ecvGriddedTools.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "ecvPointCloud.h"
 
class ccGBLSensor;
class ccGLMatrix;
 
class CV_DB_LIB_API ccGriddedTools {
public:
    struct GridParameters {
        GridParameters()
            : minPhi(0),
              maxPhi(0),
              minTheta(0),
              maxTheta(0),
              deltaPhiRad(0),
              deltaThetaRad(0),
              maxRange(0) {}
 
        PointCoordinateType minPhi, maxPhi;
        PointCoordinateType minTheta, maxTheta;
        PointCoordinateType deltaPhiRad, deltaThetaRad;
        PointCoordinateType maxRange;
    };
 
 
    static bool DetectParameters(const ccPointCloud* cloud,
                                 const ccPointCloud::Grid::Shared grid,
                                 GridParameters& parameters,
                                 bool verbose = false,
                                 ccGLMatrix* cloudToSensorTrans = 0);
 
 
    static ccGBLSensor* ComputeBestSensor(ccPointCloud* cloud,
                                          ccPointCloud::Grid::Shared grid,
                                          ccGLMatrix* cloudToSensorTrans = 0);
};