/usr/include/pdal/io/OptechCommon.hpp is in libpdal-dev 1.6.0-1build2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (c) 2015, Peter J. Gadomski <pete.gadomski@gmail.com>
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Hobu, Inc. or Flaxen Geo Consulting nor the
* names of its contributors may 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 WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
****************************************************************************/
#include <pdal/util/Georeference.hpp>
namespace pdal
{
// Optech csd files contain misalignment angles and IMU offsets.
// Misalignment angles and IMU offsets combine to form the boresight matrix.
typedef struct
{
char signature[4];
char vendorId[64];
char softwareVersion[32];
float formatVersion;
uint16_t headerSize;
uint16_t gpsWeek;
double minTime; // seconds
double maxTime; // seconds
uint32_t numRecords;
uint16_t numStrips;
uint32_t stripPointers[256];
double misalignmentAngles[3]; // radians
double imuOffsets[3]; // radians
double temperature; // degrees
double pressure; // mbar
char freeSpace[830];
} CsdHeader;
typedef struct
{
double gpsTime;
uint8_t returnCount;
float range[4]; // metres
uint16_t intensity[4];
float scanAngle; // radians
float roll; // radians
float pitch; // radians
float heading; // radians
double latitude; // radians
double longitude; // radians
float elevation; // metres
} CsdPulse;
// Optech does it like R3(heading) * R1(-pitch) * R2(-roll)
inline pdal::georeference::RotationMatrix
createOptechRotationMatrix(double roll, double pitch, double heading)
{
return georeference::RotationMatrix(
std::cos(roll) * std::cos(heading) +
std::sin(pitch) * std::sin(roll) * std::sin(heading), // m00
std::cos(pitch) * std::sin(heading), // m01
std::cos(heading) * std::sin(roll) -
std::cos(roll) * std::sin(pitch) * std::sin(heading), // m02
std::cos(heading) * std::sin(pitch) * std::sin(roll) -
std::cos(roll) * std::sin(heading), // m10
std::cos(pitch) * std::cos(heading), // m11
-std::sin(roll) * std::sin(heading) -
std::cos(roll) * std::cos(heading) * std::sin(pitch), // m12
-std::cos(pitch) * std::sin(roll), // m20
std::sin(pitch), // m21
std::cos(pitch) * std::cos(roll) // m22
);
}
}
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