VelodyneCalibration.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef VelodyneCalibration_H
#define VelodyneCalibration_H

#include <mrpt/utils/core_defs.h>
#include <mrpt/obs/link_pragmas.h>
#include <string>
#include <vector>

namespace mrpt {
namespace obs 
{
        /** Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan
          *
          * It is mandatory to use some calibration data to convert Velodyne scans into 3D point clouds. Users should 
          * normally use the XML files provided by the manufacturer with each scanner, but default calibration files can be 
          * loaded with \a VelodyneCalibration::LoadDefaultCalibration().
          *
          * \note New in MRPT 1.4.0
          * \sa CObservationVelodyneScan, CVelodyneScanner
          * \ingroup mrpt_obs_grp
          */
        struct OBS_IMPEXP VelodyneCalibration
        {
                VelodyneCalibration(); //!< Default ctor (leaves all empty)
                
                bool empty() const; //!< Returns true if no calibration has been loaded yet
                void clear(); //!< Clear all previous contents

                /** Loads default calibration files for common LIDAR models.
                  * \param[in] lidar_model Valid model names are: `VLP16`, `HDL32`
                  * \return It always return a calibration structure, but it may be empty if the model name is unknown. See \a empty()
                  * \note Default files can be inspected in `[MRPT_SRC or /usr]/share/mrpt/config_files/rawlog-grabber/velodyne_default_calib_{*}.xml`
                  */
                static const VelodyneCalibration & LoadDefaultCalibration(const std::string & lidar_model);
                
                /** Loads calibration from file, in the format supplied by the manufacturer. \return false on any error, true on success */
                bool loadFromXMLFile(const std::string & velodyne_calibration_xml_filename);
                /** Loads calibration from a string containing an entire XML calibration file. \sa loadFromXMLFile \return false on any error, true on success */
                bool loadFromXMLText(const std::string & xml_file_contents);

// Pragma to ensure we can safely serialize some of these structures
#pragma pack(push,1)
                struct OBS_IMPEXP PerLaserCalib
                {
                        double azimuthCorrection, verticalCorrection, distanceCorrection;
                        double verticalOffsetCorrection, horizontalOffsetCorrection;
                        double sinVertCorrection, cosVertCorrection;
                        double sinVertOffsetCorrection, cosVertOffsetCorrection;
                        
                        PerLaserCalib();
                };
#pragma pack(pop)

                std::vector<PerLaserCalib> laser_corrections;
        private:
                bool internal_loadFromXMLNode(void *node);

        };
} // End of namespace
} // End of namespace

#endif