3dpcp/.svn/pristine/d9/d922fca2a3e2b61a049747105a81e9038a07bdaa.svn-base
2012-09-16 14:33:11 +02:00

156 lines
3.7 KiB
Text

/**
* @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_riegl_bin.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cerr;
using std::endl;
#include <algorithm>
using std::swap;
#ifdef _MSC_VER
#include <windows.h>
#endif
/**
* Reads specified scans from given directory in
* the file format Riegl Laser Measurement GmbH
* uses. It will be compiled as shared lib.
*
* Scan poses will NOT be initialized after a call
* to this function. Initial pose estimation works
* only with the -p switch, i.e., trusting the initial
* estimations by Riegl.
*
* @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_riegl_bin::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;
if (end > -1 && fileCounter > end) return -1; // 'nuf read
poseFileName = dir + "Pos" + to_string(fileCounter,2) + ".dat";
scanFileName = dir + "Scan" + to_string(fileCounter,2) + ".txt";
scan_in.open(scanFileName.c_str());
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 (!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;
char firstline[255];
scan_in.getline(firstline, 255);
double rPos[3], rPosTheta[16];
double inMatrix[16], tMatrix[16];
for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]);
M4transpose(inMatrix, tMatrix);
Matrix4ToEuler(tMatrix, rPosTheta, rPos);
rPos[0] *= 100;
rPos[1] *= 100;
rPos[2] *= 100;
// some noise for the pose estimations
double t1 = (double)(rand() % 200);
double t2 = (double)(rand() % 200);
// double t3 = (double)(rand() % 10);
swap(rPos[1], rPos[2]);
swap(rPosTheta[1], rPosTheta[2]);
euler[0] = rPos[0] + t1;
euler[1] = rPos[1];
euler[2] = rPos[2] + t2;
euler[3] = rPosTheta[0];
euler[4] = rPosTheta[1];
euler[5] = rPosTheta[2];
double test[16], test1[16];
EulerToMatrix4(rPos, rPosTheta, test);
M4inv(test, test1);
while (scan_in.good()) {
Point p;
int dummy;
scan_in >> dummy >> p.x >> p.z >> p.y;
p.x *= 100;
p.y *= 100;
p.z *= 100;
p.transform(test1);
ptss.push_back(p);
}
cout << " done" << endl;
scan_in.close();
scan_in.clear();
pose_in.close();
pose_in.clear();
fileCounter++;
return fileCounter-1;
}
/**
* 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_riegl_bin;
}
/**
* 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