VelodyneCalibration.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <string>
#include <vector>

namespace mrpt::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 VelodyneCalibration
{
    /** Default ctor (leaves all empty) */
    VelodyneCalibration();

    /** Returns true if no calibration has been loaded yet */
    bool empty() const;
    /** Clear all previous contents */
    void clear();

    /** Loads default calibration files for common LIDAR models.
     * \param[in] lidar_model Valid model names are: `VLP16`, `HDL32`, `HDL64`
     * \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);
    /** Loads calibration from a string containing an entire YAML calibration
     * file. \sa loadFromYAMLFile, loadFromXMLFile \return false on any error,
     * true on success */
    bool loadFromYAMLText(const std::string& yaml_file_contents);
    /** Loads calibration from a YAML calibration file.
     * \sa loadFromYAMLText, loadFromXMLFile
     * \return false on any error, true on success */
    bool loadFromYAMLFile(const std::string& velodyne_calib_yaml_filename);

// Pragma to ensure we can safely serialize some of these structures
#pragma pack(push, 1)
    struct PerLaserCalib
    {
        double azimuthCorrection{.0}, verticalCorrection{.0},
            distanceCorrection{.0};
        double verticalOffsetCorrection{.0}, horizontalOffsetCorrection{.0};
        double sinVertCorrection{.0}, cosVertCorrection{1.0};
        double sinVertOffsetCorrection{.0}, cosVertOffsetCorrection{1.0};

        PerLaserCalib();
    };
#pragma pack(pop)

    std::vector<PerLaserCalib> laser_corrections;

   private:
    bool internal_loadFromXMLNode(void* node);
};
}  // namespace mrpt::obs