3dpcp/.svn/pristine/fb/fb1dec70f3bde4e42b7ec439ec8d54720f0658cc.svn-base
2012-10-05 08:55:14 +02:00

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/*
* scan_io_uos_rrgbt implementation
*
* Copyright (C) Dorit Borrmann, Thomas Escher, Kai Lingemann, Andreas Nuechter
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Implementation of reading 3D scans
* @author Dorit Borrmann. School of Engineering and Science, Jacobs University * Bremen, Germany.
* @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_uos_rrgbt.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 "scan"
#define DATA_PATH_SUFFIX ".3d"
#define POSE_PATH_PREFIX "scan"
#define POSE_PATH_SUFFIX ".pose"
std::list<std::string> ScanIO_uos_rrgbt::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 (000-999)
std::string identifier(to_string(i,3));
// scan consists of data (.3d) 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_uos_rrgbt::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();
// 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_uos_rrgbt::supports(IODataType type)
{
return !!(type & (DATA_XYZ | DATA_REFLECTANCE | DATA_RGB | DATA_TEMPERATURE));
}
void ScanIO_uos_rrgbt::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 && rgb != 0 && reflectance != 0 && temperature != 0) {
// open data file
ifstream data_file(data_path);
data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit);
// overread the first line ignoring the header information
char dummy[255];
data_file.getline(dummy, 255);
// read points
double point[4];
unsigned int color[3];
double temp;
while(data_file.good()) {
try {
for(i = 0; i < 4; ++i) data_file >> point[i];
for(i = 0; i < 3; ++i) data_file >> color[i];
data_file >> temp;
} catch(std::ios_base::failure& e) {
break;
}
// apply filter and insert point
if(filter.check(point)) {
for(i = 0; i < 3; ++i) xyz->push_back(point[i]);
reflectance->push_back(point[3]);
for(i = 0; i < 3; ++i) rgb->push_back(
static_cast<unsigned char>(color[i]));
temperature->push_back(temp);
}
}
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_uos_rrgbt;
}
/**
* 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