Ground-based Laser sensor. More...

#include <ecvGBLSensor.h>

Inheritance diagram for ccGBLSensor:

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Collaboration diagram for ccGBLSensor:

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Public Types
enum	ROTATION_ORDER { YAW_THEN_PITCH = 0 , PITCH_THEN_YAW = 1 }
	The order of inner-rotations of the sensor (body/mirrors) More...

using	NormalGrid = std::vector< CCVector3 >
	2D grid of normals More...

using	ColorGrid = std::vector< ecvColor::Rgb >
	2D grid of colors More...

Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , 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. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Public Member Functions
	ccGBLSensor (ROTATION_ORDER rotOrder=YAW_THEN_PITCH)
	Default constructor. More...

	ccGBLSensor (const ccGBLSensor &sensor)
	Copy constructor. More...

	~ccGBLSensor () override=default
	Destructor. More...

CV_CLASS_ENUM	getClassID () const override
	Returns class ID. More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

ccBBox	getOwnFitBB (ccGLMatrix &trans) override
	Returns best-fit bounding-box (if available) More...

virtual void	clearDrawings () override

virtual void	hideShowDrawings (CC_DRAW_CONTEXT &context) override

bool	applyViewport () override
	Apply sensor 'viewport' to a 3D view. More...

unsigned char	checkVisibility (const CCVector3 &P) const override

bool	computeAutoParameters (cloudViewer::GenericCloud *theCloud)
	Computes angular parameters automatically (all but the angular steps!) More...

void	setPitchRange (PointCoordinateType minPhi, PointCoordinateType maxPhi)
	Sets the pitch scanning limits. More...

PointCoordinateType	getMinPitch () const
	Returns the minimal pitch limit (in radians) More...

PointCoordinateType	getMaxPitch () const
	Returns the maximal pitch limit (in radians) More...

void	setPitchStep (PointCoordinateType dPhi)
	Sets the pitch step. More...

PointCoordinateType	getPitchStep () const
	Returns the lateral pitch step (in radians) More...

bool	pitchIsShifted () const

void	setYawRange (PointCoordinateType minTheta, PointCoordinateType maxTheta)
	Sets the yaw scanning limits. More...

PointCoordinateType	getMinYaw () const
	Returns the minimal yaw limit (in radians) More...

PointCoordinateType	getMaxYaw () const
	Returns the maximal yaw limit (in radians) More...

void	setYawStep (PointCoordinateType dTheta)
	Sets the yaw step. More...

PointCoordinateType	getYawStep () const
	Returns the yaw step (in radians) More...

bool	yawIsShifted () const

PointCoordinateType	getSensorRange () const
	Returns the sensor max. range. More...

void	setSensorRange (PointCoordinateType range)
	Sets the sensor max. range. More...

PointCoordinateType	getUncertainty () const
	Returns the Z-buffer uncertainty on depth values. More...

void	setUncertainty (PointCoordinateType u)
	Sets the Z-buffer uncertainty on depth values. More...

ROTATION_ORDER	getRotationOrder () const
	Returns the sensor internal rotations order. More...

void	setRotationOrder (ROTATION_ORDER rotOrder)
	Sets the sensor internal rotations order. More...

void	projectPoint (const CCVector3 &sourcePoint, CCVector2 &destPoint, PointCoordinateType &depth, double posIndex=0) const
	Projects a point in the sensor world. More...

NormalGrid *	projectNormals (cloudViewer::GenericCloud *cloud, const NormalGrid &norms, double posIndex=0) const
	Projects a set of point cloud normals in the sensor world. More...

ColorGrid *	projectColors (cloudViewer::GenericCloud *cloud, const ColorGrid &rgbColors) const

bool	computeDepthBuffer (cloudViewer::GenericCloud cloud, int &errorCode, ccPointCloud projectedCloud=nullptr)

const ccDepthBuffer &	getDepthBuffer () const
	Returns the associated depth buffer. More...

void	clearDepthBuffer ()
	Removes the associated depth buffer. More...

const cloudViewer::geometry::LineSet &	getSensorLegLines () const

const cloudViewer::geometry::LineSet &	getSensorAxis () const

const ecvOrientedBBox &	getSensorHead () const

Public Member Functions inherited from ccSensor
	ccSensor (QString name)
	Default constructor. More...

