47 lines
2.3 KiB
C++
47 lines
2.3 KiB
C++
#pragma once
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#include "CommonTypes.h"
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#include "profiler/Profiler.h"
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#include "api_global.h"
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namespace mmind {
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namespace eye {
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/**
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* @brief Obtains the rigid body transformations of the custom reference frame of a laser profiler.
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* The custom reference frame can be adjusted using the "Custom Reference Frame" tool in Mech-Eye
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* Viewer. The rigid body transformations are automatically calculated after the settings in this
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* tool have been applied. The "Custom Reference Frame" tool is recommended as the GUI allows you to
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* adjust the reference frame easily and conveniently.
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* Alternatively, you can use the rotation and translation methods in @ref FrameTransformation to
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* define the transformations manually.
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* @param [in] profiler The @ref profiler handle.
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* @return The rigid body transformations from the laser profiler reference frame to the custom
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* reference frame. Refer to @ref FrameTransformation for more details.
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*/
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MMIND_API_EXPORT FrameTransformation getTransformationParams(Profiler& profiler);
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/**
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* @brief Transforms the reference frame of a point cloud.
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* @param [in] coordinateTransformation The rigid body transformations from the original reference
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* frame to the new reference frame. Refer to @ref FrameTransformation for more details.
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* @param [in] originalPointCloud The @ref ProfileBatch::UntexturedPointCloud whose reference frame
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* is to be transformed.
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* @return The @ref ProfileBatch::UntexturedPointCloud after reference frame transformation.
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*/
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MMIND_API_EXPORT ProfileBatch::UntexturedPointCloud transformPointCloud(
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const FrameTransformation& coordinateTransformation,
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const ProfileBatch::UntexturedPointCloud& originalPointCloud);
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/**
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* @brief Transforms the reference frame of a textured point cloud.
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* @param [in] coordinateTransformation The rigid body transformations from the original reference
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* frame to the new reference frame. Refer to @ref FrameTransformation for more details.
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* @param [in] originalTexturedPointCloud The @ref TexturedPointCloud whose reference frame is to be
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* transformed.
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* @return The @ref TexturedPointCloud after reference frame transformation.
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*/
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MMIND_API_EXPORT ProfileBatch::TexturedPointCloud transformTexturedPointCloud(
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const FrameTransformation& coordinateTransformation,
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const ProfileBatch::TexturedPointCloud& originalTexturedPointCloud);
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} // namespace eye
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} // namespace mmind
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