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