3dpcp/.svn/pristine/1f/1f86c92d761f35552d5275b33b99a0dec4ea25c4.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @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_stl.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#ifdef _MSC_VER
#include <windows.h>
#endif
#include<stdint.h>
typedef float real32_t;
/**
* 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_stl::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
string poseFileName;
ifstream scan_in, pose_in;
double maxDist2 = sqr(maxDist);
double minDist2 = sqr(mindist);
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".stl";
poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose";
scan_in.open(scanFileName.c_str(), std::ios::binary);
pose_in.open(poseFileName.c_str());
// read 3D scan
if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory
if (!scan_in.good()) return -1; // no more files in the directory
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
for (unsigned int i = 0; i < 6; pose_in >> euler[i++]);
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl;
// convert angles from deg to rad
for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);
// read the STL data:
uint8_t header[80];
uint32_t number;
scan_in.read((char*)header, sizeof(header));
scan_in.read((char*)&number, sizeof(number));
real32_t normal[3];
real32_t v1[3], v2[3], v3[3];
uint16_t attrib;
for (unsigned int i=0; i < number; i++) {
Point p;
scan_in.read((char*)normal, sizeof(normal));
scan_in.read((char*)v1, sizeof(v1));
scan_in.read((char*)v2, sizeof(v2));
scan_in.read((char*)v3, sizeof(v3));
scan_in.read((char*)&attrib, sizeof(attrib));
// forget the other vertices
p.x = v1[0];
p.y = v1[1];
p.z = v1[2];
// 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)
if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)
ptss.push_back(p);
}
cout << "Read " << ptss.size() << " points." << endl;
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_stl;
}
/**
* 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