	ccSensor (const ccSensor &sensor)
	Copy constructor. More...

virtual CC_SENSOR_TYPE	getType () const
	Returns the sensor type. More...

ccIndexedTransformationBuffer *	getPositions ()
	Returns associated positions. More...

void	setPositions (ccIndexedTransformationBuffer *positions)
	Sets associated positions. More...

bool	addPosition (ccGLMatrix &trans, double index)
	Adds a new position (shortcut) More...

bool	getAbsoluteTransformation (ccIndexedTransformation &trans, double index) const

bool	getActiveAbsoluteTransformation (ccIndexedTransformation &trans) const
	Gets currently active absolute transformation. More...

bool	getActiveAbsoluteCenter (CCVector3 &vec) const
	Gets currently active absolute position. More...

bool	getActiveAbsoluteRotation (ccGLMatrix &rotation) const
	Gets currently active rotation matrix (without translation) More...

virtual void	setRigidTransformation (const ccGLMatrix &mat)

virtual ccGLMatrix &	getRigidTransformation ()

virtual const ccGLMatrix &	getRigidTransformation () const

void	getIndexBounds (double &minIndex, double &maxIndex) const
	Gets index boundaries (shortcut) More...

double	getActiveIndex () const
	Sets currently active index (displayed position, etc.) More...

void	setActiveIndex (double index)
	Sets currently active index (displayed position, etc.) More...

void	setGraphicScale (PointCoordinateType scale)
	Sets the sensor graphic representation scale. More...

PointCoordinateType	getGraphicScale () const
	Returns the sensor graphic representation scale. More...

void	setFrameColor (ecvColor::Rgb color)

const ecvColor::Rgb &	getFrameColor () const

virtual void	applyGLTransformation (const ccGLMatrix &trans) override
	Applies a GL transformation to the entity. More...

Public Member Functions inherited from ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual bool	IsEmpty () const

virtual Eigen::Vector3d	GetMinBound () const
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector2d	GetMin2DBound () const

virtual Eigen::Vector3d	GetMaxBound () const
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector2d	GetMax2DBound () const

virtual Eigen::Vector3d	GetCenter () const
	Returns the center of the geometry coordinates. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const

virtual ccHObject &	Transform (const Eigen::Matrix4d &transformation)
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual ccHObject &	Translate (const Eigen::Vector3d &translation, bool relative=true)
	Apply translation to the geometry coordinates. More...

virtual ccHObject &	Scale (const double s, const Eigen::Vector3d &center)
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center)
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. 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 (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...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false)

virtual bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

virtual void	notifyGeometryUpdate ()

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual unsigned	getUniqueIDForDisplay () const
	Returns object unqiue ID used for display. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

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 void	toggleActivation ()
	Toggles 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	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual void	getDrawingParameters (glDrawParams &params) const
	Returns main OpenGL parameters for this entity. More...

virtual bool	hasColors () const
	Returns whether colors are enabled or not. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	hasNormals () const
	Returns whether normals are enabled or not. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual bool	hasDisplayedScalarField () const
	Returns whether an active scalar field is available or not. More...

virtual bool	hasScalarFields () const
	Returns whether one or more scalar fields are instantiated. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. 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. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. More...

Static Public Member Functions
static QString	GetErrorString (int errorCode)
	Returns the error string corresponding to an error code. More...

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_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...

Protected Member Functions
bool	toFile_MeOnly (QFile &out, short dataVersion) const override
	Save own object data. More...

short	minimumFileVersion_MeOnly () const override

bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads own object data. More...

void	drawMeOnly (CC_DRAW_CONTEXT &context) override
	Draws the entity only (not its children) More...

bool	convertToDepthMapCoords (PointCoordinateType yaw, PointCoordinateType pitch, unsigned &i, unsigned &j) const

Protected Member Functions inherited from ccSensor
bool	toFile_MeOnly (QFile &out, short dataVersion) const override
	Save own object data. More...

short	minimumFileVersion_MeOnly () const override

bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads own object data. More...

Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	drawNameIn3D ()
	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 (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Protected Attributes
PointCoordinateType	m_phiMin
	Minimal pitch limit (in radians) More...

PointCoordinateType	m_phiMax
	Maximal pitch limit (in radians) More...

