4. 基于faro SDK 读取fls原始文件

#define _SCL_SECURE_NO_WARNINGS
#define _CRT_SECURE_NO_WARNINGS

#include <iostream>
//#include <atlsafe.h>
//#include <windows.h> 
//#include <cassert>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

using namespace std;
typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

#ifdef _WIN64
// Yes - type is 'win32' even on WIN64!
#pragma comment(linker, ""/manifestdependency:type='win32' name='FARO.LS' version='1.1.701.2' processorArchitecture='amd64' publicKeyToken='1d23f5635ba800ab'"")
#else
#pragma comment(linker, ""/manifestdependency:type='win32' name='FARO.LS' version='1.1.701.2' processorArchitecture='amd64' publicKeyToken='1d23f5635ba800ab'"")
#endif

// These imports just defines the types - they don't determine which DLLs are actually loaded!
// You can choose whatever version you have installed on your system - as long as the interface is compatible
#import "C:WindowsWinSxSamd64_faro.ls_1d23f5635ba800ab_1.1.701.2_none_3592adf9356a0308iQopen.dll" no_namespace

//... 

int main()
{
    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
    // FARO LS Licensing 
    // Please note: The cryptic key is only a part of the complete license
    // string you need to unlock the interface. Please
    // follow the instructions in the 2nd line below

    BSTR licenseCode = L"FARO Open Runtime License
"
        //#include "../FAROOpenLicense"    // Delete this line, uncomment the following line, and enter your own license key here:
        L"Key:39CELNPKTCTXXJ7TN3ZYSPVPL
"
        L"
"
        L"The software is the registered property of FARO Scanner Production GmbH, Stuttgart, Germany.
"
        L"All rights reserved.
"
        L"This software may only be used with written permission of FARO Scanner Production GmbH, Stuttgart, Germany.";

    IiQLicensedInterfaceIfPtr liPtr(__uuidof(iQLibIf));
    liPtr->License = licenseCode;
    IiQLibIfPtr libRef = static_cast<IiQLibIfPtr>(liPtr);
    if (libRef->load("C:\Users\18148\Desktop\Scan_az001.fls\Scan_az001.fls") != 0)   //读取文件的全路径  切记
    {
        std::cout << "load  ScanData errer !!!" << std::endl;
        libRef = NULL;
        liPtr = NULL;
        return -1;
    }

    libRef->scanReflectionMode = 2;            //黑白灰度展示图像
    cout << libRef->scanReflectionMode << endl;
    //libRef->scanReflectionMode = 1;    //默认为1  可以为0 1 2三个模式。

    int ret = libRef->setAttribute("#app/ScanLoadColor", "2");    //设置为彩色 Load grey information instead of color 
    cout << "setAttribute" << ret << endl;

    //if (int ret = libRef->saveAs("C:\Users\18148\Desktop\img\ddb123.fws") != 0)    //可以存储为  fls,fws
    //{
    //    std::cout << "saveAs  ScanData errer !!!" << std::endl;
    //    return -1;
    //}
    //ret = libRef->extractStream("C:\Users\18148\Desktop\Scan_az001.fls\Scan_az001.fls", "ScanDataStream0", "C:\Users\18148\Desktop\img.fls");

    double x, y, z;
    double rx, ry, rz, angle;
    libRef->getScanPosition(0, &x, &y, &z);
    libRef->getScanOrientation(0, &rx, &ry, &rz, &angle);
    int numRows = libRef->getScanNumRows(0);
    int numCOls = libRef->getScanNumCols(0);

    std::cout << "numRows::" << numRows << std::endl;
    std::cout << "numCOls::" << numCOls << std::endl;
    std::cout << x << "," << y << "," << z << std::endl;
    std::cout << rx << "," << ry << "," << rz << "," << angle << std::endl;

    PointCloudT::Ptr cloud_pointsPtr(new PointCloudT());
    // Access all points points by point 
    for (int col = 0; col < numCOls; col++)
    {
        for (int row = 0; row<numRows; row++)
        {
            double x, y, z;
            int refl;
            int result = libRef->getScanPoint(0, row, col, &x, &y, &z, &refl);

            //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. 
            PointT points;
            points.x = x;
            points.y = y;
            points.z = z;
            //int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
            points.a = 255;
            points.r = (refl >> 16) & 0x0000ff; //uint8_t r = (rgb >> 16) & 0x0000ff;
            points.g = (refl >> 8) & 0x0000ff;
            points.b = (refl)& 0x0000ff;
            points.rgba = points.a << 24 | points.r << 16 | points.g << 8 | points.b;
            cloud_pointsPtr->points.push_back(points);

            /*        double **array2D = new double *[numRows];    //二维数组分配内存
            for (int i = 0; i<numRows; ++i)
            {
            array2D[i] = new double[3];
            }
            double *pos = *array2D;
            */
            //double *pos = new double[3 * numRows];    //利用一维数组
            //int *refl = new int[numRows];
            //int result = libRef->getXYZScanPoints(0, row, col, numRows, pos, refl);

            ////std::cout << x<<","<<y<<","<<z<< std::endl;

            //delete[] pos;
            //delete[] refl;
            //pos = NULL; refl = NULL;
        }
    }

    // --------------------------------------------
    // -----Open 3D viewer and add point cloud-----
    // --------------------------------------------
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    viewer->setBackgroundColor(0, 0, 0);
    pcl::visualization::PointCloudColorHandlerRGBField<PointT> rgb(cloud_pointsPtr);
    //pcl::visualization::PointCloudColorHandlerCustom<PointT> red(cloud_pointsPtr, 0, 0, 255);
    viewer->addPointCloud<PointT>(cloud_pointsPtr, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
    viewer->addCoordinateSystem(1.0);
    viewer->initCameraParameters();

    // Access all points column per column in polar coordinates 
    //double* positions = new double[numRows*3]; 
    //int* reflections = new int[numRows]; 
    //for (int col = 0; col<numCOls; col++)
    //{ 
    //    int result = libRef->getPolarScanPoints(0, 0, col, numRows, positions, reflections);
    //    for (int row=0 ; row<numRows ; row++)
    //    {     
    //        double r, phi, theta;     
    //        int refl;     
    //        r = positions[3*row+0];     
    //        phi = positions[3*row + 1];
    //        theta = positions[3*row+2];     
    //        refl = reflections[row];     // ...   
    //    } 
    //} 
    //delete[] positions; delete[] reflections;

    libRef = NULL; liPtr = NULL;
    CoUninitialize();
    //--------------------
    // -----Main loop-----
    //--------------------

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
    system("pause");
    return 0;
}