463 lines
13 KiB
Text
463 lines
13 KiB
Text
/**
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* @file
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* @brief Implementation of reading 3D scans
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* @author Andreas Nuechter. Jacobs University Bremen gGmbH
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* @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany.
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*/
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#include "veloslam/velodefs.h"
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#include "slam6d/scan_io_velodyne.h"
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#include "slam6d/globals.icc"
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#include <fstream>
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using std::ifstream;
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#include <iostream>
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using std::cerr;
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using std::endl;
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#include <algorithm>
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using std::swap;
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#include<cstdio>
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#include<cstdlib>
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#include<cmath>
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#include<cstring>
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#include <errno.h>
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using namespace std;
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#ifdef _MSC_VER
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#include <windows.h>
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#endif
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#define BLOCK_OFFSET 42+16
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#define BLOCK_SIZE 1206
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#define CIRCLELENGTH 360
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#define VELODYNE_NUM_LASERS 64
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#define CircleBufferSize CIRCLELENGTH*32*12
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#define CIRCLEROUND CIRCLELENGTH*6
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#define RADIANS_PER_LSB 0.0174532925
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#define METERS_PER_LSB 0.002
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#define METERS_PER_CM 0.01
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#define TWOPI_INV (0.5/M_PI)
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#define TWOPI (2*M_PI)
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typedef struct raw_packet
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{
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unsigned char dat[1200];
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unsigned short revolution;
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unsigned char status[4];
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} raw_packet_t;
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typedef unsigned char BYTE;
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long CountOfLidar = 0;
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// 我们借到的雷达的标定数据
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double velodyne_calibrated[VELODYNE_NUM_LASERS][5] =
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{
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{ -7.1581192, -4.5, 102, 21.560343, -2.5999999},
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{ -6.8178215, -3.4000001, 125, 21.516994, 2.5999999},
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{ 0.31782165, 3, 130, 20.617426, -2.5999999},
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{ 0.65811908, 4.5999999, 128, 20.574717, 2.5999999},
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{ -6.4776502, -0.5, 112, 21.473722, -2.5999999},
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{ -6.1375928, 1, 125, 21.430525, 2.5999999},
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{ -8.520812, -1.5, 106, 21.734608, -2.5999999},
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{ -8.1798887, 0.40000001, 127, 21.690901, 2.5999999},
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{ -5.797637, 4, 111, 21.387396, -2.5999999},
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{ -5.4577708, 5.5, 126, 21.34433, 2.5999999},
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{ -7.8391404, 3.0999999, 113, 21.647291, -2.5999999},
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{ -7.4985547, 4.5, 123, 21.603773, 2.5999999},
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{ -3.0802133, -4.5, 105, 21.044245, -2.5999999},
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{ -2.7406337, -3.2, 133, 21.001518, 2.5999999},
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{ -5.1179824, -5.5, 110, 21.301321, -2.5999999},
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{ -4.7782598, -4, 129, 21.258366, 2.5999999},
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{ -2.4010365, -0.2, 111, 20.958813, -2.5999999},
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{ -2.0614092, 1, 130, 20.916126, 2.5999999},
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{ -4.4385905, -1.2, 115, 21.215462, -2.5999999},
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{ -4.0989642, 0, 133, 21.172602, 2.5999999},
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{ -1.7217404, 3.8, 113, 20.873451, -2.5999999},
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{ -1.3820176, 5, 130, 20.830786, 2.5999999},
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{ -3.7593663, 3, 117, 21.129782, -2.5999999},
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{ -3.4197867, 4.5, 129, 21.086998, 2.5999999},
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{ 0.998555, -4.5, 107, 20.531982, -2.5999999},
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{ 1.339141, -3.2, 131, 20.489222, 2.5999999},
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{ -1.0422293, -5.4000001, 128, 20.788124, -2.5999999},
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{ -0.70236301, -4, 134, 20.745461, 2.5999999},
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{ 1.679889, -0.5, 124, 20.446428, -2.5999999},
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{ 2.0208123, 1, 136, 20.403601, 2.5999999},
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{ -0.36240739, -1.5, 131, 20.702793, -2.5999999},
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{ -0.022349782, 0.2, 136, 20.660116, 2.5999999},
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{ -22.737886, -7.8000002, 101, 16.019152, -2.5999999},
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{ -22.226072, -5, 88, 15.954137, 2.5999999},
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{ -11.513928, 4.5, 121, 14.680806, -2.5999999},
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{ -11.002114, 7.4000001, 88, 14.623099, 2.5999999},
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{ -21.714685, -1, 94, 15.889649, -2.5999999},
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{ -21.203688, 2, 88, 15.82566, 2.5999999},
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{ -24.790272, -2.5, 114, 16.284933, -2.5999999},
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{ -24.276321, 0.5, 89, 16.217583, 2.5999999},
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{ -20.693031, 6, 98, 15.762167, -2.5999999},
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{ -20.182682, 9, 92, 15.699132, 2.5999999},
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{ -23.762968, 4.5, 107, 16.15085, -2.5999999},
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{ -23.250172, 7.5, 80, 16.084715, 2.5999999},
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{ -16.615318, -7.5, 121, 15.26925, -2.5999999},
