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ccGBLSensor Class Reference

Ground based LiDAR sensor model. More...

#include <ccGBLSensor.h>

Inheritance diagram for ccGBLSensor:
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Collaboration diagram for ccGBLSensor:
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Classes

struct  DepthBuffer
 Sensor "depth map". More...
 

Public Types

enum  ROTATION_ORDER { THETA_PHI = 0, PHI_THETA = 1 }
 The order of inner-rotations of a ground based lidar sensor. More...
 
- Public Types inherited from ccHObject
enum  DEPENDENCY_FLAGS {
  DP_NONE = 0, DP_NOTIFY_OTHER_ON_DELETE = 1, DP_NOTIFY_OTHER_ON_UPDATE = 2, DP_DELETE_OTHER = 8,
  DP_PARENT_OF_OTHER = 24
}
 Dependency flags. More...
 
enum  SelectionBehavior { SELECTION_AA_BBOX, SELECTION_FIT_BBOX, SELECTION_IGNORED }
 Behavior when selected.
 
typedef std::vector< ccHObject * > Container
 standard ccHObject container (for children, etc.)
 
- Public Types inherited from ccSerializableObject
enum  DeserializationFlags { DF_POINT_COORDS_64_BITS = 1, DF_SCALAR_VAL_32_BITS = 2 }
 Deserialization flags (bit-field) More...
 

Public Member Functions

 ccGBLSensor (ROTATION_ORDER rotOrder=THETA_PHI)
 Default constructor.
 
virtual ~ccGBLSensor ()
 Destructor.
 
virtual CC_CLASS_ENUM getClassID () const
 Returns class ID. More...
 
virtual bool isSerializable () const
 Returns whether object is serializable of not.
 
void setPhi (PointCoordinateType minV, PointCoordinateType maxV)
 Sets the lateral angular scanning limits. More...
 
void setDeltaPhi (PointCoordinateType dPhi)
 Sets the lateral angular scanning step. More...
 
PointCoordinateType getPhiMin () const
 Returns the lateral minimal angular scanning limit.
 
PointCoordinateType getPhiMax () const
 Returns the lateral maximal angular scanning limit.
 
PointCoordinateType getDeltaPhi () const
 Returns the lateral angular scanning step.
 
void setTheta (PointCoordinateType minV, PointCoordinateType maxV)
 Sets the vertical angular scanning limits. More...
 
void setDeltaTheta (PointCoordinateType dTheta)
 Sets the vertical angular scanning step. More...
 
PointCoordinateType getThetaMin () const
 Returns the vertical minimal angular scanning limit.
 
PointCoordinateType getThetaMax () const
 Returns the vertical maximal angular scanning limit.
 
PointCoordinateType getDeltaTheta () const
 Returns the vertical angular scanning step.
 
ScalarType getSensorRange () const
 Returns the sensor max. range.
 
void setSensorRange (ScalarType range)
 Sets the sensor max. range. More...
 
ScalarType getUncertainty () const
 Returns the Z-buffer uncertainty on depth values.
 
void setUncertainty (ScalarType u)
 Sets the Z-buffer uncertainty on depth values. More...
 
ROTATION_ORDER getRotationOrder () const
 Returns the sensor rotations order.
 
void setRotationOrder (ROTATION_ORDER rotOrder)
 Sets the sensor rotations order. More...
 
CCLib::SimpleCloud * project (CCLib::GenericCloud *cloud, int &errorCode, bool autoParameters=false)
 Projects a point cloud along the sensor point of view defined by this instance. More...
 
PointCoordinateType * projectNormals (CCLib::GenericCloud *cloud, GenericChunkedArray< 3, PointCoordinateType > &norms) const
 Projects a set of point cloud normals in the sensor world. More...
 
colorType * projectColors (CCLib::GenericCloud *cloud, GenericChunkedArray< 3, colorType > &rgbColors) const
 Projects a set of point cloud colors in the sensor frame defined by this instance. More...
 
virtual uchar checkVisibility (const CCVector3 &P) const
 Determines a point "visibility". More...
 
const DepthBuffergetDepthBuffer () const
 Returns the corresponding depth buffer. More...
 
virtual ccBBox getMyOwnBB ()
 Returns the entity bounding-box only. More...
 
virtual ccBBox getDisplayBB ()
 Returns the entity GL display bounding-box. More...
 
