4. 基於faro SDK 讀取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);   //應用程序調用com庫函數（除CoGetMalloc和內存分配函數）之前必須初始化com庫
    // 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)   //讀取文件的全路徑  切記
    {
        std::cout << "load  ScanData errer !!!" << std::endl;
        libRef = NULL;
        liPtr = NULL;
        return -1;
    }

    libRef->scanReflectionMode = 2;            //黑白灰度展示圖像
    cout << libRef->scanReflectionMode << endl;
    //libRef->scanReflectionMode = 1;    //默認為1  可以為0 1 2三個模式。

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

    //if (int ret = libRef->saveAs("C:\\Users\\18148\\Desktop\\img\\ddb123.fws") != 0)    //可以存儲為  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];    //二維數組分配內存
            for (int i = 0; i<numRows; ++i)
            {
            array2D[i] = new double[3];
            }
            double *pos = *array2D;
            */
            //double *pos = new double[3 * numRows];    //利用一維數組
            //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;
}