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{ -16.105938, -5, 92, 15.209245, 2.5999999},
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{ -19.672594, -9, 119, 15.63654, -2.5999999},
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{ -19.162729, -6, 89, 15.574372, 2.5999999},
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{ -15.596496, -1, 109, 15.14954, -2.5999999},
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{ -15.086954, 2, 88, 15.090119, 2.5999999},
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{ -18.653046, -2, 117, 15.51261, -2.5999999},
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{ -18.143503, 0.69999999, 88, 15.451235, 2.5999999},
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{ -14.577271, 5.5, 112, 15.030966, -2.5999999},
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{ -14.067405, 8.3999996, 87, 14.972065, 2.5999999},
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{ -17.634062, 5, 119, 15.390228, -6.1999998},
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{ -17.124681, 7.5, 97, 15.329572, 2.5999999},
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{ -10.489829, -7.5, 119, 14.565539, -2.5999999},
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{ -9.9770317, -4.6999998, 95, 14.508112, 2.5999999},
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{ -13.557318, -8.5, 126, 14.913401, -2.5999999},
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{ -13.046968, -6, 92, 14.854958, 2.5999999},
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{ -9.4636793, -1, 112, 14.450804, -2.5999999},
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{ -8.949728, 1.5, 93, 14.3936, 2.5999999},
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{ -12.536313, -2, 121, 14.796721, -2.5999999},
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{ -12.025314, 0.40000001, 96, 14.738676, 2.5999999},
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};
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double rotCorrection[VELODYNE_NUM_LASERS];
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double vertCorrection[VELODYNE_NUM_LASERS];
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double distCorrection[VELODYNE_NUM_LASERS];
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double vertoffsetCorrection[VELODYNE_NUM_LASERS];
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double horizdffsetCorrection[VELODYNE_NUM_LASERS];
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int physical2logical[VELODYNE_NUM_LASERS];
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int logical2physical[VELODYNE_NUM_LASERS];
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double absf ( double a )
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{
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if ( a < 0 )
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return -a;
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return a;
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}
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int velodyne_physical_to_logical ( int phys )
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{
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return physical2logical[phys];
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}
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int velodyne_logical_to_physical ( int logical )
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{
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return logical2physical[logical];
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}
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int laser_phi_compare(const void *_a, const void *_b)
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{
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int a = *((int*) _a);
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int b = *((int*) _b);
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if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0])
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return -1;
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return 1;
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}
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/** valid only for v > 0 **/
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static inline double mod2pi_positive(double vin)
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{
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double q = vin * TWOPI_INV + 0.5;
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int qi = (int) q;
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return vin - qi*TWOPI;
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}
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/** Map v to [-PI, PI] **/
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static inline double mod2pi(double vin)
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{
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if (vin < 0)
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return -mod2pi_positive(-vin);
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else
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return mod2pi_positive(vin);
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}
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/** Return vin such that it is within PI degrees of ref **/
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static inline double mod2pi_ref(double ref, double vin)
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{
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return ref + mod2pi(vin - ref);
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}
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int velodyne_calib_precompute()
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{
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int i;
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int logical;
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for ( i = 0; i < VELODYNE_NUM_LASERS; i++ )
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logical2physical[i] = i;
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qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare );
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for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ )
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{
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physical2logical[logical2physical[logical]] = logical;
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}
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//vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection
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for ( i = 0; i < VELODYNE_NUM_LASERS; i++ )
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{
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vertCorrection[i] = velodyne_calibrated[i][0] * RADIANS_PER_LSB;
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rotCorrection[i] = velodyne_calibrated[i][1] * RADIANS_PER_LSB;
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distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM;
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vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM;
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horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM;
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}
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return 0;
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}
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int read_one_packet ( FILE *fp, vector<Point> &ptss, int maxDist, int minDist )
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{
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int maxDist2 = sqr(maxDist);
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int minDist2 = sqr(minDist);
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int c, i, j;
