8 #include "slam6d/globals.icc"
35 double *euler, vector<Point> &ptss)
37 static int fileCounter = start;
45 int my_fileNr = fileCounter;
47 if (end > -1 && fileCounter > end)
return -1;
48 scanFileName = dir +
"scan" + to_string(fileCounter,3) +
".oct";
49 poseFileName = dir +
"scan" + to_string(fileCounter,3) +
".pose";
52 pose_in.open(poseFileName.c_str());
55 if (!pose_in.good() )
return -1;
56 if (!pose_in.good()) { cerr <<
"ERROR: Missing file " << poseFileName << endl; exit(1); }
57 cout <<
"Processing Scan " << scanFileName;
59 for (
unsigned int i = 0; i < 6; pose_in >> euler[i++]);
61 cout <<
" @ pose (" << euler[0] <<
"," << euler[1] <<
"," << euler[2]
62 <<
"," << euler[3] <<
"," << euler[4] <<
"," << euler[5] <<
")" << endl;
65 for (
unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]);