PointCoordinateType	m_deltaPhi
	Pitch step (in radians) More...

bool	m_pitchAnglesAreShifted

PointCoordinateType	m_thetaMin
	Minimal yaw limit (in radians) More...

PointCoordinateType	m_thetaMax
	Maximal yaw limit (in radians) More...

PointCoordinateType	m_deltaTheta
	Yaw step (in radians) More...

bool	m_yawAnglesAreShifted

ROTATION_ORDER	m_rotationOrder
	Mirrors rotation order. More...

PointCoordinateType	m_sensorRange
	Sensor max range. More...

PointCoordinateType	m_uncertainty
	Z-buffer uncertainty. More...

ccDepthBuffer	m_depthBuffer
	Associated Z-buffer. More...

ecvOrientedBBox	m_obbHead

cloudViewer::geometry::LineSet	m_leg

cloudViewer::geometry::LineSet	m_axis

Protected Attributes inherited from ccSensor
ccIndexedTransformationBuffer *	m_posBuffer
	Positions buffer (optional) More...

ccGLMatrix	m_rigidTransformation
	Rigid transformation between this sensor and its associated positions. More...

double	m_activeIndex
	Active index (for displayed position, etc.) More...

ecvColor::Rgb	m_color
	Color of the sensor. More...

PointCoordinateType	m_scale
	Sensor graphic representation scale. More...

Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

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. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

Ground-based Laser sensor.

An implementation of the ccSensor interface that can be used to represent a depth sensor relying on 2 rotations relatively to two perpendicular axes, such as ground based laser scanners typically.

Definition at line 26 of file ecvGBLSensor.h.

Member Typedef Documentation

◆ ColorGrid

using ccGBLSensor::ColorGrid = std::vector<ecvColor::Rgb>

2D grid of colors

Definition at line 195 of file ecvGBLSensor.h.

◆ NormalGrid

using ccGBLSensor::NormalGrid = std::vector<CCVector3>

2D grid of normals

Definition at line 180 of file ecvGBLSensor.h.

Member Enumeration Documentation

◆ ROTATION_ORDER

enum ccGBLSensor::ROTATION_ORDER

The order of inner-rotations of the sensor (body/mirrors)

Either the first rotation is made around the Z axis (yaw) then around the lateral axis (pitch) as most scanners do today (Leica, Riegl, Faro, etc.). Othewise the opposite order is used (as the very old Mensi Soisic).

Enumerator
YAW_THEN_PITCH
PITCH_THEN_YAW

Definition at line 33 of file ecvGBLSensor.h.

Constructor & Destructor Documentation

◆ ccGBLSensor() [1/2]

ccGBLSensor::ccGBLSensor ( ROTATION_ORDER rotOrder = YAW_THEN_PITCH )

explicit

Default constructor.

Parameters

rotOrder inner rotations order

◆ ccGBLSensor() [2/2]

ccGBLSensor::ccGBLSensor ( const ccGBLSensor & sensor )

Copy constructor.

Warning: The depth buffer is not copied!

Parameters

sensor sensor structure to copy

◆ ~ccGBLSensor()

ccGBLSensor::~ccGBLSensor ( )

overridedefault

Destructor.

Member Function Documentation

◆ applyViewport()

bool ccGBLSensor::applyViewport ( )

overridevirtual

Apply sensor 'viewport' to a 3D view.

Parameters

win	3D view to which to apply the sensor viewport (or the associated 'display' if 0)

Returns: success

Reimplemented from ccSensor.

◆ checkVisibility()

unsigned char ccGBLSensor::checkVisibility ( const CCVector3 & P ) const

overridevirtual

Determines a 3D point "visibility" relatively to the sensor field of view Relies on the sensor associated depth map (see ccGBLSensor::computeDepthBuffer). The depth map is used to determine the "visiblity" of a 3D point relatively to the laser scanner field of view. This can be useful for filtering out points that shouldn't be compared while computing the distances between two point clouds for instance (for more information on this particular topic, refer to Daniel Girardeau-Montaut's PhD manuscript - Chapter 2, section 2.3.3).

Parameters

P	the point to test

Returns: the point's visibility (POINT_VISIBLE, POINT_HIDDEN, POINT_OUT_OF_RANGE or POINT_OUT_OF_FOV)

Reimplemented from ccSensor.

