3dpcp/.svn/pristine/72/72dcb9f74cfa4206527fca731e68763910781f37.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_ifp.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.
*
* Scan poses will NOT be initialized after a call
* to this function.
*
*
* @param s 3D Scan to be read. The vector of points must be filled
* @param start Starts to read with this scan
* @param end Stops with this scan
* @param maxDist Reads only Points up to this Distance
* @param dir The directory from which to read
*/
int ScanIO_ifp::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;
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "ScanWorld " + to_string(fileCounter) + ".pts";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) {
scanFileName = dir + "SW" + to_string(fileCounter) + ".pts";
scan_in.open(scanFileName.c_str());
}
if (!scan_in.good()) {
return -1;
}
cout << "Processing Scan " << scanFileName;
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
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]);
// some noise for the pose estimations
/*
double t1 = (double)(rand() % 100);
double t2 = (double)(rand() % 100);
double t3 = (double)(rand() % 100);
double t4 = (double)(rand() % 5) * 0.025;
euler[4] = t4;
cout << "dx " << t1 << " dy " << t2 << " dz " << t3 << " dtheta_y " << t4 << endl;
*/
int dummy;
scan_in >> dummy;
while (scan_in.good()) {
Point p;
int intensity, red, green, blue;
scan_in >> p.z >> p.x >> p.y >> intensity >> red >> green >> blue;
p.z -= 3515165;
p.x -= 5407003;
p.y -= 254;
p.x *= -100;
p.y *= 100;
p.z *= 100;
/*
p.z += t1;
p.x += t2;
p.y += t3;
*/
//cout << p << endl;
ptss.push_back(p);
}
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_ifp;
}
/**
* 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