- Public Member Functions inherited from ccSensor
 ccSensor (QString name)
 Default constructor.
 
virtual CC_SENSOR_TYPE getType () const
 Returns the sensor type. More...
 
ccIndexedTransformationBuffergetPositions ()
 Returns associated positions.
 
void setPositions (ccIndexedTransformationBuffer *positions)
 Sets associated positions.
 
bool addPosition (ccGLMatrix &trans, double index)
 Adds a new position (shortcut) More...
 
bool getAbsoluteTransformation (ccIndexedTransformation &trans, double index) const
 Returns the absolute transformation between the world and the "optical" center (shortcut) More...
 
bool getActiveAbsoluteTransformation (ccIndexedTransformation &trans) const
 Gets currently active absolute transformation.
 
bool getActiveAbsoluteCenter (CCVector3 &vec) const
 Gets currently active absolute position.
 
bool getActiveAbsoluteRotation (ccGLMatrix &rotation) const
 Gets currently active rotation matrix (without translation)
 
virtual void setRigidTransformation (const ccGLMatrix &mat)
 Sets the rigid transformation between this sensor and its associated positions. More...
 
virtual ccGLMatrixgetRigidTransformation ()
 Returns the rigid transformation between this sensor and its associated positions.
 
virtual const ccGLMatrixgetRigidTransformation () const
 Returns the rigid transformation between this sensor and its associated positions (const version)
 
void getIndexBounds (double &minIndex, double &maxIndex) const
 Gets index boundaries (shortcut)
 
double getActiveIndex () const
 Sets currently active index (displayed position, etc.)
 
void setActiveIndex (double index)
 Sets currently active index (displayed position, etc.)
 
void setGraphicScale (PointCoordinateType scale)
 Sets the sensor graphic representation scale.
 
PointCoordinateType getGraphicScale () const
 Returns the sensor graphic representation scale.
 
- Public Member Functions inherited from ccHObject
 ccHObject (QString name=QString())
 Default constructor. More...
 
virtual ~ccHObject ()
 Default destructor.
 
virtual QIcon getIcon () const
 Returns the icon associated to this entity. More...
 
ccHObjectgetParent () const
 Returns parent object. More...
 
void addDependency (ccHObject *otherObject, int flags, bool additive=true)
 Adds a new dependence (additive or not) More...
 
int getDependencyFlagsWith (const ccHObject *otherObject)
 Returns the dependency flags with a given object. More...
 
void removeDependencyWith (const ccHObject *otherObject)
 Removes any dependency flags with a given object. More...
 
void removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
 Removes a given dependency flag. More...
 
virtual bool addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
 Adds a child. More...
 
unsigned getChildrenNumber () const
 Returns the number of children. More...
 
ccHObjectgetChild (unsigned childPos) const
 Returns the ith child. More...
 
ccHObjectfind (int uniqueID)
 Finds an entity in this object hierarchy. More...
 
unsigned filterChildren (Container &filteredChildren, bool recursive=false, CC_CLASS_ENUM filter=CC_TYPES::OBJECT) const
 Collects the children corresponding to a certain pattern. More...
 
void detachChild (ccHObject *child)
 Detaches a specific child. More...
 
void detatchAllChildren ()
 Removes a specific child. More...
 
void removeChild (ccHObject *child)
 
void removeChild (int pos)
 Removes a specific child given its index. More...
 
void removeAllChildren ()
 Removes all children.
 
int getChildIndex (const ccHObject *aChild) const
 Returns child index.
 
void swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
 Swaps two children.
 
int getIndex () const
 Returns index relatively to its parent or -1 if no parent.
 
