55 bool did_anything =
false;
56 float x, y, z, r1, r2, r3;
80 ifstream in(
options.getTransformFile().c_str());
82 cout <<
timestamp <<
"Warning: Load transform file: File not found or corrupted." << endl;
86 if(
options.getTransformFile().substr(
options.getTransformFile().length()-5) ==
".pose")
88 cout <<
timestamp <<
"Reading from .pose file" << endl;
89 in >> x >> y >> z >> r1 >> r2 >> r3;
91 r1 = r1 * 0.0174532925f;
92 r2 = r2 * 0.0174532925f;
93 r3 = r3 * 0.0174532925f;
99 cout <<
timestamp <<
"Reading from .frames file" << endl;
101 ifstream in(
options.getTransformFile().c_str());
104 in >> t[0] >> t[1] >> t[2] >> t[3]
105 >> t[4] >> t[5] >> t[6] >> t[7]
106 >> t[8] >> t[9] >> t[10] >> t[11]
107 >> t[12] >> t[13] >> t[14] >> t[15]
111 for(
int i = 0; i < 16; ++i)
117 x = y = z = r1 = r2 = r3 = 0.0f;
144 r1 = r1 * 0.0174532925f;
145 r2 = r2 * 0.0174532925f;
146 r3 = r3 * 0.0174532925f;
152 if(model->m_pointCloud)
156 cout <<
timestamp <<
"Using points" << endl;
161 for(
size_t i = 0; i < points->numElements(); i++)
163 Vec v((*points)[i][0], (*points)[i][1], (*points)[i][2]);
177 cout <<
timestamp <<
"Using meshes" << endl;
181 for(
size_t i = 0; i < points->numElements(); i++)
183 Vec v((*points)[i][0], (*points)[i][1], (*points)[i][2]);
194 std::cerr <<
timestamp <<
"I had nothing to do. Terminating now..." << std::endl;
199 cout <<
timestamp <<
"Finished. Program end." << endl;
204 cout <<
"something went wrong..." << endl;