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35 lines
1.4 KiB
35 lines
1.4 KiB
#ifndef SCANCONVERSIONALG_H
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#define SCANCONVERSIONALG_H
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#include "./ScenarioParams.h"
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class ScanConversionAlg
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{
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private:
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static void linear(Input_t params, QVector<float>& scanXPos, QVector<float>& scanZPos,
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QVector<float>& gridPixelXPos, QVector<float>& gridPixelZPos);
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static void virtualConvex(Input_t params, QVector<float>& scanXPos, QVector<float>& scanZPos,
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QVector<float>& gridPixelXPos, QVector<float>& gridPixelZPos);
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static void convex(Input_t params, QVector<float>& scanXPos, QVector<float>& scanZPos,
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QVector<float>& gridPixelXPos, QVector<float>& gridPixelZPos);
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public:
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static void scanConversion(Input_t params, QVector<float>& scanXPos, QVector<float>& scanZPos,
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QVector<float>& gridPixelXPos, QVector<float>& gridPixelZPos);
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static void virtualScanConversion(QVector<float> pixelXPos, QVector<float> pixelZPos,
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uint width, uint height,
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float steering, float virtualOriginalZ,
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float startDepth, float depth, float vcMaxTheta,
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QVector<float>& gridPixelR, QVector<float>& gridPixelTheta);
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static void convexScanConversion(QVector<float> pixelXPos, QVector<float> pixelZPos,
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uint width, uint height,
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float steering, float angle, float fieldOfView,
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float probeRadius, float startDepth, float depth,
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QVector<float>& gridPixelR, QVector<float>& gridPixelTheta);
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};
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#endif // SCANCONVERSIONALG_H
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