CoordinateTransform.hpp

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/*
 * CoordinateTransform.hpp
 *
 *  Created on: 17.04.2012
 *      Author: Thomas Wiemann
 */

#ifndef COORDINATETRANSFORM_HPP_
#define COORDINATETRANSFORM_HPP_

#include "lvr2/io/PointBuffer.hpp"

namespace lvr2
{

        enum COORD_SYSTEM {SLAM6D, OPENGL_METERS, OPENGL_MM};

        void convert(COORD_SYSTEM from, COORD_SYSTEM to, float* point);
        void convert(COORD_SYSTEM from, COORD_SYSTEM to, PointBufferPtr &buffer);

        template<typename T> 
        struct CoordinateTransform
        {
                CoordinateTransform(const unsigned char& _x = 0,
                                                    const unsigned char& _y = 1,
                                                    const unsigned char& _z = 2,
                                                    const T& _sx = 1.0,
                                                    const T& _sy = 1.0,
                                                    const T& _sz = 1.0) : 
                                                    x(_x), y(_y), z(_z), sx(_sx), sy(_sy), sz(_sz) {}

                bool transforms()
                {
                        return ((x != 0) || (y != 1) || (z != 2) || (sx != 1.0) || (sy != 1.0) || (sz != 1.0));
                } 
                                                   
                unsigned char x;

                unsigned char y;

                unsigned char z;

                T sx;

                T sy;

                T sz;
        };
        
} // namespace lvr2

#endif /* COORDINATETRANSFORM_HPP_ */