◆ clearDepthBuffer()

void ccGBLSensor::clearDepthBuffer ( )

Removes the associated depth buffer.

Referenced by ccGraphicalSegmentationTool::applySegmentation().

◆ clearDrawings()

virtual void ccGBLSensor::clearDrawings ( )

overridevirtual

Reimplemented from ccSensor.

◆ computeAutoParameters()

bool ccGBLSensor::computeAutoParameters ( cloudViewer::GenericCloud * theCloud )

Computes angular parameters automatically (all but the angular steps!)

WARNING: this method uses the cloud global iterator.

Referenced by define_ccGBLSensor(), PcdFilter::loadFile(), and PovFilter::loadFile().

◆ computeDepthBuffer()

bool ccGBLSensor::computeDepthBuffer	(	cloudViewer::GenericCloud *	cloud,
		int &	errorCode,
		ccPointCloud *	projectedCloud = `nullptr`
	)

Projects a point cloud along the sensor point of view defined by this instance WARNING: this method uses the cloud global iterator

Parameters

cloud	a point cloud
errorCode	error code in case the returned cloud is 0
projectedCloud	optional (empty) cloud to store the projected points

Returns: whether the depth buffer was successfully created or not

Referenced by ccComparisonDlg::computeDistances().

◆ convertToDepthMapCoords()

bool ccGBLSensor::convertToDepthMapCoords	(	PointCoordinateType	yaw,
		PointCoordinateType	pitch,
		unsigned &	i,
		unsigned &	j
	)		const

protected

Converts 2D angular coordinates (yaw,pitch) in integer depth buffer coordinates

◆ drawMeOnly()

void ccGBLSensor::drawMeOnly ( CC_DRAW_CONTEXT & context )

overrideprotectedvirtual

Draws the entity only (not its children)

Reimplemented from ccHObject.

◆ fromFile_MeOnly()

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

overrideprotectedvirtual

Loads own object data.

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

Parameters

in	input file
dataVersion	file version
flags	deserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMap	map to link old IDs with new IDs

Reimplemented from ccHObject.

◆ getClassID()

CV_CLASS_ENUM ccGBLSensor::getClassID ( ) const

inlineoverridevirtual

Returns class ID.

Returns: class unique ID

Reimplemented from ccSensor.

Definition at line 50 of file ecvGBLSensor.h.

References CV_TYPES::GBL_SENSOR.

◆ getDepthBuffer()

const ccDepthBuffer& ccGBLSensor::getDepthBuffer ( ) const

inline

Returns the associated depth buffer.

Call ccGBLSensor::computeDepthBuffer first otherwise the returned buffer will be 0.

Definition at line 225 of file ecvGBLSensor.h.

Referenced by ccComparisonDlg::computeDistances().

◆ GetErrorString()

static QString ccGBLSensor::GetErrorString ( int errorCode )

static

Returns the error string corresponding to an error code.

Errors codes are returned by ccGBLSensor::computeDepthBuffer or ccDepthBuffer::fillHoles for instance.

Referenced by ccComparisonDlg::computeDistances(), and define_ccGBLSensor().

◆ getMaxPitch()

PointCoordinateType ccGBLSensor::getMaxPitch ( ) const

inline

Returns the maximal pitch limit (in radians)

Definition at line 97 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccPropertiesTreeDelegate::fillWithGBLSensor().

◆ getMaxYaw()

PointCoordinateType ccGBLSensor::getMaxYaw ( ) const

inline

Returns the maximal yaw limit (in radians)

Definition at line 122 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccPropertiesTreeDelegate::fillWithGBLSensor().

◆ getMinPitch()

PointCoordinateType ccGBLSensor::getMinPitch ( ) const

inline

Returns the minimal pitch limit (in radians)

Definition at line 94 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccPropertiesTreeDelegate::fillWithGBLSensor().

◆ getMinYaw()

PointCoordinateType ccGBLSensor::getMinYaw ( ) const

inline

Returns the minimal yaw limit (in radians)

Definition at line 119 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccPropertiesTreeDelegate::fillWithGBLSensor().

◆ getOwnBB()

ccBBox ccGBLSensor::getOwnBB ( bool withGLFeatures = false )

overridevirtual

Returns the entity's own bounding-box.

