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 <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 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`
          * \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 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