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unsigned char Head;
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BYTE buf[BLOCK_SIZE];
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Point point;
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BYTE *p;
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unsigned short *ps;
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unsigned short *pshort;
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unsigned short *pt;
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double ctheta;
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double theta, phi;
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double sin_ctheta, cos_ctheta;
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double sin_theta, cos_theta;
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double sin_phi, cos_phi;
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unsigned short physicalNO;
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unsigned short logicalNO;
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float rotational;
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float distance;
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float corredistance;
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int intensity;
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int physical;
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int size;
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unsigned short rot;
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double x, y, z;
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int circle_col = 0;
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int circle_row = 0;
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for ( c = 0 ; c < CIRCLELENGTH; c++ )
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{
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#ifdef _MSC_VER
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fseek(fp , BLOCK_OFFSET, SEEK_CUR);
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#else
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fseeko(fp , BLOCK_OFFSET, SEEK_CUR);
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#endif
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size=fread ( buf, 1, BLOCK_SIZE, fp );
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if(size<BLOCK_SIZE)
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return -1;
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ps = ( unsigned short * ) buf;
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p = buf;
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physicalNO = 0;
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for ( i = 0; i < 12; i++ )
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{
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//Each frame start with 0xEEFF || 0xDDFF
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if ( *ps == 0xEEFF )
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Head = 0;
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else if ( *ps == 0xDDFF )
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Head = 32;
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pshort = ( unsigned short * ) ( p + 2 );
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rot = ( ( unsigned short ) ( *pshort ) / 100.0 );
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circle_col = c * 6 + i / 2;
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rotational = ( ( float ) ( *pshort ) ) / 100.0;
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for ( j = 0; j < 32; j++ )
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{
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physicalNO = j + Head;
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logicalNO = velodyne_physical_to_logical ( physicalNO );
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circle_col = c * 6 + i / 2;
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circle_row = logicalNO;
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pt = ( unsigned short * ) ( p + 4 + j * 3 );
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distance = absf ( ( *pt ) * 0.002 );
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if( distance < 60 && distance > 2.2 )
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{
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BYTE *inty = ( BYTE * ) ( p + 4 + j * 3 + 2 );
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intensity = *inty;
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ctheta = 2 * M_PI - rotational * RADIANS_PER_LSB;
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if ( ctheta == 2*M_PI )
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ctheta = 0;
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sin_ctheta = sin ( ctheta );
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cos_ctheta = cos ( ctheta );
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//vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection
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// corredistance = ( distance + distCorrection[physicalNO] ) * ( 1.0 + vertoffsetCorrection[physicalNO] );
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corredistance = ( distance + distCorrection[physicalNO] ) ;
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theta = mod2pi_ref ( M_PI, ctheta + rotCorrection[physicalNO] ); /////////????////////
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phi = vertCorrection[physicalNO]; ////////?????/////////////////
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sin_theta = sin ( theta );
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cos_theta = cos ( theta );
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sin_phi = sin ( phi );
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cos_phi = cos ( phi );
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/////////////////////?a??×?±ê/////////////////////
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x = corredistance * cos_theta * cos_phi;
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y = corredistance * sin_theta * cos_phi;
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z = corredistance * sin_phi +vertoffsetCorrection[physicalNO]*cos_phi;
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x -= horizdffsetCorrection[physicalNO] * cos_ctheta;
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y -= horizdffsetCorrection[physicalNO] * sin_ctheta;
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point.rad = sqrt( x*x + y*y );
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point.tan_theta = y/x;
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// point.type|=POINT_TYPE_INVALID;
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point.type = POINT_TYPE_GROUND;
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point.x=x*100;
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point.y=z*100;
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point.z=-y*100;
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{
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ptss.push_back(point);
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}
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}
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}
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p = p + 100;
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ps = ( unsigned short * ) p;
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}
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}
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return 0;
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}
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/**
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* Reads specified scans from given directory in
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* the file format Riegl Laser Measurement GmbH
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* uses. It will be compiled as shared lib.
