ScannerInfo.hpp

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//
// ScannerInfo.hpp
//

#ifndef SCANNERINFO_HPP
#define SCANNERINFO_HPP

#include "../BasicDatatypes.hpp"
#include "Position3D.hpp"
#include "../tools/Time.hpp"
#include <vector>

namespace datatypes
{

enum ScannerType
{
        Scannertype_UNKNOWN     = 0,
        Scannertype_LMS1xx      = 1
};

// Information about one Laserscanner which has sent a Scan
class ScannerInfo : public BasicData
{
public:

        ScannerInfo();
        ~ScannerInfo();
        
        // Estimate the memory usage of this object
        virtual const UINT32 getUsedMemory() const { return sizeof(*this); };
        
        static std::string scannerTypeToString(UINT8 st);

        bool operator==(const ScannerInfo& other) const;

        typedef std::vector<std::pair<double, double> > ResolutionMap;

        UINT8 getDeviceID() const { return m_deviceID; }
        void setDeviceID(UINT8 v) { m_deviceID = v; }

        // Returns the type of scanner that has recorded this scan
        UINT8 getScannerType() const { return m_scannerType; }

        // Set the type of the scanner that has recorded this scan
        void setScannerType(UINT8 newScannerType);

        UINT16 getScanNumber() const { return m_scanNumber; }
        void setScanNumber(UINT16 v) { m_scanNumber = v; }

        // Returns the start angle of this scan in radians.
        //
        // Field of view of one every single scanner given in its
        // local coordinate system, in radians, and normalized to
        // [-pi, pi[
        //
        double getStartAngle() const { return m_startAngle; }
        void setStartAngle(double v);

        // Returns the end angle of this scan in radians.
        //
        // Field of view of one every single scanner given in its
        // local coordinate system, in radians, and normalized to
        // [-pi, pi[
        double getEndAngle() const { return m_endAngle; }
        void setEndAngle(double v);

        // Returns the start timestamp of the scan received by this scanner (in terms of the host computer clock)
        const Time& getStartTimestamp() const { return m_scanStartTime; }

        const Time& getEndTimestamp() const { return m_scanEndTime; }

        void setTimestamps (const Time& start, const Time& end);


//      const boost::posix_time::ptime& getStartDeviceTimestamp() const { return m_scanStartDeviceTime; }

//      const boost::posix_time::ptime& getEndDeviceTimestamp() const { return m_scanEndDeviceTime; }

//      void setDeviceTimestamps (const boost::posix_time::ptime& start, const boost::posix_time::ptime& end);

        double getScanFrequency() const { return m_scanFrequency; }
        
        void setScanFrequency(double freq);
        
        // Sets the processing flags of the MRS:
        //
        // Bit 0:  ground detection performed: 0 = false, 1 = true
        // Bit 1:  dirt detection performed: 0 = false, 1 = true
        // Bit 2:  rain detection performed: 0 = false, 1 = true
        // Bit 5:  transparency detection performed: 0 = false, 1 = true
        // Bit 6:  horizontal angle offset added: 0 = false, 1 = true
        // Bit 10: mirror side: 0=front (for 8-Layer, tilted downward), 1=rear (for 8-layer, tilted upward)
        // All other flags are reserved-internal and should not be evaluated.
        //
        void setProcessingFlags(const UINT16 processingFlags);
        
        // Returns true if the scan was scanned with the rear mirror side. In 8-layer scanners, this
        // side is usually tilted upward.
        // This information is part of the processing flags.
        bool isRearMirrorSide();

        // Returns true if the scan was scanned with the front mirror side. In 8-layer scanners, this
        // side is usually tilted downward.
        // This information is part of the processing flags.
        bool isFrontMirrorSide();

