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60 lines
1.5 KiB
Plaintext
60 lines
1.5 KiB
Plaintext
/*
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* converToSLAM6D implementation
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*
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* Copyright (C) Stanislav Serebryakov
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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 <pmdWrap.h>
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int main() {
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PMDCam *pmdc = initPMDCam("./pmdc.conf");
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int frames = 0;
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unsigned int latestTime = 0;
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while(1) {
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if(grabData(pmdc)) break;
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if(latestTime >= pmdc->timestamp) continue;
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latestTime = pmdc->timestamp;
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//printf("%i %i\n", latestTime, pmdc->timestamp);
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CvSize pmdSz = cvGetSize(pmdc->iPMDI);
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pmdSz.width = 50;
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char filename[] = "./dat/scan000.pose";
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sprintf(filename, "./dat/scan%03d.3d", frames);
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FILE *scan = fopen(filename, "wb");
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if(!scan) fprintf(stderr, "ERROR: cant create file %s.\n", filename);
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sprintf(filename, "./dat/scan%03d.pose", frames);
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FILE *pose = fopen(filename, "wb");
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if(!pose) fprintf(stderr, "ERROR: cant create file %s.\n", filename);
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fprintf(scan, "%i x %i\n", pmdSz.width, pmdSz.height);
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for(int j = 0; j < pmdSz.width; j++)
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for(int i = 0; i < pmdSz.height; i++)
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fprintf(scan, "%f %f %f\n", pmdc->pts[i][j].x*100.0, pmdc->pts[i][j].y*100.0, pmdc->pts[i][j].z*100.0);
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fprintf(pose, "%f %f %f\n%f %f %f\n", 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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if(0 == frames%100) printf("+100\n");
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fflush(scan);
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fflush(pose);
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fclose(scan);
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fclose(pose);
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frames++;
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}
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return 0;
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}
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