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:\Windows\WinSxS\amd64_faro.ls_1d23f5635ba800ab_1.1.701.2_none_3592adf9356a0308\iQopen.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\n"
38 //#include "../FAROOpenLicense" // Delete this line, uncomment the following line, and enter your own license key here:
39 L"Key:39CELNPKTCTXXJ7TN3ZYSPVPL\n"
40 L"\n"
41 L"The software is the registered property of FARO Scanner Production GmbH, Stuttgart, Germany.\n"
42 L"All rights reserved.\n"
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 }
