3dpcp/.svn/pristine/86/86416cb4a44f147bc3eae8019b1c027d1ba7397b.svn-base
2012-09-16 14:33:11 +02:00

200 lines
5.3 KiB
Text

/*
* scanmanager implementation
*
* Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat
*
* Released under the GPL version 3.
*
*/
#include "grid/scanmanager.h"
#include <cstring>
#include "slam6d/globals.icc"
#include <stdexcept>
using std::exception;
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
/**
* Ctor.
* Does nothing
*/
scanmanager::scanmanager()
{
}
/**
* DTor.
* Clear the memory
*/
scanmanager::~scanmanager()
{
// Deleting the stored metamatrixes
for (size_t i = 0; i < metaMatrix.size(); i++) {
for (size_t j = 0; j < metaMatrix.at(i).size(); j++) {
delete[] metaMatrix.at(i).at(j);
}
}
// Deleting the stored scans and reset the vector
for(size_t i=0; i < Scan::allScans.size(); ++i)
{
delete Scan::allScans[i];
}
Scan::allScans.clear();
}
/*
* A function that read the .frame files created by slam6D
* (taken from the originial test-class)
*
* @param dir the directory
* @param start starting at scan number 'start'
* @param end stopping at scan number 'end'
* @param readInitial read a file containing a initial transformation matrix and apply it
* @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0
*/
void scanmanager::readFrames(string dir, int start, int end,
bool readInitial, bool correctYAxis)
{
// convert to OpenGL coordinate system
double mirror[16];
M4identity(mirror);
mirror[10] = -1.0;
double initialTransform[16];
if (readInitial) {
cout << "Initial Transform:" << endl;
string initialTransformFileName = dir + "initital.frame";
ifstream initial_in(initialTransformFileName.c_str());
if (!initial_in.good()) {
cout << "Error opening " << initialTransformFileName << endl;
exit(-1);
}
initial_in >> initialTransform;
cout << initialTransform << endl;
// update the mirror to apply the initial frame for all frames
double tempxf[16];
MMult(mirror, initialTransform, tempxf);
memcpy(mirror, tempxf, sizeof(tempxf));
}
for(std::vector<Scan*>::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) {
const double* transformation;
Scan::AlgoType algoType;
std::vector<double*> Matrices;
// iterate over frames (stop if none were created) and pull/convert the frames into local containers
unsigned int frame_count = (*it)->readFrames();
if(frame_count == 0) break;
for(unsigned int i = 0; i < frame_count; ++i) {
(*it)->getFrame(i, transformation, algoType);
double* transMatOpenGL = new double[16];
// apply mirror to convert (and initial frame if requested) the frame and save in opengl
MMult(mirror, transformation, transMatOpenGL);
Matrices.push_back(transMatOpenGL);
}
metaMatrix.push_back(Matrices);
// current_frame = MetaMatrix.back().size() - 1;
}
if (metaMatrix.size() == 0) {
cerr << "*****************************************" << endl;
cerr << "** ERROR: No .frames could be found! **" << endl;
cerr << "*****************************************" << endl;
cerr << " ERROR: Missing or empty directory: " << dir << endl << endl;
return;
}
// if set, value 14 of the transformationmatrix will be set to 0
if(correctYAxis)
{
for(size_t i=0; i < metaMatrix.size(); ++i)
{
for(size_t j=0; j < metaMatrix.at(i).size(); ++j)
{
metaMatrix.at(i).at(j)[13] = 0;
}
}
}
}
/**
* Reads all scans, frames and the transformationmatrix
*
* @param inputDir the input directory
* @param outputdir the output directory
* @param scantype the scantype
* @param start start with scannumber 'start'
* @param end end with scannumber 'end'
* @param readInitial read files, that contain a 'initial transformation matrix'
* @param max_distance the maximal distance
* @param min_distance the minimal distance
* @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0
*/
void scanmanager::startscan(string inputdir, string outputdir,
IOType scantype, int start, int end,
bool readInitial, int max_distance,
int min_distance, bool correctYAxis)
{
// Read scans
// load all available scans
bool scanserver = false;
Scan::openDirectory(scanserver, inputdir, scantype, start, end);
if(Scan::allScans.size() == 0) {
cerr << "No scans found. Did you use the correct format?" << endl;
exit(-1);
}
// Read frames
readFrames(inputdir, start, end, readInitial, correctYAxis);
}
/**
* Returns the number of scans
*
* @return the number of scans
*/
size_t scanmanager::getScanCount() const
{
return Scan::allScans.size();
}
/**
* Returns scan with the number i
*
* @param i number of the scan
* @return scan with number i
*/
Scan& scanmanager::getScan(int i)
{
return *Scan::allScans.at(i);
}
/**
* Returns the transformationmatrix with number i.
*
* The original readFrames method always read one matrix more
* than needed, but it complicated freeing memory and wasnt used in
* this programm, so it was commented out.
*
* @param i the number of the transformationmatrix
* @return transformationmatrix with number i
*/
const std::vector <double*>& scanmanager::getMatrix(int i)
{
return this->metaMatrix.at(i);
}