3dpcp/.svn/pristine/35/35c9d39022ee4d2fd970508f053d9fa0befdf8d7.svn-base
2012-09-16 14:33:11 +02:00

123 lines
2.8 KiB
Text

/**
* @file
* @brief Implementation of reading 3D scans in XYZ format (i.e., pure 3D data * points in a right handed coordinate system only)
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_xyz.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 XYZ file format (i.e., pure 3D data points only in a right handed * coordinate system)
* It will be compiled as shared lib.
*
* @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_xyz::readScans(int start, int end, string &dir, int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
ifstream scan_in, pose_in;
double maxDist2 = sqr(maxDist);
double minDist2 = sqr(minDist);
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + to_string(fileCounter,3) + ".xyz";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
char firstline[255];
scan_in.getline(firstline, 255);
euler[0] = 0.0;
euler[1] = 0.0;
euler[2] = 0.0;
euler[3] = 0.0;
euler[4] = 0.0;
euler[5] = 0.0;
while (scan_in.good()) {
Point p;
scan_in >> p.x >> p.z >> p.y;
p.x *= 100;
p.y *= 100;
p.z *= 100;
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 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_xyz;
}
/**
* 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