3dpcp/.svn/pristine/05/05b4bddc378733c6efb0f5c07a821239e2ed5ac4.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @file
* @brief Implementation of reading 3D scans
* @author Andreas Nuechter. Jacobs University Bremen gGmbH
* @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
*/
#include "slam6d/scan_io_riegl_txt.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#include <algorithm>
using std::swap;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory in
* the file format Riegl Laser Measurement GmbH
* uses. It will be compiled as shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function. Initial pose estimation works
* only with the -p switch, i.e., trusting the initial
* estimations by Riegl.
*
* The scans have to be exported from the Riegl software
* as follows:
* 1. Export point cloud data to ASCII
* Use Scanners own Coordinate System (SOCS)
* X Y Z Range Theta Phi Reflectance
* 2. Export acqusition location (after you have registered
* with the Riegl software)
* Export SOP
* Write out as .dat file
*
* @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_riegl_txt::readScans(int start, int end, string &dir, int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
string poseFileName;
double maxDist2 = sqr(maxDist);
double minDist2 = sqr(minDist);
ifstream scan_in, pose_in;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat";
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".txt";
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;
cout.flush();
double rPos[3], rPosTheta[16];
double inMatrix[16], tMatrix[16];
for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
// transform input pose
tMatrix[0] = inMatrix[5];
tMatrix[1] = -inMatrix[9];
tMatrix[2] = -inMatrix[1];
tMatrix[3] = -inMatrix[13];
tMatrix[4] = -inMatrix[6];
tMatrix[5] = inMatrix[10];
tMatrix[6] = inMatrix[2];
tMatrix[7] = inMatrix[14];
tMatrix[8] = -inMatrix[4];
tMatrix[9] = inMatrix[8];
tMatrix[10] = inMatrix[0];
tMatrix[11] = inMatrix[12];
tMatrix[12] = -inMatrix[7];
tMatrix[13] = inMatrix[11];
tMatrix[14] = inMatrix[3];
tMatrix[15] = inMatrix[15];
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
euler[0] = 100*rPos[0];
euler[1] = 100*rPos[1];
euler[2] = 100*rPos[2];
euler[3] = rPosTheta[0];
euler[4] = rPosTheta[1];
euler[5] = rPosTheta[2];
long num_pts = 0;
if (scan_in.good()) {
scan_in >> num_pts;
cout << " with " << num_pts << " Points";
cout.flush();
ptss.reserve(num_pts);
}
// read point data and transform into slam6D coordinate system
while (scan_in.good()) {
Point p;
double range, theta, phi, reflectance;
scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance;
p.x *= -100;
p.y *= 100;
p.z *= 100;
p.reflectance = reflectance;
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
ptss.push_back(p);
}
cout << " done" << endl;
scan_in.close();
scan_in.clear();
pose_in.close();
pose_in.clear();
fileCounter++;
return fileCounter-1;
}
/**
* 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_riegl_txt;
}
/**
* 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