Children bboxes are ignored.

Parameters

withGLFeatures whether to take into account display-only elements (if any)

Returns: bounding-box

Reimplemented from ccHObject.

◆ getOwnFitBB()

ccBBox ccGBLSensor::getOwnFitBB ( ccGLMatrix & trans )

overridevirtual

Returns best-fit bounding-box (if available)

Warning: Only suitable for leaf objects (i.e. without children) Therefore children bboxes are always ignored.; This method is not supported by all entities! (returns the axis-aligned bounding-box by default).

Parameters

[out] trans associated transformation (so that the bounding-box can be displayed in the right position!)

Returns: fit bounding-box

Reimplemented from ccHObject.

◆ getPitchStep()

PointCoordinateType ccGBLSensor::getPitchStep ( ) const

inline

Returns the lateral pitch step (in radians)

Definition at line 105 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), ccPropertiesTreeDelegate::fillWithGBLSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), and PovFilter::saveToFile().

◆ getRotationOrder()

ROTATION_ORDER ccGBLSensor::getRotationOrder ( ) const

inline

Returns the sensor internal rotations order.

Definition at line 156 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), and PovFilter::saveToFile().

◆ getSensorAxis()

const cloudViewer::geometry::LineSet& ccGBLSensor::getSensorAxis ( ) const

inline

Definition at line 233 of file ecvGBLSensor.h.

◆ getSensorHead()

const ecvOrientedBBox& ccGBLSensor::getSensorHead ( ) const

inline

Definition at line 236 of file ecvGBLSensor.h.

◆ getSensorLegLines()

const cloudViewer::geometry::LineSet& ccGBLSensor::getSensorLegLines ( ) const

inline

Definition at line 230 of file ecvGBLSensor.h.

◆ getSensorRange()

PointCoordinateType ccGBLSensor::getSensorRange ( ) const

inline

Returns the sensor max. range.

Definition at line 137 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccGBLSensorProjectionDlg::initWithGBLSensor().

◆ getUncertainty()

PointCoordinateType ccGBLSensor::getUncertainty ( ) const

inline

Returns the Z-buffer uncertainty on depth values.

Definition at line 147 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), and ccPropertiesTreeDelegate::setEditorData().

◆ getYawStep()

PointCoordinateType ccGBLSensor::getYawStep ( ) const

inline

Returns the yaw step (in radians)

Definition at line 130 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), ccPropertiesTreeDelegate::fillWithGBLSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), and PovFilter::saveToFile().

◆ hideShowDrawings()

virtual void ccGBLSensor::hideShowDrawings ( CC_DRAW_CONTEXT & context )

overridevirtual

Reimplemented from ccSensor.

◆ isSerializable()

bool ccGBLSensor::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccSensor.

Definition at line 51 of file ecvGBLSensor.h.

◆ minimumFileVersion_MeOnly()

short ccGBLSensor::minimumFileVersion_MeOnly ( ) const

overrideprotectedvirtual

Returns the minimum file version required to save this instance's own data To be overloaded (but still called ;) by subclass. Used internally by minimumFileVersion() to compute the overall minimum.

Reimplemented from ccHObject.

◆ pitchIsShifted()

bool ccGBLSensor::pitchIsShifted ( ) const

inline

Returns whether the pitch angles are shifted (i.e. between [0 ; 2pi] instead of [-pi ; pi])

Definition at line 109 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor().

◆ projectColors()

ColorGrid* ccGBLSensor::projectColors	(	cloudViewer::GenericCloud *	cloud,
		const ColorGrid &	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

cloud	a point cloud
rgbColors	the RGB colors (should have the same size and order as the point cloud)

Returns: a set of RGB colors organized as a bidimensional grid (same size as the depth buffer)

◆ projectNormals()

NormalGrid* ccGBLSensor::projectNormals	(	cloudViewer::GenericCloud *	cloud,
		const NormalGrid &	norms,
		double	posIndex = `0`
	)		const

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

WARNING: this method uses the cloud global iterator

Parameters

cloud	a point cloud
norms	the normals vectors (should have the same size and order as the point cloud)
posIndex	(optional) sensor position index (see ccIndexedTransformationBuffer)

Returns: a bidimensional array of 3D vectors (same size as the depth buffer)

◆ projectPoint()

void ccGBLSensor::projectPoint	(	const CCVector3 &	sourcePoint,
		CCVector2 &	destPoint,
		PointCoordinateType &	depth,
		double	posIndex = `0`
	)		const

Projects a point in the sensor world.

