calibration.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <cmath>
#include <fstream>
#include <iostream>
#include <limits>
#include <map>
#include <string>
#include <utility>
 
namespace apollo {
namespace drivers {
namespace lslidar {
namespace parser {
 
struct LaserCorrection {
    float rot_correction;
    float vert_correction;
    float dist_correction;
    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 focal_offset;
 
    float cos_rot_correction;   
    float sin_rot_correction;   
    float cos_vert_correction;  
    float sin_vert_correction;  
 
    int laser_ring;  
};
 
class Calibration {
 public:
    std::map<int, LaserCorrection> laser_corrections_;
    int num_lasers_;
    bool initialized_;
 
 public:
    Calibration() : initialized_(false) {}
    explicit Calibration(const std::string& calibration_file) {
        read(calibration_file);
    }
 
    void read(const std::string& calibration_file);
    void write(const std::string& calibration_file);
};
 
}  // namespace parser
}  // namespace lslidar
}  // namespace drivers
}  // namespace apollo