        // Returns the angle by which the laser beam is tilted (pitched) in [rad].
        //
        // Returns the actual angle by which the laser beam is pitched up
        // (negative angles) or down (positive angles) if this was an 8L
        // scanner. The angle is measured relatively to the sensor's
        // x-y-plane at a horizontal view angle of zero degree.
        //
        // Watch out: If this angle is nonzero, the actual beam tilt
        // changes with the horizontal angle. The formula to obtain the
        // actual pitch angle \f$\theta\f$ from the beam tilt \f$\beta\f$
        // at horizontal angle \f$\psi\f$ is
        // \f[
        // \theta = \beta\sqrt{2}\sin\left(\frac{\pi}{4}-\frac{\psi}{2}\right)
        // \f]
        //
        // or, written in C++ code,
        //   currentBeamTilt = getBeamTilt() * std::sqrt(2) * std::sin(0.25*::PI - 0.5*hAngle)
        double getBeamTilt() const { return m_beamTilt; }

        // Set the beam tilt of this scanner in radians.
        void setBeamTilt(double tilt);

        // Get the flags of the single scan belonging to this scanner info.
        UINT32 getScanFlags() const { return m_scanFlags; }
        
        // Set the flags of the single scan belonging to this scanner info.
        void setScanFlags(UINT32 flags) { m_scanFlags = flags; }

        // Mounting Position relative to vehicle reference point.
        //
        // All angle values in radians, and normalized to  [-pi, pi[
        //
        // All distance values in [m]
        //
        const Position3D& getMountingPosition() const { return m_mountingPosition; }
        void setMountingPosition(const Position3D& v) { m_mountingPosition = v; }

        // Get the scanner's horizontal resolution.
        //
        // For each element in the returned vector, the \c first value is
        // the start angle in radians. The \c second value is the
        // horizontal angle resolution from the start angle onwards in
        // radians. The returned vector of resolutions has at most 8
        // elements, but it might have less elements.
        //
//      const ResolutionMap& getResolutionMap() const { return m_resolutionMap; }

        // Set the scanner's horizontal resolution.
        //
        // For each element, \c first is the start angle [rad] and \c
        // second is the horizontal angle resolution [rad]. This vector
        // must not have more than 8 elements, but it might have less
        // elements.
        //
        // Elements at the end which are all-zero will be removed in the
        // internally stored ResolutionMap so that only the non-zero
        // elements will be returned on getResolutionMap().
        //
//      void setResolutionMap(const ResolutionMap& m);

        // Returns the ScannerProperties which belong to the laserscanner
        // type of this object.
        //
        // If an unknown or unimplemented scanner type was set during
        // setScannerType(), the returned ScannerProperties object has its
        // values set to its defaults (NaN and zero).
        //
        //
//      const ScannerProperties& getScannerProperties() const;

//      bool isGroundLabeled()          const;
//      bool isDirtLabeled()            const;
//      bool isRainLabeled()            const;
//      bool isCoverageLabeled()        const;
//      bool isBackgroundLabeled()      const;
//      bool isReflectorLabeled()       const;
//      bool isUpsideDown()                     const;
//      bool isRearMirrorSide()         const;


private:
//      void updateScannerProperties();

//      void truncateResolutionMap();

//      void checkLegalBeamTilt();

private:
        UINT8 m_deviceID;
        UINT8 m_scannerType;
        UINT16 m_scanNumber;
//      UINT32 m_scannerStatus;
        double m_startAngle;
        double m_endAngle;
//      float m_syncAngle;
        UINT16 m_processingFlags;

        Time m_scanStartTime;
        Time m_scanEndTime;

//      boost::posix_time::ptime m_scanStartDeviceTime;

//      boost::posix_time::ptime m_scanEndDeviceTime;

        double m_scanFrequency;
        double m_beamTilt;
        UINT32 m_scanFlags;

        Position3D m_mountingPosition;

//      ResolutionMap m_resolutionMap;

//      boost::shared_ptr<ScannerProperties> m_scannerProperties;
};

}       // namespace datatypes

#endif // SCANNERINFO_HPP