void transferChild (ccHObject *child, ccHObject &newParent)
 Transfer a given child to another parent.
 
void transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
 Transfer all children to another parent.
 
ccHObjectgetFirstChild () const
 Shortcut: returns first child.
 
ccHObjectgetLastChild () const
 Shortcut: returns last child.
 
bool isAncestorOf (const ccHObject *anObject) const
 Returns true if the current object is an ancestor of the specified one.
 
virtual ccBBox getBB (bool relative=true, bool withGLfeatures=false, const ccGenericGLDisplay *window=NULL)
 Returns bounding-box. More...
 
virtual void draw (CC_DRAW_CONTEXT &context)
 Draws entity and its children.
 
virtual bool isDisplayed () const
 Returns whether the object is actually displayed (visible) or not.
 
virtual bool isBranchEnabled () const
 Returns whether the object and all its ancestors are enabled.
 
 ccHObject_recursive_call1 (setSelected, bool, setSelected_recursive)
 
 ccHObject_recursive_call1 (setDisplay, ccGenericGLDisplay *, setDisplay_recursive)
 
 ccHObject_recursive_call1 (removeFromDisplay, ccGenericGLDisplay *, removeFromDisplay_recursive)
 
 ccHObject_recursive_call0 (prepareDisplayForRefresh, prepareDisplayForRefresh_recursive)
 
 ccHObject_recursive_call0 (refreshDisplay, refreshDisplay_recursive)
 
 ccHObject_recursive_call0 (toggleVisibility, toggleVisibility_recursive)
 
 ccHObject_recursive_call0 (toggleColors, toggleColors_recursive)
 
 ccHObject_recursive_call0 (toggleNormals, toggleNormals_recursive)
 
 ccHObject_recursive_call0 (toggleSF, toggleSF_recursive)
 
 ccHObject_recursive_call0 (toggleShowName, toggleShowName_recursive)
 
 ccHObject_recursive_call0 (toggleMaterials, toggleMaterials_recursive)
 
void applyGLTransformation_recursive (ccGLMatrix *trans=0)
 Applies the active OpenGL transformation to the entity (recursive) More...
 
virtual CCVector3 getBBCenter ()
 Returns the bounding-box center. More...
 
void notifyGeometryUpdate ()
 Notifies all dependent entities that the geometry of this entity has changed.
 
virtual bool toFile (QFile &out) const
 Saves data to binay stream. More...
 
virtual bool fromFile (QFile &in, short dataVersion, int flags)
 Reimplemented from ccSerializableObject::fromFile. More...
 
virtual bool isShareable () const
 Returns whether object is shareable or not. More...
 
void setSelectionBehavior (SelectionBehavior mode)
 Sets selection behavior (when displayed) More...
 
SelectionBehavior getSelectionBehavior () const
 Returns selection behavior.
 
virtual unsigned getUniqueIDForDisplay () const
 Returns object unqiue ID used for display.
 
- Public Member Functions inherited from ccObject
 ccObject (QString name=QString())
 Default constructor. More...
 
virtual QString getName () const
 Returns object name.
 
virtual void setName (const QString &name)
 Sets object name.
 
virtual unsigned getUniqueID () const
 Returns object unique ID.
 
virtual void setUniqueID (unsigned ID)
 Changes unique ID. More...
 
virtual bool isEnabled () const
 Returns whether the object is enabled or not. More...
 
virtual void setEnabled (bool state)
 Sets the "enabled" property. More...
 
virtual bool isLocked () const
 Returns whether the object is locked or not. More...
 
virtual void setLocked (bool state)
 Sets the "enabled" property. More...
 
bool isGroup () const
 
bool isLeaf () const
 
bool isCustom () const
 
bool isHierarchy () const
 
bool isKindOf (CC_CLASS_ENUM type) const
 
bool isA (CC_CLASS_ENUM type) const
 
QVariant getMetaData (QString key) const
 Returns a given associated meta data. More...
 
bool removeMetaData (QString key)
 Removes a given associated meta data. More...
 
void setMetaData (QString key, QVariant data)
 Sets a meta data element. More...
 
bool hasMetaData (QString key)
 Says if a metadata with the given key exists or not. More...
 
const QVariantMap & metaData () const
 Returns meta-data map (const only)
 
- Public Member Functions inherited from ccSerializableObject
virtual ~ccSerializableObject ()
 Desctructor.
 
