145 lines
3.5 KiB
Text
145 lines
3.5 KiB
Text
/*
|
|
* pose2frames implementation
|
|
*
|
|
* Copyright (C) Dorit Borrmann, Jan Elseberg
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
*/
|
|
|
|
#include <fstream>
|
|
#include <iostream>
|
|
using std::cout;
|
|
using std::cerr;
|
|
using std::endl;
|
|
using std::ifstream;
|
|
using std::ofstream;
|
|
|
|
#include "slam6d/scan.h"
|
|
#include "slam6d/globals.icc"
|
|
#include <string.h>
|
|
|
|
#ifndef _MSC_VER
|
|
#include <getopt.h>
|
|
#include <unistd.h>
|
|
#else
|
|
#include "XGetopt.h"
|
|
#endif
|
|
|
|
int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){
|
|
start = 0;
|
|
end = -1; // -1 indicates no limitation
|
|
|
|
int c;
|
|
// from unistd.h
|
|
extern char *optarg;
|
|
extern int optind;
|
|
|
|
cout << endl;
|
|
while ((c = getopt (argc, argv, "s:e:")) != -1)
|
|
switch (c)
|
|
{
|
|
case 's':
|
|
start = atoi(optarg);
|
|
if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); }
|
|
break;
|
|
case 'e':
|
|
end = atoi(optarg);
|
|
if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); }
|
|
if (end < start) { cerr << "Error: <end> cannot be smaller than <start>.\n"; exit(1); }
|
|
break;
|
|
}
|
|
|
|
if (optind != argc-1) {
|
|
cerr << "\n*** Directory missing ***\n" << endl;
|
|
cout << endl
|
|
<< "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl;
|
|
|
|
cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl
|
|
<< " [ATTENTION: counting starts with 0]" << endl
|
|
<< " -e NR end after scan NR" << "" << endl
|
|
<< endl;
|
|
cout << "Reads pose files from directory/scan???.pose and converts them to directory/scan???.frames to be used by show." << endl;
|
|
abort();
|
|
}
|
|
strncpy(dir,argv[optind],255);
|
|
|
|
#ifndef _MSC_VER
|
|
if (dir[strlen(dir)-1] != '/') strcat(dir,"/");
|
|
#else
|
|
if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\");
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
int start = 0, end = -1;
|
|
char dir[255];
|
|
parseArgs(argc, argv, dir, start, end);
|
|
|
|
int fileCounter = start;
|
|
char poseFileName[255];
|
|
char frameFileName[255];
|
|
|
|
ifstream pose_in;
|
|
ofstream pose_out;
|
|
|
|
double rPos[3],rPosTheta[3];
|
|
|
|
|
|
for (;;) {
|
|
if (end > -1 && fileCounter > end) break; // 'nuf read
|
|
#ifndef _MSC_VER
|
|
snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter);
|
|
snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++);
|
|
# else
|
|
sprintf(frameFileName,"%sscan%.3d.frames",dir,fileCounter);
|
|
sprintf(poseFileName,"%sscan%.3d.pose",dir,fileCounter++);
|
|
#endif
|
|
|
|
pose_in.open(poseFileName);
|
|
|
|
// read 3D scan
|
|
if (!pose_in.good()) break; // no more files in the directory
|
|
|
|
cout << "Reading pose " << poseFileName << "..." << endl;
|
|
|
|
for (unsigned int i = 0; i < 3; pose_in >> rPos[i++]);
|
|
for (unsigned int i = 0; i < 3; pose_in >> rPosTheta[i++]);
|
|
|
|
// convert angles from deg to rad
|
|
for (unsigned int i=0; i < 3; i++) rPosTheta[i] = rad(rPosTheta[i]);
|
|
|
|
cerr << rPos[0] << " " << rPos[1] << " " << rPos[2] << endl;
|
|
|
|
pose_in.close();
|
|
pose_in.clear();
|
|
|
|
cout << rPos[0] << " "<< rPos[1] << " "<< rPos[2] << endl;
|
|
cout << rPosTheta[0] << " "<< rPosTheta[1] << " "<< rPosTheta[2] << endl;
|
|
|
|
double tempR[16];
|
|
EulerToMatrix4(rPos, rPosTheta, tempR); // convert previous rPosTheta
|
|
|
|
pose_out.open(frameFileName);
|
|
|
|
cout << "Writing frame... " << frameFileName << endl;
|
|
|
|
for (int j=0;j<10;j++) {
|
|
for (int i=0; i < 16; i++) {
|
|
pose_out << tempR[i] << " ";
|
|
}
|
|
pose_out << " 3" << endl;
|
|
}
|
|
|
|
pose_out.close();
|
|
pose_out.clear();
|
|
|
|
|
|
cout << " done." << endl;
|
|
}
|
|
|
|
}
|
|
|