3dpcp/.svn/pristine/60/606a71950c5ed95759602af00fda8e994c486c05.svn-base
2012-09-16 14:33:11 +02:00

124 lines
2.9 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.
*/
#include "slam6d/scan_io_zahn.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory in
* the tooth format. It will be compiled as
* shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
*
* @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_zahn::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);
ifstream scan_in, pose_in;
int my_fileNr = fileCounter;
euler[0] = 0;
euler[1] = 0;
euler[2] = 0;
euler[3] = 0;
euler[4] = 0;
euler[5] = 0;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "Element_" + to_string(fileCounter) + ".asc";
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;
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1;
while (scan_in.good()) {
Point p;
scan_in >> p.x >> p.y >> p.z;
p.x *= 10;
p.y *= 10;
p.z *= -10;
// load points up to a certain distance only
// maxDist2 = -1 indicates no limitation
if (sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
ptss.push_back(p);
}
scan_in.close();
scan_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_zahn;
}
/**
* 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