3dpcp/.svn/pristine/06/0663cbcb4359530802199b9c432bb10e0ef1f0a9.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @file
* @brief Implementation of reading 3D scans
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/scan_io_wrl.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
#include <cstring>
/**
* Reads specified scans from given directory in
* the PLY file 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_wrl::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
string poseFileName;
int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist));
int my_fileNr = fileCounter;
ifstream scan_in, pose_in;
for (int i = 0; i < 6; i++) euler[i] = 0;
if (end > -1 && fileCounter > end) return -1;
poseFileName = dir + to_string(fileCounter,3) + "/position.dat";
pose_in.open(poseFileName.c_str());
// read 3D scan
if (!pose_in.good()) return -1; // no more files in the directory
cout << "Processing Scan " << dir << to_string(fileCounter, 3);
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
// convert mm to cm
for (unsigned int i = 0; i < 3; i++) euler[i] = euler[i] * 0.1;
// convert angles from deg to rad
for (unsigned int i = 3; i <= 5; i++) {
euler[i] *= 0.01;
// if (euler[i] < 0.0) euler[i] += 360;
euler[i] = rad(euler[i]);
}
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + to_string(fileCounter,3) + ".wrl";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) return -1; // no more scans to read
// overread the first 7 tokes / 4 lines - don't care here
char dummy[255];
for (int i = 0; i < 4; i++) {
scan_in.getline(dummy, 255);
}
do {
char cx[25], cy[25], cz[25];
double xyz[3];
scan_in >> cx >> cy >> cz;
if (!scan_in.good()) break;
// remove the "," from the z coordinate
cz[strlen(cz)-1] = 0;
xyz[0] = atof(cx);
xyz[1] = atof(cy);
xyz[2] = atof(cz);
Point p(xyz);
if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2)
ptss.push_back(p);
} while (scan_in.good());
scan_in.close();
scan_in.clear();
pose_in.close();
pose_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_wrl;
}
/**
* 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