- Public Member Functions inherited from ccDrawableObject
 ccDrawableObject ()
 Default constructor.
 
virtual bool isVisible () const
 Returns whether entity is visible or not.
 
virtual void setVisible (bool state)
 Sets entity visibility.
 
virtual void toggleVisibility ()
 Toggles visibility.
 
virtual bool isVisiblityLocked () const
 Returns whether visibilty is locked or not.
 
virtual void lockVisibility (bool state)
 Locks/unlocks visibilty. More...
 
virtual bool isSelected () const
 Returns whether entity is selected or not.
 
virtual void setSelected (bool state)
 Selects/unselects entity.
 
virtual ccBBox getFitBB (ccGLMatrix &trans)
 Returns best-fit bounding-box (if available) More...
 
virtual void drawBB (const colorType col[])
 Draws absolute (axis aligned) bounding-box.
 
virtual void getDrawingParameters (glDrawParams &params) const
 Returns main OpenGL paramters for this entity. More...
 
virtual bool hasColors () const
 Returns whether colors are enabled or not.
 
virtual bool colorsShown () const
 Returns whether colors are shown or not.
 
virtual void showColors (bool state)
 Sets colors visibility.
 
virtual void toggleColors ()
 Toggles colors display state.
 
virtual bool hasNormals () const
 Returns whether normals are enabled or not.
 
virtual bool normalsShown () const
 Returns whether normals are shown or not.
 
virtual void showNormals (bool state)
 Sets normals visibility.
 
virtual void toggleNormals ()
 Toggles normals display state.
 
virtual bool hasDisplayedScalarField () const
 Returns whether an active scalar field is available or not.
 
virtual bool hasScalarFields () const
 Returns whether one or more scalar fields are instantiated. More...
 
virtual void showSF (bool state)
 Sets active scalarfield visibility.
 
virtual void toggleSF ()
 Toggles SF display state.
 
virtual bool sfShown () const
 Returns whether active scalar field is visible.
 
virtual void toggleMaterials ()
 Toggles material display state.
 
virtual void showNameIn3D (bool state)
 Sets whether name should be displayed in 3D.
 
virtual bool nameShownIn3D () const
 Returns whether name is displayed in 3D or not.
 
virtual void toggleShowName ()
 Toggles name in 3D display state.
 
virtual bool isColorOverriden () const
 Returns whether colors are currently overriden by a temporary (unique) color. More...
 
virtual const colorType * getTempColor () const
 Returns current temporary (unique) color.
 
virtual void setTempColor (const colorType *col, bool autoActivate=true)
 Sets current temporary (unique) More...
 
virtual void enableTempColor (bool state)
 Set temporary color activation state.
 
virtual void removeFromDisplay (const ccGenericGLDisplay *win)
 Unlinks entity from a GL display (only if it belongs to it of course)
 
virtual void setDisplay (ccGenericGLDisplay *win)
 Sets associated GL display.
 
virtual ccGenericGLDisplaygetDisplay () const
 Returns associated GL display.
 
virtual void redrawDisplay ()
 Redraws associated GL display.
 
virtual void prepareDisplayForRefresh ()
 Sets associated GL display 'refreshable' before global refresh. More...
 
virtual void refreshDisplay ()
 Refreshes associated GL display. More...
 
virtual void setGLTransformation (const ccGLMatrix &trans)
 Associates entity with a GL transformation (rotation + translation) More...
 
virtual void enableGLTransformation (bool state)
 Enables/disables associated GL transformation. More...
 
virtual bool isGLTransEnabled () const
 Returns whether a GL transformation is enabled or not.
 
virtual const ccGLMatrixgetGLTransformation () const
 Retuns associated GL transformation. More...
 
virtual void resetGLTransformation ()
 Resets associated GL transformation. More...
 
virtual void rotateGL (const ccGLMatrix &rotMat)
 Mutliplies (left) current GL transformation by a rotation matrix. More...
 
virtual void translateGL (const CCVector3 &trans)
 Translates current GL transformation by a rotation matrix. More...
 