Parameters

[in]	sourcePoint	3D point to project
[out]	destPoint	projected point in polar coordinates: (theta,phi) = (yaw,pitch) (angles between [-pi,+pi] or [0 ; 2pi] if the corresponding angle is 'shifted')
[out]	depth	distance between the sensor optical center and the 3D point
[in]	posIndex	(optional) sensor position index (see ccIndexedTransformationBuffer)

◆ setPitchRange()

void ccGBLSensor::setPitchRange	(	PointCoordinateType	minPhi,
		PointCoordinateType	maxPhi
	)

Sets the pitch scanning limits.

Parameters

minPhi	min pitch angle (in radians)
maxPhi	max pitch angle (in radians)

Referenced by define_ccGBLSensor().

◆ setPitchStep()

void ccGBLSensor::setPitchStep ( PointCoordinateType dPhi )

Sets the pitch step.

Parameters

dPhi	pitch step (in radians)

Referenced by define_ccGBLSensor(), PcdFilter::loadFile(), PovFilter::loadFile(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ setRotationOrder()

void ccGBLSensor::setRotationOrder ( ROTATION_ORDER rotOrder )

inline

Sets the sensor internal rotations order.

Parameters

rotOrder internal rotations order

Definition at line 161 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ setSensorRange()

void ccGBLSensor::setSensorRange ( PointCoordinateType range )

inline

Sets the sensor max. range.

Parameters

range max. range of the sensor

Definition at line 142 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ setUncertainty()

void ccGBLSensor::setUncertainty ( PointCoordinateType u )

inline

Sets the Z-buffer uncertainty on depth values.

The uncertainty is used to handle numerical inaccuracies

Parameters

u	the Z-buffer uncertainty

Definition at line 153 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor(), PcdFilter::loadFile(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ setYawRange()

void ccGBLSensor::setYawRange	(	PointCoordinateType	minTheta,
		PointCoordinateType	maxTheta
	)

Sets the yaw scanning limits.

Parameters

minTheta	min yaw angle (in radians)
maxTheta	max yaw angle (in radians)

Referenced by define_ccGBLSensor().

◆ setYawStep()

void ccGBLSensor::setYawStep ( PointCoordinateType dTheta )

Sets the yaw step.

Parameters

dTheta yaw step (in radians)

Referenced by define_ccGBLSensor(), PcdFilter::loadFile(), PovFilter::loadFile(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ toFile_MeOnly()

bool ccGBLSensor::toFile_MeOnly	(	QFile &	out,
		short	dataVersion
	)		const

overrideprotectedvirtual

Save own object data.

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

Parameters

out	output file
dataVersion	target file version for compatibility control

Reimplemented from ccHObject.

◆ yawIsShifted()

bool ccGBLSensor::yawIsShifted ( ) const

inline

Returns whether the yaw angles are shifted (i.e. between [0 ; 2pi] instead of [-pi ; pi])

Definition at line 134 of file ecvGBLSensor.h.

Referenced by define_ccGBLSensor().

Member Data Documentation

◆ m_axis

cloudViewer::geometry::LineSet ccGBLSensor::m_axis

protected

Definition at line 292 of file ecvGBLSensor.h.

◆ m_deltaPhi

PointCoordinateType ccGBLSensor::m_deltaPhi

protected

Pitch step (in radians)

Definition at line 262 of file ecvGBLSensor.h.

◆ m_deltaTheta

PointCoordinateType ccGBLSensor::m_deltaTheta

protected

Yaw step (in radians)

Definition at line 274 of file ecvGBLSensor.h.

◆ m_depthBuffer

ccDepthBuffer ccGBLSensor::m_depthBuffer

protected

Associated Z-buffer.

Definition at line 288 of file ecvGBLSensor.h.

◆ m_leg

cloudViewer::geometry::LineSet ccGBLSensor::m_leg

protected

Definition at line 291 of file ecvGBLSensor.h.

◆ m_obbHead

ecvOrientedBBox ccGBLSensor::m_obbHead

protected

Definition at line 290 of file ecvGBLSensor.h.

