Program Listing for File calibration.hpp

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// Copyright 2012, 2019 Austin Robot Technology, Piyush Khandelwal, Joshua Whitley
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#ifndef VELODYNE_POINTCLOUD__CALIBRATION_HPP_
#define VELODYNE_POINTCLOUD__CALIBRATION_HPP_

#include <map>
#include <string>
#include <vector>

namespace velodyne_pointcloud
{

struct LaserCorrection
{
  float rot_correction;
  float vert_correction;
  float dist_correction;
  bool two_pt_correction_available;
  float dist_correction_x;
  float dist_correction_y;
  float vert_offset_correction;
  float horiz_offset_correction;
  int max_intensity;
  int min_intensity;
  float focal_distance;
  float focal_slope;

  float cos_rot_correction;
  float sin_rot_correction;
  float cos_vert_correction;
  float sin_vert_correction;

  int laser_ring;
};

class Calibration final
{
public:
  explicit Calibration(const std::string & calibration_file);

  float distance_resolution_m;
  std::vector<LaserCorrection> laser_corrections;
  int num_lasers{};
};

}  // namespace velodyne_pointcloud

#endif  // VELODYNE_POINTCLOUD__CALIBRATION_HPP_