scan.h

/*************************************************************
  Generalized-ICP Copyright (c) 2009 Aleksandr Segal.
  All rights reserved.

  Redistribution and use in source and binary forms, with 
  or without modification, are permitted provided that the 
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  following disclaimer.
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  following disclaimer in the documentation and/or other
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* The names of the contributors may not be used to endorse
  or promote products derived from this software
  without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
  CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
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  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
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  DAMAGE.
*************************************************************/



#ifndef __SCAN_H
#define __SCAN_H

#include <vector>

typedef struct {
  double mat[3][3]; // 36 bytes, row major
  int transpose;   // 4
  int symmetric;   // 4
  int diagonal;    // 4
} dgc_matrix3d_t;  // = 48 bytes per matrix      

typedef struct {
  double vec[3];    // 12 bytes
} dgc_vector3d_c_t;  // 16 bytes per vector                                                                                                                                                                       

typedef struct {
  double vec[3];    // 12 bytes
} dgc_vector3d_r_t;  // 16 bytes per vector

typedef struct {
  double                    x;
  double                    y;
  double                    z;
  double                    roll;
  double                    pitch;
  double                    yaw;
} dgc_pose_t, * dgc_pose_p;

class dgc_scan_t {
 public:
  std::vector<dgc_vector3d_c_t> points;
  std::vector<dgc_vector3d_c_t> norms;
  dgc_pose_t pose;
  
  int save(const char* filename);
  int load(const char *filename);
};



#endif