3dpcp/.svn/pristine/03/0398306f0224346f0d8a24815b22ad62f948573d.svn-base
2012-09-16 14:33:11 +02:00

241 lines
5.8 KiB
Text

/**
* @file
* @brief Implementation of reading 3D scans
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
* @author Jochen Sprickerhof
*/
#include "slam6d/scan_io_uos_map_frames.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <stdexcept>
using std::exception;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
* This function actually implements loading of 3D scans
* in UOS file format and 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_uos_map_frames::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start - 1;
string scanFileName;
string framesFileName;
ifstream scan_in, frames_in;
double maxDist2 = sqr(maxDist);
int my_fileNr = fileCounter;
double transMat[16];
int type;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
if (fileCounter == start - 1) {
double c, s;
// read map as first 3D scan
#define READ_MAP
#ifdef READ_MAP
scanFileName = dir + "Uni_Hannover.map";
scan_in.open(scanFileName.c_str());
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing 3D Map " << scanFileName << endl;
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
c = cos(rad(-191.0));
s = sin(rad(-191.0));
while (scan_in.good()) {
double x1, x2, z1, z2;
double x1_t, x2_t, z1_t, z2_t;
scan_in >> x1_t >> z1_t >> x2_t >> z2_t;
x1_t = (x1_t - 113.07) * 100;
x2_t = (x2_t - 113.07) * 100;
z1_t = (z1_t + 64.05) * 100;
z2_t = (z2_t + 64.05) * 100;
x1 = x1_t * c + z1_t * s;
z1 = - x1_t * s + z1_t * c;
x2 = x2_t * c + z2_t * s;
z2 = - x2_t * s + z2_t * c;
double length = sqrt(sqr(x2-x1) + sqr(z2-z1));
double n_x = (x2 - x1) / length;
double n_z = (z2 - z1) / length;
for (double t = 0.0; t < length; t += 25.0) {
Point p;
p.x = x1 + t * n_x - 713.832183017;
p.z = z1 + t * n_z - 1238.220671;
for (double y = -15.0; y < 1000; y += 25) {
p.y = y + 13.8808;
ptss.push_back(p);
}
}
}
cout << ptss.size() << endl;
scan_in.close();
scan_in.clear();
#endif
#define READ_AERIAL
#ifdef READ_AERIAL
scanFileName = dir + "bereich_uni.txt";
scan_in.open(scanFileName.c_str());
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing 3D Aerial Map " << scanFileName << endl;
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
c = cos(rad(-191.0));
s = sin(rad(-191.0));
while (scan_in.good()) {
double x1, z1;
double x1_t, y1_t, z1_t;
scan_in >> x1_t >> z1_t >> y1_t;
x1_t = (x1_t - 3548500 - 113.07) * 100;
z1_t = (z1_t - 5806400 + 64.05) * 100;
y1_t = (y1_t - 55.0) * 100;
x1 = x1_t * c + z1_t * s;
z1 = - x1_t * s + z1_t * c;
Point p;
p.x = x1 - 713.832183017;
p.z = z1 - 1238.220671;
p.y = y1_t + 13.8808;
ptss.push_back(p);
}
cout << "Map containts " << ptss.size() << " points" << endl;
scan_in.close();
scan_in.clear();
#endif
cout << "DONE" << endl;
fileCounter++;
return 1;
}
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d";
framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames";
scan_in.open(scanFileName.c_str());
frames_in.open(framesFileName.c_str());
// read 3D scan
if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory
if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); }
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
while(frames_in) {
try {
frames_in >> transMat >> type;
}
catch(const exception &e) {
break;
}
}
Matrix4ToEuler(transMat, &euler[3], euler);
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
while (scan_in.good()) {
Point p;
try {
scan_in >> p;
} catch (...) {
break;
}
// load points up to a certain distance only
// maxDist2 = -1 indicates no limitation
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
ptss.push_back(p);
}
scan_in.close();
scan_in.clear();
frames_in.close();
frames_in.clear();
fileCounter++;
return my_fileNr;
}
/**
* 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_uos_map_frames;
}
/**
* 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