3dpcp/.svn/pristine/b1/b1864c308cf24f4ea259589fcff8e3c66aaafc0f.svn-base
2012-10-05 08:55:14 +02:00

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/*
* scan_io_ks implementation
*
* Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter
*
* Released under the GPL version 3.
*
*/
/**
* @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.
* @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "scanio/scan_io_ks.h"
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <vector>
#ifdef _MSC_VER
#include <windows.h>
#endif
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/fstream.hpp>
using namespace boost::filesystem;
#include "slam6d/globals.icc"
#define DATA_PATH_PREFIX "ScanPos"
#define DATA_PATH_SUFFIX " - Scan001.txt"
#define POSE_PATH_PREFIX "scan"
#define POSE_PATH_SUFFIX ".pose"
std::list<std::string> ScanIO_ks::readDirectory(const char* dir_path, unsigned int start, unsigned int end)
{
std::list<std::string> identifiers;
for(unsigned int i = start; i <= end; ++i) {
// identifier is /d/d/d (001-999)
std::string identifier(to_string(i,3));
// scan consists of data (.txt) and pose (.pose) files
path data(dir_path);
data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
path pose(dir_path);
pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
// stop if part of a scan is missing or end by absence is detected
if(!exists(data) || !exists(pose))
break;
identifiers.push_back(identifier);
}
return identifiers;
}
void ScanIO_ks::readPose(const char* dir_path, const char* identifier, double* pose)
{
unsigned int i;
path pose_path(dir_path);
pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX);
if(!exists(pose_path))
throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]");
// open pose file
ifstream pose_file(pose_path);
// if the file is open, read contents
if(pose_file.good()) {
// read 6 plain doubles
for(i = 0; i < 6; ++i) pose_file >> pose[i];
pose_file.close();
// CAD map -> pose correction [ks x/y/z -> slam -z/y/x]
double tmp;
tmp = pose[0];
pose[0] = - pose[2];
pose[2] = tmp;
// convert coordinate to cm
for(i = 0; i < 3; ++i) pose[i] *= 100.0;
// convert angles from deg to rad
for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]);
} else {
throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]");
}
}
bool ScanIO_ks::supports(IODataType type)
{
return !!(type & (DATA_XYZ));
}
void ScanIO_ks::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector<double>* xyz, std::vector<unsigned char>* rgb, std::vector<float>* reflectance, std::vector<float>* temperature, std::vector<float>* amplitude, std::vector<int>* type, std::vector<float>* deviation)
{
unsigned int i;
// error handling
path data_path(dir_path);
data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX);
if(!exists(data_path))
throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]");
if(xyz != 0) {
// open data file
ifstream data_file(data_path);
data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit);
// overread the first line
char dummy[255];
data_file.getline(dummy, 255);
// read points
double point[3];
double tmp;
while(data_file.good()) {
try {
for(i = 0; i < 3; ++i) data_file >> point[i];
} catch(std::ios_base::failure& e) {
break;
}
// the enemy's x/y/z is mapped to slam's x/z/y, shuffle time!
tmp = point[1];
point[1] = point[2];
point[2] = tmp;
// TODO: offset is application specific, handle with care
// correct constant offset (in slam coordinates)
point[0] -= 70000.0; // x
point[2] -= 20000.0; // z
// convert coordinate to cm
for(i = 0; i < 3; ++i) point[i] *= 100.0;
// apply filter and insert point
if(filter.check(point)) {
for(i = 0; i < 3; ++i) xyz->push_back(point[i]);
}
}
data_file.close();
}
}
/**
* 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_ks;
}
/**
* 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