E57Header.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <cstdint>
 
 
class PointStandardizedFieldsAvailable {
public:
    bool cartesianXField;  
    bool cartesianYField;  
    bool cartesianZField;  
    bool cartesianInvalidStateField;  
 
    bool sphericalRangeField;         
    bool sphericalAzimuthField;       
    bool sphericalElevationField;     
    bool sphericalInvalidStateField;  
 
    double pointRangeMinimum;  
    double pointRangeMaximum;  
    double pointRangeScaledInteger;  
 
    bool normXField;  
    bool normYField;  
    bool normZField;  
    double normRangeMinimum;  
    double normRangeMaximum;  
    double normRangeScaledInteger;  
 
    double angleMinimum;  
    double angleMaximum;  
    double angleScaledInteger;  
 
    bool rowIndexField;  
    uint32_t rowIndexMaximum;  
    bool columnIndexField;     
    uint32_t columnIndexMaximum;  
 
    bool returnIndexField;  
    bool returnCountField;  
    uint8_t returnMaximum;  
 
    bool timeStampField;  
    bool isTimeStampInvalidField;  
    double timeMaximum;  
 
    bool intensityField;  
    bool isIntensityInvalidField;   
    double intensityScaledInteger;  
 
    bool colorRedField;    
    bool colorGreenField;  
    bool colorBlueField;  
    bool isColorInvalidField;  
};
 
 
class IntensityLimits {
public:
    double intensityMinimum;  
    double intensityMaximum;  
};
 
 
class ColorLimits {
public:
    double colorRedMinimum;    
    double colorRedMaximum;    
    double colorGreenMinimum;  
    double colorGreenMaximum;  
    double colorBlueMinimum;  
    double colorBlueMaximum;  
};
 
struct E57ScanHeader {
    IntensityLimits
            intensityLimits;  
    ColorLimits
            colorLimits;  
    PointStandardizedFieldsAvailable
            pointFields;  
};
 
 
enum Image2DProjection {
    E57_NO_PROJECTION = 0,  
    E57_VISUAL = 1,      
    E57_PINHOLE = 2,     
    E57_SPHERICAL = 3,   
    E57_CYLINDRICAL = 4  
};
 
 
enum Image2DType {
    E57_NO_IMAGE = 0,       
    E57_JPEG_IMAGE = 1,     
    E57_PNG_IMAGE = 2,      
    E57_PNG_IMAGE_MASK = 3  
};
 
class CameraRepresentation {
public:
    virtual ~CameraRepresentation() = default;
    virtual Image2DProjection getType() { return E57_NO_PROJECTION; }
};
 
 
class VisualReferenceRepresentation : public CameraRepresentation {
public:
    Image2DProjection getType() override { return E57_VISUAL; }
 
    Image2DType imageType;  
    int64_t imageSize;      
    int64_t imageMaskSize;  
    int32_t imageWidth;     
    int32_t imageHeight;    
};
 
 
class SphericalRepresentation : public VisualReferenceRepresentation {
public:
    Image2DProjection getType() override { return E57_SPHERICAL; }
 
    double pixelWidth;   
    double pixelHeight;  
};
 
 
class PinholeRepresentation : public SphericalRepresentation {
public:
    Image2DProjection getType() override { return E57_PINHOLE; }
 
    double focalLength;  
    double principalPointX;  
    double principalPointY;  
};
 
 
class CylindricalRepresentation : public SphericalRepresentation {
public:
    Image2DProjection getType() override { return E57_CYLINDRICAL; }
 
    double radius;  
    double principalPointY;  
};