pointcloudConvertHelper.hpp

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#ifndef _VELODYNE_LIDAR_POINTCLOUD_CONVERT_HELPER_HPP_
#define _VELODYNE_LIDAR_POINTCLOUD_CONVERT_HELPER_HPP_

#include <vector>
#include <velodyne_lidar/MultilevelLaserScan.h>

namespace velodyne_lidar
{
    
class ConvertHelper
{    
public:
    
    static void convertScanToPointCloud(const MultilevelLaserScan &laser_scan, std::vector<Eigen::Vector3d> &points,
                                 const Eigen::Affine3d& transform = Eigen::Affine3d::Identity(), bool skip_invalid_points = true, 
                                 unsigned int skip_n_horizontal_scans = 0, std::vector<float>* remission_values = NULL);

    static void convertScanToPointCloud(const MultilevelLaserScan &laser_scan, std::vector<Eigen::Vector3d> &points,
                                 const Eigen::Affine3d& transform_start, const Eigen::Affine3d& transform_end, 
                                 bool skip_invalid_points = true, unsigned int skip_n_horizontal_scans = 0, 
                                 std::vector<float>* remission_values = NULL);
    
    static void horizontalBinning(const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double angular_bin_size);
    
    static void filterOutliers(const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double max_deviation_angle, unsigned min_neighbors = 1);
    
    static double computeMaximumAngle(double angle_between_rays, double dist_ray_1, double dist_ray_2);

    static void verticalClipping(const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, const base::Angle &start_angle, const base::Angle &end_angle);
    
private:
    ConvertHelper();
    ~ConvertHelper();

    static void convertVerticalScan(const MultilevelLaserScan& laser_scan, const MultilevelLaserScan::VerticalMultilevelScan& v_scan,
                                    std::vector<Eigen::Vector3d> &points, const Eigen::Affine3d& transform = Eigen::Affine3d::Identity(),
                                    bool skip_invalid_points = true, std::vector<float>* remission_values = NULL);
};
    
};

#endif