void place::loadInScans(const std::string &scanName,
const std::string &zerosFile,
std::vector<cv::Mat> &rotatedScans,
std::vector<Eigen::Vector2i> &zeroZero) {
zeroZero.resize(NUM_ROTS);
std::ifstream binaryReader(zerosFile, std::ios::in | std::ios::binary);
for (auto &z : zeroZero)
binaryReader.read(reinterpret_cast<char *>(z.data()),
sizeof(Eigen::Vector2i));
binaryReader.close();
for (int i = 0; i < NUM_ROTS; ++i) {
std::string fullScanName =
FLAGS_dmFolder + "R" + std::to_string(i) + "/" + scanName;
rotatedScans.push_back(cv::imread(fullScanName, 0));
if (!rotatedScans[i].data) {
std::cout << "Error reading scan: " << fullScanName << std::endl;
exit(1);
}
}
if (FLAGS_tinyPreviewIn || FLAGS_visulization) {
cv::rectshow(rotatedScans[0]);
}
}
void DensityMapsManager::run() {
rotationFile = FLAGS_rotFolder + rotationsFiles[current];
fileName = FLAGS_binaryFolder + binaryNames[current];
doorName = FLAGS_doorsFolder + "/pointcloud/" + doorsNames[current];
scanNumber = fileName.substr(fileName.find(".") - 3, 3);
buildName = fileName.substr(fileName.rfind("/") + 1, 3);
if (!FLAGS_redo && exists2D() && exists3D() && existsDoors())
return;
if (!FLAGS_quietMode)
std::cout << scanNumber << std::endl;
std::ifstream binaryReader(rotationFile, std::ios::in | std::ios::binary);
R = std::make_shared<std::vector<Eigen::Matrix3d>>(4);
for (int i = 0; i < R->size(); ++i) {
binaryReader.read(reinterpret_cast<char *>(R->at(i).data()),
sizeof(Eigen::Matrix3d));
}
binaryReader.close();
binaryReader.open(doorName, std::ios::in | std::ios::binary);
int num;
binaryReader.read(reinterpret_cast<char *>(&num), sizeof(num));
doors = std::make_shared<std::vector<place::Door>>(num);
for (auto &d : *doors)
d.loadFromFile(binaryReader);
binaryReader.close();
binaryReader.open(fileName, std::ios::in | std::ios::binary);
int columns, rows;
binaryReader.read(reinterpret_cast<char *>(&columns), sizeof(int));
binaryReader.read(reinterpret_cast<char *>(&rows), sizeof(int));
pointsWithCenter = std::make_shared<std::vector<Eigen::Vector3f>>();
pointsWithCenter->reserve(columns * rows);
pointsNoCenter = std::make_shared<std::vector<Eigen::Vector3f>>();
pointsNoCenter->reserve(columns * rows);
for (int k = 0; k < columns * rows; ++k) {
scan::PointXYZRGBA tmp;
tmp.loadFromFile(binaryReader);
auto &point = tmp.point;
point[1] *= -1.0;
if (!(point[0] || point[1] || point[2]) || tmp.intensity < 0.01)
continue;
pointsWithCenter->push_back(point);
if (point[0] * point[0] + point[1] * point[1] > 1)
pointsNoCenter->push_back(point);
}
binaryReader.close();
}
void* load(File& file, Allocator& a)
{
BinaryReader binaryReader(file);
uint32_t version;
binaryReader.read(version);
uint32_t verticesCount;
binaryReader.read(verticesCount);
const bgfx::Memory* vertexBufferMemory = bgfx::alloc(verticesCount * sizeof(float) * 4);
binaryReader.read(vertexBufferMemory->data, verticesCount * sizeof(float) * 4);
uint32_t indicesCount;
binaryReader.read(indicesCount);
const bgfx::Memory* indexBufferMemory = bgfx::alloc(indicesCount * sizeof(uint16_t));
binaryReader.read(indexBufferMemory->data, indicesCount * sizeof(uint16_t));
SpriteResource* spriteResource = (SpriteResource*) a.allocate(sizeof(SpriteResource));
spriteResource->vertexBufferMemory = vertexBufferMemory;
spriteResource->indexBufferMemory = indexBufferMemory;
return spriteResource;
}