Protected Member Functions

virtual bool toFile_MeOnly (QFile &out) const
 Save own object data. More...
 
virtual bool fromFile_MeOnly (QFile &in, short dataVersion, int flags)
 Loads own object data. More...
 
virtual void drawMeOnly (CC_DRAW_CONTEXT &context)
 Draws the entity only (not its children)
 
void projectPoint (const CCVector3 &sourcePoint, CCVector2 &destPoint, ScalarType &depth, double posIndex=0) const
 Projects a point in the sensor world. More...
 
- Protected Member Functions inherited from ccSensor
virtual void applyGLTransformation (const ccGLMatrix &trans)
 Applies a GL transformation to the entity. More...
 
- Protected Member Functions inherited from ccHObject
virtual void setParent (ccHObject *anObject)
 Sets parent object.
 
virtual void drawNameIn3D (CC_DRAW_CONTEXT &context)
 Draws the entity name in 3D. More...
 
virtual void onDeletionOf (const ccHObject *obj)
 This method is called when another object is deleted. More...
 
virtual void onUpdateOf (ccHObject *obj)
 This method is called when another object (geometry) is updated. More...
 
- Protected Member Functions inherited from ccObject
virtual bool getFlagState (CC_OBJECT_FLAG flag) const
 Returns flag state.
 
virtual void setFlagState (CC_OBJECT_FLAG flag, bool state)
 Sets flag state. More...
 

Protected Attributes

PointCoordinateType m_phiMin
 lateral minimal angular scanning limit
 
PointCoordinateType m_phiMax
 lateral maximal angular scanning limit
 
PointCoordinateType m_deltaPhi
 lateral angular scanning step
 
PointCoordinateType m_thetaMin
 Vertical minimal angular scanning limit.
 
PointCoordinateType m_thetaMax
 Vertical maximal angular scanning limit.
 
PointCoordinateType m_deltaTheta
 Vertical angular scanning step.
 
ROTATION_ORDER m_rotationOrder
 Mirrors rotation order.
 
ScalarType m_sensorRange
 Sensor max range.
 
ScalarType m_uncertainty
 Z-buffer uncertainty.
 
DepthBuffer m_depthBuffer
 Associated Z-buffer.
 
- Protected Attributes inherited from ccSensor
ccIndexedTransformationBufferm_posBuffer
 Positions buffer (optional)
 
ccGLMatrix m_rigidTransformation
 Rigid transformation between this sensor and its associated positions. More...
 
double m_activeIndex
 Active index (for displayed position, etc.)
 
Vector3Tpl< colorType > m_color
 Color of the sensor. More...
 
PointCoordinateType m_scale
 Sensor graphic representation scale.
 
- Protected Attributes inherited from ccHObject
ccHObjectm_parent
 Object's parent.
 
Container m_children
 Object's children.
 
SelectionBehavior m_selectionBehavior
 Selection behavior.
 
std::map< ccHObject *, int > m_dependencies
 Dependencies map. More...
 
- Protected Attributes inherited from ccObject
QString m_name
 Object name.
 
unsigned m_flags
 Object flags.
 
QVariantMap m_metaData
 Associated meta-data.
 
