rangedataread.m

点云预处理时

%this progarm is read abs file and output z range bmpfile and 3d point
%file(asc)
l=dir(['*.abs']);
N=size(l,1);
for i=1:N
    inputname=l(i).name;
f = fopen(inputname);
if (f == -1)
     error('File open error.');
end
nr = fscanf(f,'%d rows\n',1);
nc = fscanf(f,'%d columns\n',1);
fgets(f);  % skip 3rd line of header
flag = fscanf(f,'%d',[nc nr])';
XM = fscanf(f,'%f',[nc nr])';
YM = fscanf(f,'%f',[nc nr])';
ZM = fscanf(f,'%f',[nc nr])';
fclose(f);
pcount=0;
zmin=max(max(ZM));zmax=min(min(ZM));
A=zeros(nr,nc);

for i=1:nr
    for j=1:nc
        if flag(i,j)==1
            pcount=pcount+1;
           if ZM(i,j)>zmax
               zmax=ZM(i,j);
           end
           if ZM(i,j)<zmin
               zmin=ZM(i,j);
           end
        end
    end
end
scale=255.0/(zmax-zmin);
for i=1:nr
    for j=1:nc
        if flag(i,j)==1
           A(i,j)=scale*(ZM(i,j)-zmin);
        end
    end
end
%
A=uint8(A);
x=length(inputname);
outimage=inputname;
outimage=strcat('.\range\',outimage);
outimage(x-2)='b';outimage(x-1)='m';outimage(x)='p';
imwrite(A,outimage);
%
fflg=6;u=0;
if pcount>=200
    outputname=input('Enter ASC(point cloud) file name:','s');
    x=length(outimage);
    outimage(x-2)='a';outimgea(x-1)='s';outimage(x)='c';
    fout=fopen(outimage,'wt');
   if (fout == -1)
       error('File open for write error.')
   end
   fprintf(fout,'%d\n',fflg);
   fprintf(fout,'%d %d %d %d\n',u,u,u,u);
   ccount=(261*301);
   fprintf(fout,'%d\n',ccount);
   for i=1:nr
       for j=1:nc
           if (flag(i,j)==1)&(i>=180)&(i<=440)&(j>=100)&(j<=400)
               fprintf(fout,'%f %f %f\n',XM(i,j),YM(i,j),ZM(i,j));
           end
       end
   end
else
    error('range data is wrong');
end
fclose(fout);
end