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*
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* Scan poses will NOT be initialized after a call
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* to this function. Initial pose estimation works
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* only with the -p switch, i.e., trusting the initial
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* estimations by Riegl.
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*
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* The scans have to be exported from the Riegl software
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* as follows:
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* 1. Export point cloud data to ASCII
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* Use Scanners own Coordinate System (SOCS)
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* X Y Z Range Theta Phi Reflectance
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* 2. Export acqusition location (after you have registered
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* with the Riegl software)
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* Export SOP
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* Write out as .dat file
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*
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* @param start Starts to read with this scan
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* @param end Stops with this scan
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* @param dir The directory from which to read
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* @param maxDist Reads only Points up to this Distance
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* @param minDist Reads only Points from this Distance
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* @param euler Initital pose estimates (will not be applied to the points
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* @param ptss Vector containing the read points
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*/
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int ScanIO_velodyne::readScans(int start, int end, string &dir, int maxDist, int minDist,
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double *euler, vector<Point> &ptss)
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{
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static int fileCounter = start;
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string scanFileName;
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FILE *scan_in;
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if (end > -1 && fileCounter > end) return -1; // 'nuf read
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scanFileName = dir + "scan" + ".bin";
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#ifdef _MSC_VER
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scan_in = fopen(scanFileName.c_str(),"rb");
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#else
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scan_in = fopen64(scanFileName.c_str(),"rb");
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#endif
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if(scan_in == NULL)
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{
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cerr<<scanFileName <<endl;
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cerr << "ERROR: Missing file " << scanFileName <<" "<<strerror(errno)<< endl;
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exit(1);
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return 0;
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}
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velodyne_calib_precompute();
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cout << "Processing Scan " << scanFileName;
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cout.flush();
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ptss.reserve(12*32*CIRCLELENGTH);
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#ifdef _MSC_VER
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fseek(scan_in, 24, SEEK_SET);
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fseek(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR);
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#else
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fseeko(scan_in, 24, SEEK_SET);
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fseeko(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR);
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#endif
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read_one_packet(scan_in, ptss, maxDist, minDist);
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cout << " with " << ptss.size() << " Points";
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cout << " done " << fileCounter<<endl;
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fclose(scan_in);
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fileCounter++;
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return fileCounter-1;
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}
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/**
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* class factory for object construction
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*
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* @return Pointer to new object
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*/
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#ifdef _MSC_VER
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extern "C" __declspec(dllexport) ScanIO* create()
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#else
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extern "C" ScanIO* create()
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#endif
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{
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return new ScanIO_velodyne;
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}
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/**
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* class factory for object construction
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*
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* @return Pointer to new object
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*/
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#ifdef _MSC_VER
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extern "C" __declspec(dllexport) void destroy(ScanIO *sio)
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#else
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extern "C" void destroy(ScanIO *sio)
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#endif
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{
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delete sio;
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}
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#ifdef _MSC_VER
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BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved)
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{
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return TRUE;
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}
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#endif
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