- Protected Attributes inherited from ccDrawableObject
bool m_visible
 Specifies whether the object is visible or not. More...
 
bool m_selected
 Specifies whether the object is selected or not.
 
bool m_lockedVisibility
 Specifies whether the visibility can be changed by user or not.
 
bool m_colorsDisplayed
 Specifies whether colors should be displayed.
 
bool m_normalsDisplayed
 Specifies whether normals should be displayed.
 
bool m_sfDisplayed
 Specifies whether scalar field should be displayed.
 
colorType m_tempColor [3]
 Temporary (unique) color.
 
bool m_colorIsOverriden
 Temporary (unique) color activation state.
 
ccGLMatrix m_glTrans
 Current GL transformation. More...
 
bool m_glTransEnabled
 Current GL transformation activation state. More...
 
bool m_showNameIn3D
 Whether name is displayed in 3D or not.
 
ccGenericGLDisplaym_currentDisplay
 Currently associated GL display.
 

Additional Inherited Members

- Static Public Member Functions inherited from ccHObject
static ccHObjectNew (CC_CLASS_ENUM objectType, const char *name=0)
 Static factory. More...
 
- Static Public Member Functions inherited from ccObject
static unsigned GetCurrentDBVersion ()
 Returns current database version.
 
static void ResetUniqueIDCounter ()
 Resets the object's unique ID counter. More...
 
static unsigned GetNextUniqueID ()
 Returns a new unassigned unique ID. More...
 
static unsigned GetLastUniqueID ()
 Returns last assigned unique ID. More...
 
static CC_CLASS_ENUM ReadClassIDFromFile (QFile &in, short dataVersion)
 Helper: reads out class ID from a binary stream. More...
 
- Static Public Member Functions inherited from ccSerializableObject
static bool WriteError ()
 Sends a custom error message (write error) and returns 'false'. More...
 
static bool ReadError ()
 Sends a custom error message (read error) and returns 'false'. More...
 
static bool MemoryError ()
 Sends a custom error message (not enough memory) and returns 'false'. More...
 
static bool CorruptError ()
 Sends a custom error message (corrupted file) and returns 'false'. More...
 
- Static Protected Member Functions inherited from ccObject
static void UpdateLastUniqueID (unsigned lastID)
 Sets last assigned unique ID. More...
 

Detailed Description

Ground based LiDAR sensor model.

An implementation of the ccSensor interface that can be used to project a point cloud from the point of view of a ground based laser scanner (generation of a depth map). The scanner should use rotating mirrors/body around two perpendicular axes, such as the Mensi Soisic and GS sensors (but also Riegl's, etc.). The depth map structure can then be used to determine a 3D point "visiblity" relatively to the laser scanner point of view. This can be useful for filtering out points that shouldn't be compared while computing the distances between two point clouds. See Daniel Girardeau-Montaut's PhD manuscript for more information on this particular topic (Chapter 2, section 2.3.3).

Member Enumeration Documentation

The order of inner-rotations of a ground based lidar sensor.

Either along Theta (long.) then Phi (lat.) as Riegl sensors or Mensi/Trimble GS. Or the opposite (as the very old Mensi Soisic).

Member Function Documentation

uchar ccGBLSensor::checkVisibility ( const CCVector3 &  P) const
virtual

Determines a point "visibility".

Parameters
Pthe point to test

Reimplemented from ccSensor.

bool ccGBLSensor::fromFile_MeOnly ( QFile &  in,
short  dataVersion,
int  flags 
)
protectedvirtual

Loads own object data.

Called by 'fromFile' (recursive scheme) To be overloaded (but still called;) by subclass.

Parameters
ininput file
dataVersionfile version
flagsdeserialization flags (see ccSerializableObject::DeserializationFlags)

Reimplemented from ccSensor.

virtual CC_CLASS_ENUM ccGBLSensor::getClassID ( ) const
inlinevirtual

Returns class ID.

Returns
class unique ID

Reimplemented from ccSensor.

const DepthBuffer& ccGBLSensor::getDepthBuffer ( ) const
inline

Returns the corresponding depth buffer.

If the point cloud hasen't been "projected" yet (see GroundBasedLidarSensor::project), dB.zBuff will be 0. Otherwise dB will contain the projection result expressed as a depth buffer.

ccBBox ccGBLSensor::getDisplayBB ( )
virtual

Returns the entity GL display bounding-box.

