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#ifndef __LDRALGORITHM_H__
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#define __LDRALGORITHM_H__
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#include <vector>
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#include <algorithm>
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#include <cmath>
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#include "pavo2_types.h"
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namespace pavo2 {
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const int INTENSITY_THRESHOLD_TABLE_LENGTH = 24;
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const int INTENSITY_MAX = 2000;
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const int FILTER_WINDOW_SIZE = 5;
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class LdrAlgorithm
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{
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public:
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LdrAlgorithm();
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void InitTables();
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void FarHighRelectivityPreProcess(pavo_response_scan_t* points, int size);
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void FarHighRelectivityFilter(pavo_response_scan_t* points, int size);
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static float AngleCos(float A1, float B1, float A2, float B2);
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private:
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std::vector<float> m_intensity_threshold_table;
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std::vector<double> m_cos_lookup_table;
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std::vector<double> m_sin_lookup_table;
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};
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} //namespace pavo2
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#endif // __LDRALGORITHM_H__
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