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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#ifndef CC_GRIDDED_CLOUD_TOOLS_HEADER
#define CC_GRIDDED_CLOUD_TOOLS_HEADER
//Local
#include "ccPointCloud.h"
class ccGBLSensor;
class ccGLMatrix;
//! Tools dedicated to gridded clouds
class QCC_DB_LIB_API ccGriddedTools
{
public:
//! Grid (angular) parameters
struct GridParameters
{
GridParameters()
: minPhi(0)
, maxPhi(0)
, minTheta(0)
, maxTheta(0)
, deltaPhiRad(0)
, deltaThetaRad(0)
, maxRange(0)
{}
PointCoordinateType minPhi, maxPhi;
PointCoordinateType minTheta, maxTheta;
PointCoordinateType deltaPhiRad, deltaThetaRad;
PointCoordinateType maxRange;
};
//! Detects the given grid parameters (angular span, etc.)
/** \param cloud associated cloud
\param grid scan grid
\param parameters output parameters
\param verbose whether the process should output some detailed information in the log/console or not
\param cloudToSensorTrans transformation from cloud coordinate system to the sensor coordinate system (optional)
\return success
**/
static bool DetectParameters( const ccPointCloud* cloud,
const ccPointCloud::Grid::Shared grid,
GridParameters& parameters,
bool verbose = false,
ccGLMatrix* cloudToSensorTrans = 0);
//! Determines the (TLS) sensor parameters from the relative position of gridded points
/** \param cloud cloud on which to compute the sensor parameters (should be a single grid)
\param grid scan grid
\param cloudToSensorTrans transformation from cloud coordinate system to the sensor coordinate system (optional)
\return sensor (if successful) or 0 otherwise
**/
static ccGBLSensor* ComputeBestSensor( ccPointCloud* cloud,
ccPointCloud::Grid::Shared grid,
ccGLMatrix* cloudToSensorTrans = 0);
};
#endif
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