基于faro SDK 读取fls原始文件

Posted 2020-12-05 lovebay

  1 #define _SCL_SECURE_NO_WARNINGS
  2 #define _CRT_SECURE_NO_WARNINGS
  3 
  4 #include <iostream>
  5 //#include <atlsafe.h>
  6 //#include <windows.h> 
  7 //#include <cassert>
  8 #include <pcl/point_cloud.h>
  9 #include <pcl/io/pcd_io.h>
 10 #include <pcl/visualization/pcl_visualizer.h>
 11 
 12 using namespace std;
 13 typedef pcl::PointXYZRGBA PointT;
 14 typedef pcl::PointCloud<PointT> PointCloudT;
 15 
 16 #ifdef _WIN64
 17 // Yes - type is ‘win32‘ even on WIN64!
 18 #pragma comment(linker, ""/manifestdependency:type=‘win32‘ name=‘FARO.LS‘ version=‘1.1.701.2‘ processorArchitecture=‘amd64‘ publicKeyToken=‘1d23f5635ba800ab‘"")
 19 #else
 20 #pragma comment(linker, ""/manifestdependency:type=‘win32‘ name=‘FARO.LS‘ version=‘1.1.701.2‘ processorArchitecture=‘amd64‘ publicKeyToken=‘1d23f5635ba800ab‘"")
 21 #endif
 22 
 23 // These imports just defines the types - they don‘t determine which DLLs are actually loaded!
 24 // You can choose whatever version you have installed on your system - as long as the interface is compatible
 25 #import "C:WindowsWinSxSamd64_faro.ls_1d23f5635ba800ab_1.1.701.2_none_3592adf9356a0308iQopen.dll" no_namespace
 26 
 27 //... 
 28 
 29 int main()
 30 {
 31     CoInitialize(NULL);   //应用程序调用com库函数（除CoGetMalloc和内存分配函数）之前必须初始化com库
 32     // FARO LS Licensing 
 33     // Please note: The cryptic key is only a part of the complete license
 34     // string you need to unlock the interface. Please
 35     // follow the instructions in the 2nd line below
 36 
 37     BSTR licenseCode = L"FARO Open Runtime License
"
 38         //#include "../FAROOpenLicense"    // Delete this line, uncomment the following line, and enter your own license key here:
 39         L"Key:39CELNPKTCTXXJ7TN3ZYSPVPL
"
 40         L"
"
 41         L"The software is the registered property of FARO Scanner Production GmbH, Stuttgart, Germany.
"
 42         L"All rights reserved.
"
 43         L"This software may only be used with written permission of FARO Scanner Production GmbH, Stuttgart, Germany.";
 44 
 45     IiQLicensedInterfaceIfPtr liPtr(__uuidof(iQLibIf));
 46     liPtr->License = licenseCode;
 47     IiQLibIfPtr libRef = static_cast<IiQLibIfPtr>(liPtr);
 48     if (libRef->load("C:\Users\18148\Desktop\Scan_az001.fls\Scan_az001.fls") != 0)   //读取文件的全路径  切记
 49     {
 50         std::cout << "load  ScanData errer !!!" << std::endl;
 51         libRef = NULL;
 52         liPtr = NULL;
 53         return -1;
 54     }
 55 
 56     libRef->scanReflectionMode = 2;            //黑白灰度展示图像
 57     cout << libRef->scanReflectionMode << endl;
 58     //libRef->scanReflectionMode = 1;    //默认为1  可以为0 1 2三个模式。
 59 
 60     int ret = libRef->setAttribute("#app/ScanLoadColor", "2");    //设置为彩色 Load grey information instead of color 
 61     cout << "setAttribute" << ret << endl;
 62 
 63     //if (int ret = libRef->saveAs("C:\Users\18148\Desktop\img\ddb123.fws") != 0)    //可以存储为  fls,fws
 64     //{
 65     //    std::cout << "saveAs  ScanData errer !!!" << std::endl;
 66     //    return -1;
 67     //}
 68     //ret = libRef->extractStream("C:\Users\18148\Desktop\Scan_az001.fls\Scan_az001.fls", "ScanDataStream0", "C:\Users\18148\Desktop\img.fls");
 69 
 70     double x, y, z;
 71     double rx, ry, rz, angle;
 72     libRef->getScanPosition(0, &x, &y, &z);
 73     libRef->getScanOrientation(0, &rx, &ry, &rz, &angle);
 74     int numRows = libRef->getScanNumRows(0);
 75     int numCOls = libRef->getScanNumCols(0);
 76 
 77     std::cout << "numRows::" << numRows << std::endl;
 78     std::cout << "numCOls::" << numCOls << std::endl;
 79     std::cout << x << "," << y << "," << z << std::endl;
 80     std::cout << rx << "," << ry << "," << rz << "," << angle << std::endl;
 81 
 82     PointCloudT::Ptr cloud_pointsPtr(new PointCloudT());
 83     // Access all points points by point 
 84     for (int col = 0; col < numCOls; col++)
 85     {
 86         for (int row = 0; row<numRows; row++)
 87         {
 88             double x, y, z;
 89             int refl;
 90             int result = libRef->getScanPoint(0, row, col, &x, &y, &z, &refl);
 91 
 92             //Use getXYZScanPoints or getXYZScanPoints2 instead to read multiple scan points in a single call. For example, you can read the scan points column by column with these two methods. 
