%sscan%.3d.4x4",dir,fileCounter++);
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pose_in.open(frameFileName);
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if (!pose_in.good()) break; // no more files in the directory
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// read 3D scan
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cout << "Reading frame " << frameFileName << "..." << endl;
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while(pose_in.good()) {
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for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]);
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}
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inMatrix[5] = tMatrix[0];
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inMatrix[9] = -tMatrix[1];
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inMatrix[1] = -tMatrix[2];
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inMatrix[13] = -tMatrix[3];
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inMatrix[6] = -tMatrix[4];
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inMatrix[10] = tMatrix[5];
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inMatrix[2] = tMatrix[6];
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inMatrix[14] = tMatrix[7];
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inMatrix[4] = -tMatrix[8];
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inMatrix[8] = tMatrix[9];
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inMatrix[0] = tMatrix[10];
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inMatrix[12] = tMatrix[11];
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inMatrix[7] = -tMatrix[12];
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inMatrix[11] = tMatrix[13];
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inMatrix[3] = tMatrix[14];
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inMatrix[15] = tMatrix[15];
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inMatrix[3] /= 100;
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inMatrix[7] /= 100;
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inMatrix[11] /= 100;
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pose_in.close();
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pose_in.clear();
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pose_out.open(poseFileName);
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cout << "Writing Riegl pose... " << poseFileName << endl;
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for (int i=0; i < 16; i++) {
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pose_out << inMatrix[i] << " ";
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if((i % 4) == 3) pose_out << endl;
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}
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pose_out.close();
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pose_out.clear();
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cout << " done." << endl;
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}
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}
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