◆ m_phiMax

PointCoordinateType ccGBLSensor::m_phiMax

protected

Maximal pitch limit (in radians)

Phi = 0 corresponds to the scanner vertical direction (upward)

Definition at line 260 of file ecvGBLSensor.h.

◆ m_phiMin

PointCoordinateType ccGBLSensor::m_phiMin

protected

Minimal pitch limit (in radians)

Phi = 0 corresponds to the scanner vertical direction (upward)

Definition at line 257 of file ecvGBLSensor.h.

◆ m_pitchAnglesAreShifted

bool ccGBLSensor::m_pitchAnglesAreShifted

protected

Whether the pitch angular range is shifted (i.e in [0 ; 2pi] instead of [-pi ; pi])

Definition at line 265 of file ecvGBLSensor.h.

◆ m_rotationOrder

ROTATION_ORDER ccGBLSensor::m_rotationOrder

protected

Mirrors rotation order.

Definition at line 280 of file ecvGBLSensor.h.

◆ m_sensorRange

PointCoordinateType ccGBLSensor::m_sensorRange

protected

Sensor max range.

Definition at line 283 of file ecvGBLSensor.h.

◆ m_thetaMax

PointCoordinateType ccGBLSensor::m_thetaMax

protected

Maximal yaw limit (in radians)

Theta = 0 corresponds to the scanner X direction

Definition at line 272 of file ecvGBLSensor.h.

◆ m_thetaMin

PointCoordinateType ccGBLSensor::m_thetaMin

protected

Minimal yaw limit (in radians)

Theta = 0 corresponds to the scanner X direction

Definition at line 269 of file ecvGBLSensor.h.

◆ m_uncertainty

PointCoordinateType ccGBLSensor::m_uncertainty

protected

Z-buffer uncertainty.

Definition at line 285 of file ecvGBLSensor.h.

◆ m_yawAnglesAreShifted

bool ccGBLSensor::m_yawAnglesAreShifted

protected

Whether the yaw range is shifted (i.e in [0 ; 2pi] instead of [-pi ; pi]))

Definition at line 277 of file ecvGBLSensor.h.

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

/root/ACloudViewer/libs/CV_db/include/ecvGBLSensor.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ColorGrid

◆ NormalGrid

Member Enumeration Documentation

◆ ROTATION_ORDER

Constructor & Destructor Documentation

◆ ccGBLSensor() [1/2]

◆ ccGBLSensor() [2/2]

◆ ~ccGBLSensor()

Member Function Documentation

◆ applyViewport()

◆ checkVisibility()

◆ clearDepthBuffer()

◆ clearDrawings()

◆ computeAutoParameters()

◆ computeDepthBuffer()

◆ convertToDepthMapCoords()

◆ drawMeOnly()

◆ fromFile_MeOnly()

◆ getClassID()

◆ getDepthBuffer()

◆ GetErrorString()

◆ getMaxPitch()

◆ getMaxYaw()

◆ getMinPitch()

◆ getMinYaw()

◆ getOwnBB()

◆ getOwnFitBB()

◆ getPitchStep()

◆ getRotationOrder()

◆ getSensorAxis()

◆ getSensorHead()

◆ getSensorLegLines()

◆ getSensorRange()

◆ getUncertainty()

◆ getYawStep()

◆ hideShowDrawings()

◆ isSerializable()

◆ minimumFileVersion_MeOnly()

◆ pitchIsShifted()

◆ projectColors()

◆ projectNormals()

◆ projectPoint()

◆ setPitchRange()

◆ setPitchStep()

◆ setRotationOrder()

◆ setSensorRange()

◆ setUncertainty()

◆ setYawRange()

◆ setYawStep()

◆ toFile_MeOnly()

◆ yawIsShifted()

Member Data Documentation

◆ m_axis

◆ m_deltaPhi

◆ m_deltaTheta

◆ m_depthBuffer

◆ m_leg

◆ m_obbHead

◆ m_phiMax

◆ m_phiMin

◆ m_pitchAnglesAreShifted

◆ m_rotationOrder

◆ m_sensorRange

◆ m_thetaMax

◆ m_thetaMin

◆ m_uncertainty

◆ m_yawAnglesAreShifted