Children bboxes are ignored. The bounding-box should take into account entity geometrical data and any other 3D displayed elements.

Returns
bounding-box

Reimplemented from ccHObject.

ccBBox ccGBLSensor::getMyOwnBB ( )
virtual

Returns the entity bounding-box only.

Children bboxes are ignored.

Returns
bounding-box

Reimplemented from ccHObject.

CCLib::SimpleCloud * ccGBLSensor::project ( CCLib::GenericCloud *  cloud,
int &  errorCode,
bool  autoParameters = false 
)

Projects a point cloud along the sensor point of view defined by this instance.

WARNING: this method uses the cloud global iterator

Parameters
clouda point cloud
errorCodeerror code in case the returned cloud is 0
autoParameterstry to deduce most trivial parameters (min and max angles, max range and uncertainty) from input cloud
Returns
a point cloud with the projected 2D points (Theta, Phi) + distances to sensor as a scalar field [should be deleted by the user if not used]
colorType * ccGBLSensor::projectColors ( CCLib::GenericCloud *  cloud,
GenericChunkedArray< 3, colorType > &  rgbColors 
) const

Projects a set of point cloud colors in the sensor frame defined by this instance.

WARNING: this method uses the cloud global iterator

Parameters
clouda point cloud
rgbColorsthe RGB colors (should have the same size and order as the point cloud)
Returns
a bidimensional array of RGB colors (same size as the depth buffer)
PointCoordinateType * ccGBLSensor::projectNormals ( CCLib::GenericCloud *  cloud,
GenericChunkedArray< 3, PointCoordinateType > &  norms 
) const

Projects a set of point cloud normals in the sensor world.

WARNING: this method uses the cloud global iterator

Parameters
clouda point cloud
normsthe normals vectors (should have the same size and order as the point cloud)
Returns
a bidimensional array of 3D vectors (same size as the depth buffer)
void ccGBLSensor::projectPoint ( const CCVector3 &  sourcePoint,
CCVector2 &  destPoint,
ScalarType &  depth,
double  posIndex = 0 
) const
protected

Projects a point in the sensor world.

Parameters
[in]sourcePoint3D point to project
[out]destPointprojected point in polar coordinates: (theta,phi) or (phi,theta)
[out]depthdistance from the sensor optical center to the source point
[in]posIndex(optional) sensor position index (see ccIndexedTransformationBuffer)
void ccGBLSensor::setDeltaPhi ( PointCoordinateType  dPhi)
inline

Sets the lateral angular scanning step.

Parameters
dPhilatitudinal step
void ccGBLSensor::setDeltaTheta ( PointCoordinateType  dTheta)
inline

Sets the vertical angular scanning step.

Parameters
dThetalongitudinal step
void ccGBLSensor::setPhi ( PointCoordinateType  minV,
PointCoordinateType  maxV 
)
inline

Sets the lateral angular scanning limits.

Parameters
minVmin latitude
maxVmax latitude
void ccGBLSensor::setRotationOrder ( ROTATION_ORDER  rotOrder)
inline

Sets the sensor rotations order.

Parameters
rotOrderthe sensor rotations order
void ccGBLSensor::setSensorRange ( ScalarType  range)
inline

Sets the sensor max. range.

Parameters
rangemax. range of the sensor
void ccGBLSensor::setTheta ( PointCoordinateType  minV,
PointCoordinateType  maxV 
)
inline

Sets the vertical angular scanning limits.

Parameters
minVmin longitude
maxVmax longitude
void ccGBLSensor::setUncertainty ( ScalarType  u)
inline

Sets the Z-buffer uncertainty on depth values.

The uncertainty is used to handle numerical inaccuracies

Parameters
uthe Z-buffer uncertainty
bool ccGBLSensor::toFile_MeOnly ( QFile &  out) const
protectedvirtual

Save own object data.

Called by 'toFile' (recursive scheme) To be overloaded (but still called;) by subclass.

Reimplemented from ccSensor.


The documentation for this class was generated from the following files: