leica_lidar.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2022-2024 Simon Boche
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_LEICA_LIDAR_HPP
#define SE_LEICA_LIDAR_HPP
 
 
 
namespace se {
 
class LeicaLidar : public SensorBase<LeicaLidar> {
    public:
    struct Config : public SensorBase<LeicaLidar>::Config {
        float elevation_resolution_angle_ = 1.0f;
        float azimuth_resolution_angle_ = 1.0f;
 
        void readYaml(const std::string& filename);
 
        Config operator/(const float downsampling_factor) const;
 
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
 
    LeicaLidar(const Config& config);
 
    LeicaLidar(const Config& config, const float downsampling_factor);
 
    LeicaLidar(const LeicaLidar& leica_lidar, const float downsampling_factor);
 
    int computeIntegrationScaleImpl(const Eigen::Vector3f& block_centre,
                                    const float map_res,
                                    const int last_scale,
                                    const int min_scale,
                                    const int max_block_scale) const;
 
    float nearDistImpl(const Eigen::Vector3f& ray_S) const;
 
    float farDistImpl(const Eigen::Vector3f& ray_S) const;
 
    float measurementFromPointImpl(const Eigen::Vector3f& point_S) const;
 
    bool pointInFrustumImpl(const Eigen::Vector3f& point_S) const;
 
    bool pointInFrustumInfImpl(const Eigen::Vector3f& point_S) const;
 
    bool sphereInFrustumImpl(const Eigen::Vector3f& centre_S, const float radius) const;
 
    bool sphereInFrustumInfImpl(const Eigen::Vector3f& centre_S, const float radius) const;
 
    static std::string typeImpl();
 
    srl::projection::LeicaLidar model;
    float min_ray_angle;
    float min_elevation_rad;
    float max_elevation_rad;
    float horizontal_fov;
    float vertical_fov;
 
    float azimuth_resolution_angle;
    float elevation_resolution_angle;
 
    float pixel_dim_tan = 0.0f;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
std::ostream& operator<<(std::ostream& os, const LeicaLidar::Config& c);
 
} // namespace se
 
#include "impl/leica_lidar_impl.hpp"
 
#endif // SE_LEICA_LIDAR_HPP