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110 lines
2.7 KiB
Plaintext
110 lines
2.7 KiB
Plaintext
/*
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* scan_cv implementation
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*
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* Copyright (C) HamidReza Houshiar
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*
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* Released under the GPL version 3.
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*
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*/
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#include "slam6d/fbr/scan_cv.h"
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using namespace std;
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namespace fbr{
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scan_cv::scan_cv(string dir, unsigned int number, IOType format){
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sDir = dir;
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sNumber = number;
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sFormat = format;
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zMax = numeric_limits<double>::min();
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zMin = numeric_limits<double>::max();
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nPoints = 0;
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}
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void scan_cv::convertScanToMat(){
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bool scanserver = false;
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Scan::openDirectory(scanserver, sDir, sFormat, sNumber, sNumber);
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if(Scan::allScans.size() == 0){
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cerr << "No scans found. Did you use the correct format?" <<endl;
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exit(-1);
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}
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cout<<"loading "<<sDir<<" with scan number " <<sNumber<<"."<<endl;
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Scan * source = * Scan::allScans.begin();
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DataXYZ xyz = source->get("xyz");
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DataReflectance xyz_reflectance = (((DataReflectance)source->get("reflectance")).size() == 0) ?
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source->create("reflectance", sizeof(float)*xyz.size())
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: source->get("reflectance");
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if(((DataReflectance)source->get("reflectance")).size() == 0){
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for(unsigned int i = 0; i < xyz.size(); i++)
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xyz_reflectance[i] = 255;
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}
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nPoints = xyz.size();
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scan.create(nPoints,1,CV_32FC(4));
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scan = cv::Scalar::all(0);
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cv::MatIterator_<cv::Vec4f> it;
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it = scan.begin<cv::Vec4f>();
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for(unsigned int i = 0; i < nPoints; i++){
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float x, y, z, reflectance;
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x = xyz[i][0];
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y = xyz[i][1];
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z = xyz[i][2];
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reflectance = xyz_reflectance[i];
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//normalize the reflectance
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reflectance += 32;
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reflectance /= 64;
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reflectance -= 0.2;
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reflectance /= 0.3;
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if (reflectance < 0) reflectance = 0;
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if (reflectance > 1) reflectance = 1;
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(*it)[0] = x;
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(*it)[1] = y;
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(*it)[2] = z;
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(*it)[3] = reflectance;
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//finding min and max of z
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if (z > zMax) zMax = z;
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if (z < zMin) zMin = z;
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++it;
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}
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Scan::closeDirectory();
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}
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string scan_cv::getScanDir(){
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return sDir;
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}
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unsigned int scan_cv::getScanNumber(){
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return sNumber;
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}
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unsigned int scan_cv::getNumberOfPoints(){
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return nPoints;
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}
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double scan_cv::getZMin(){
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return zMin;
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}
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double scan_cv::getZMax(){
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return zMax;
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}
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IOType scan_cv::getScanFormat(){
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return sFormat;
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}
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cv::Mat scan_cv::getMatScan()
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{
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return scan;
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}
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void scan_cv::getDescription(){
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cout<<"load "<<sDir<<", with scan number: " <<sNumber<<", with "<<nPoints<<" points, sFormat: "<<scanFormatToString(sFormat)<<"."<<endl;
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cout<<endl;
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}
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}
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