3dpcp/.svn/pristine/af/afebdfa6ee3208df792c4afdbe3810c68587ff08.svn-base
2012-09-16 14:33:11 +02:00

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3.6 KiB
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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_x3d.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#ifdef _MSC_VER
#include <windows.h>
#endif
using std::cerr;
/**
* Reads specified scans from given directory in
* the x3d 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_x3d::readScans(int start, int end, string &dir,
int maxDist, int minDist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start;
string scanFileName;
ifstream scan_in;
double maxDist2 = sqr(maxDist);
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
scanFileName = dir + "scan" + to_string(fileCounter,3) + ".x3d";
scan_in.open(scanFileName.c_str());
// read 3D scan
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing Scan " << scanFileName;
for (unsigned int i = 0; i < 6; euler[i++] = 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]);
// overread the first line
char dummy[255];
scan_in.getline(dummy, 255);
scan_in.getline(dummy, 255);
scan_in.getline(dummy, 255);
scan_in.getline(dummy, 255);
scan_in.getline(dummy, 255);
scan_in.get(dummy, 255, '"'); // read to beginning of first point
scan_in.get(); // and throw away the "
while (scan_in.good()) {
double f[3];
scan_in.get(dummy, 255, ' ');
scan_in.get(); // and throw away the ' '
std::stringstream ssx ( dummy );
ssx >> f[0];
scan_in.get(dummy, 255, ' ');
scan_in.get(); // and throw away the ' '
std::stringstream ssy ( dummy );
ssy >> f[1];
scan_in.get(dummy, 255, ',');
scan_in.get(); // and throw away the ','
scan_in.get(); // and the ' '
std::stringstream ssz ( dummy );
ssz >> f[2];
// scale to cm
for (int i=0; i<3; i++) {
f[i] *= 100.0;
}
Point p(f);
// 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)
ptss.push_back(p);
}
scan_in.close();
scan_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_x3d;
}
/**
* 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