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//##########################################################################
//# #
//# CCLIB #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU Library 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_CONST_HEADER
#define CC_CONST_HEADER
#include "CCTypes.h"
//system
#include <cfloat>
#include <cmath>
#include <limits>
//! Pi
#ifndef M_PI
constexpr double M_PI = 3.14159265358979323846;
#endif
//! Pi/2
#ifndef M_PI_2
constexpr double M_PI_2 = (M_PI/2.0);
#endif
//! Square root of 3
constexpr double SQRT_3 = 1.7320508075688772935274463415059;
//! Conversion factor from radians to degrees
constexpr double CC_RAD_TO_DEG = (180.0/M_PI);
//! Conversion factor from degrees to radians
constexpr double CC_DEG_TO_RAD = (M_PI/180.0);
//! Numerical threshold for considering a value as "zero"
constexpr double ZERO_TOLERANCE = static_cast<double>(FLT_EPSILON);
//! '1' as a PointCoordinateType value
/** To avoid compiler warnings about 'possible loss of data' **/
constexpr PointCoordinateType PC_ONE = static_cast<PointCoordinateType>(1.0);
//! 'NaN' as a PointCoordinateType value
/** \warning: handle with care! **/
constexpr PointCoordinateType PC_NAN = std::numeric_limits<PointCoordinateType>::quiet_NaN();
//! NaN as a ScalarType value
/** \warning: handle with care! **/
constexpr ScalarType NAN_VALUE = std::numeric_limits<ScalarType>::quiet_NaN();
// Point visibility states
// By default visibility is expressed relatively to the sensor point of view.
// Warning: 'visible' value must always be the lowest!
constexpr unsigned char POINT_VISIBLE = 0; /**< Point visibility state: visible **/
constexpr unsigned char POINT_HIDDEN = 1; /**< Point visibility state: hidden (e.g. behind other points) **/
constexpr unsigned char POINT_OUT_OF_RANGE = 2; /**< Point visibility state: out of range **/
constexpr unsigned char POINT_OUT_OF_FOV = 4; /**< Point visibility state: out of field of view **/
//! Chamfer distances types
enum CC_CHAMFER_DISTANCE_TYPE { CHAMFER_111 = 0, /**< Chamfer distance <1-1-1> **/
CHAMFER_345 = 1 /**< Chamfer distance <3-4-5> **/
};
//! Types of local models (no model, least square best fitting plan, Delaunay 2D1/2 triangulation, height function)
enum CC_LOCAL_MODEL_TYPES { NO_MODEL = 0, /**< No local model **/
LS = 1, /**< Least Square best fitting plane **/
TRI = 2, /**< 2.5D Delaunay triangulation **/
QUADRIC = 3 /**< 2.5D quadric function **/
};
//! Min number of points to compute local models (see CC_LOCAL_MODEL_TYPES)
constexpr unsigned CC_LOCAL_MODEL_MIN_SIZE[] = { 1, /**< for single point model (i.e. no model ;) **/
3, /**< for least Square best fitting plane **/
3, /**< for Delaunay triangulation (2.5D) **/
6, /**< for Quadratic 'height' function **/
};
#endif //CC_CONST_HEADER
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