3dpcp/.svn/pristine/cf/cf2d78f421744fbd8b4d3433b513d465f484be86.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_rts_map.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
/** define invalid type */
#define TYPE_INVALID 0x10
/**
* Reads specified scans from given directory in
* the file format Uni Hannover uses. The first scan
* is a 3D point cloud, computed from the 2D line map.
* The class 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_rts_map::readScans(int start, int end, string &dir, int maxDist, int mindist,
double *euler, vector<Point> &ptss)
{
static int fileCounter = start - 1;
static ifstream pose_in;
string scanFileName;
string poseFileName;
double timestamp;
ifstream scan_in;
int my_fileNr = fileCounter;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
if (fileCounter == start - 1) {
poseFileName = dir + "odometry_0_sync_interpol.dat";
pose_in.open(poseFileName.c_str());
if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); }
for (int i = 0; i < start; i++) {
pose_in >> timestamp
>> euler[2] >> euler[0] >> euler[1] // x, y, z
>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
}
double c, s;
// read map as first 3D scan
//
// A given 2D ground truth map, is extrapolated to 3D.
// Details are given in (jfr2008.pdf):
//
// Oliver Wulf, Andreas Nüchter, Joachim Hertzberg,
// and Bernardo Wagner. Benchmarking Urban Six-Degree-
// of-Freedom Simultaneous Localization and Mapping.
// Journal of Field Robotics (JFR), Wiley & Son,
// ISSN 1556-4959, Volume 25, Issue 3, pages 148 - 163,
// March 2008
#define READ_MAP
#ifdef READ_MAP
scanFileName = dir + "Uni_Hannover.map";
scan_in.open(scanFileName.c_str());
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing 3D Map " << scanFileName << endl;
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
c = cos(rad(-191.0));
s = sin(rad(-191.0));
while (scan_in.good()) {
double x1, x2, z1, z2;
double x1_t, x2_t, z1_t, z2_t;
scan_in >> x1_t >> z1_t >> x2_t >> z2_t;
x1_t = (x1_t - 113.07) * 100;
x2_t = (x2_t - 113.07) * 100;
z1_t = (z1_t + 64.05) * 100;
z2_t = (z2_t + 64.05) * 100;
x1 = x1_t * c + z1_t * s;
z1 = - x1_t * s + z1_t * c;
x2 = x2_t * c + z2_t * s;
z2 = - x2_t * s + z2_t * c;
double length = sqrt(sqr(x2-x1) + sqr(z2-z1));
double n_x = (x2 - x1) / length;
double n_z = (z2 - z1) / length;
for (double t = 0.0; t < length; t += 25.0) {
Point p;
p.x = x1 + t * n_x;
p.z = z1 + t * n_z;
for (double y = -15.0; y < 1000; y += 25) {
p.y = y;
ptss.push_back(p);
}
}
}
cout << ptss.size() << endl;
scan_in.close();
scan_in.clear();
#endif
// read map as first 3D scan
// A aerial lidar scan is loaded
// Details are given in (ecmr2009.pdf):
//
// Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann,
// Joachim Hertzberg. An Explicit Loop Closing Technique
// for 6D SLAM, In Proceedings of the 4th European
// Conference on Mobile Robots (ECMR '09), Mlini/Dubrovnic,
// Croatia, September 2009
#define READ_AERIAL
#ifdef READ_AERIAL
scanFileName = dir + "bereich_uni.txt";
scan_in.open(scanFileName.c_str());
if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); }
cout << "Processing 3D Aerial Map " << scanFileName << endl;
euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0;
c = cos(rad(-191.0));
s = sin(rad(-191.0));
while (scan_in.good()) {
double x1, z1;
double x1_t, y1_t, z1_t;
scan_in >> x1_t >> z1_t >> y1_t;
x1_t = (x1_t - 3548500 - 113.07) * 100;
z1_t = (z1_t - 5806400 + 64.05) * 100;
y1_t = (y1_t - 55.0) * 100;
x1 = x1_t * c + z1_t * s;
z1 = - x1_t * s + z1_t * c;
Point p;
p.x = x1;
p.z = z1;
p.y = y1_t;
ptss.push_back(p);
}
cout << "Map containts " << ptss.size() << " points" << endl;
scan_in.close();
scan_in.clear();
#endif
cout << "DONE" << endl;
fileCounter++;
return 1;
}
// read remaining 3D scans
pose_in >> timestamp
>> euler[2] >> euler[0] >> euler[1] // x, y, z
>> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z
scanFileName = dir + "scan3d_0_" + to_string(fileCounter) + ".3d";
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;
cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2]
<< "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl;
for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1;
while (scan_in.good()) {
Point p;
int type, dummy;
scan_in >> p.z >> p.x >> p.y >> type >> dummy >> dummy;
if (type & TYPE_INVALID) {
continue;
} else {
p.x *= 0.1;
p.y *= -0.1;
p.z *= 0.1;
p.type = type;
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_rts_map;
}
/**
* 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