 93             PointT points;
 94             points.x = x;
 95             points.y = y;
 96             points.z = z;
 97             //int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
 98             points.a = 255;
 99             points.r = (refl >> 16) & 0x0000ff; //uint8_t r = (rgb >> 16) & 0x0000ff;
100             points.g = (refl >> 8) & 0x0000ff;
101             points.b = (refl)& 0x0000ff;
102             points.rgba = points.a << 24 | points.r << 16 | points.g << 8 | points.b;
103             cloud_pointsPtr->points.push_back(points);
104 
105             /*        double **array2D = new double *[numRows];    //二维数组分配内存
106             for (int i = 0; i<numRows; ++i)
107             {
108             array2D[i] = new double[3];
109             }
110             double *pos = *array2D;
111             */
112             //double *pos = new double[3 * numRows];    //利用一维数组
113             //int *refl = new int[numRows];
114             //int result = libRef->getXYZScanPoints(0, row, col, numRows, pos, refl);
115 
116             ////std::cout << x<<","<<y<<","<<z<< std::endl;
117 
118             //delete[] pos;
119             //delete[] refl;
120             //pos = NULL; refl = NULL;
121         }
122     }
123 
124     // --------------------------------------------
125     // -----Open 3D viewer and add point cloud-----
126     // --------------------------------------------
127     boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
128     viewer->setBackgroundColor(0, 0, 0);
129     pcl::visualization::PointCloudColorHandlerRGBField<PointT> rgb(cloud_pointsPtr);
130     //pcl::visualization::PointCloudColorHandlerCustom<PointT> red(cloud_pointsPtr, 0, 0, 255);
131     viewer->addPointCloud<PointT>(cloud_pointsPtr, "sample cloud");
132     viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
133     viewer->addCoordinateSystem(1.0);
134     viewer->initCameraParameters();
135 
136     // Access all points column per column in polar coordinates 
137     //double* positions = new double[numRows*3]; 
138     //int* reflections = new int[numRows]; 
139     //for (int col = 0; col<numCOls; col++)
140     //{ 
141     //    int result = libRef->getPolarScanPoints(0, 0, col, numRows, positions, reflections);
142     //    for (int row=0 ; row<numRows ; row++)
143     //    {     
144     //        double r, phi, theta;     
145     //        int refl;     
146     //        r = positions[3*row+0];     
147     //        phi = positions[3*row + 1];
148     //        theta = positions[3*row+2];     
149     //        refl = reflections[row];     // ...   
150     //    } 
151     //} 
152     //delete[] positions; delete[] reflections;
153 
154     libRef = NULL; liPtr = NULL;
155     CoUninitialize();
156     //--------------------
157     // -----Main loop-----
158     //--------------------
159 
160     while (!viewer->wasStopped())
161     {
162         viewer->spinOnce(100);
163         boost::this_thread::sleep(boost::posix_time::microseconds(100000));
164     }
165     system("pause");
166     return 0;
167 }