Generic sensor interface. More...

#include <ecvSensor.h>

Inheritance diagram for ccSensor:

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Collaboration diagram for ccSensor:

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

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

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

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

virtual void	clearDrawings ()

virtual void	hideShowDrawings (CC_DRAW_CONTEXT &context)

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

virtual unsigned char	checkVisibility (const CCVector3 &P) const
	Returns the "visibility type" of a point. 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 bool	applyViewport ()
	Apply sensor 'viewport' to a 3D view. More...

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)

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

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

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...

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

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

Additional Inherited Members
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...

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...

Detailed Description

Generic sensor interface.

New sensor framework now relies on separate positions (stored in a buffer) as generated by a GPS/IMU. This way, sensor objects only contains intrinsic parameters. They are also associated to a 'rigid transformation' (e.g. a rigid mechanical link between the sensor 'optical' center and the GPS/IMU center position).

Definition at line 27 of file ecvSensor.h.

Constructor & Destructor Documentation

◆ ccSensor() [1/2]

ccSensor::ccSensor ( QString name )

Default constructor.

◆ ccSensor() [2/2]

ccSensor::ccSensor ( const ccSensor & sensor )

Copy constructor.

Member Function Documentation

◆ addPosition()

bool ccSensor::addPosition	(	ccGLMatrix &	trans,
		double	index
	)

Adds a new position (shortcut)

Warning: : may be slow as this method may sort the positions after each call (if the new index is lower than the last one pushed)

Referenced by define_ccSensor().

◆ applyGLTransformation()

virtual void ccSensor::applyGLTransformation ( const ccGLMatrix & trans )

overridevirtual

Applies a GL transformation to the entity.

this = rotMat*(this-rotCenter)+(rotCenter+trans)

Parameters

trans a ccGLMatrix structure

Reimplemented from ccHObject.

◆ applyViewport()

virtual bool ccSensor::applyViewport ( )

virtual

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 in ccGBLSensor, and ccCameraSensor.

Referenced by define_ccSensor().

◆ checkVisibility()

virtual unsigned char ccSensor::checkVisibility ( const CCVector3 & P ) const

inlinevirtual

Returns the "visibility type" of a point.

Precise definition of point's visibility can be found in Daniel Girardeau-Montaut's PhD manuscript (Chapter 2, section 2-3-3). In fact it can be anything, assuming that a point that is not POINT_VISIBLE won't be compared during a point-to-cloud distance computation process.

Deprecated:: This method is deprecated and should be ignored.

Parameters

P	a 3D point

Returns: the visibility of the point

Reimplemented in ccGBLSensor.

Definition at line 58 of file ecvSensor.h.

References POINT_VISIBLE.

Referenced by define_ccSensor().

◆ clearDrawings()

virtual void ccSensor::clearDrawings ( )

virtual

Reimplemented in ccGBLSensor, and ccCameraSensor.

◆ fromFile_MeOnly()

bool ccSensor::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.

◆ getAbsoluteTransformation()

bool ccSensor::getAbsoluteTransformation	(	ccIndexedTransformation &	trans,
		double	index
	)		const

Returns the absolute transformation between the world and the "optical" center (shortcut) Absolute transformation corresponds to the rigid transformation multiplied by the associated transformation interpolated at the given index.

Referenced by define_ccSensor().

◆ getActiveAbsoluteCenter()

bool ccSensor::getActiveAbsoluteCenter ( CCVector3 & vec ) const

Gets currently active absolute position.

Referenced by ccEntityAction::computeNormals(), and define_ccSensor().

◆ getActiveAbsoluteRotation()

bool ccSensor::getActiveAbsoluteRotation ( ccGLMatrix & rotation ) const

Gets currently active rotation matrix (without translation)

Referenced by define_ccSensor().

◆ getActiveAbsoluteTransformation()

bool ccSensor::getActiveAbsoluteTransformation ( ccIndexedTransformation & trans ) const

Gets currently active absolute transformation.

Referenced by define_ccSensor(), SaveImage(), and ccPropertiesTreeDelegate::setEditorData().

◆ getActiveIndex()

double ccSensor::getActiveIndex ( ) const

inline

Sets currently active index (displayed position, etc.)

Definition at line 119 of file ecvSensor.h.

Referenced by define_ccSensor(), and ccPropertiesTreeDelegate::setEditorData().

◆ getClassID()

virtual CV_CLASS_ENUM ccSensor::getClassID ( ) const

inlineoverridevirtual

Returns class ID.

Returns: class unique ID

Reimplemented from ccHObject.

Reimplemented in ccGBLSensor, and ccCameraSensor.

Definition at line 36 of file ecvSensor.h.

References CV_TYPES::SENSOR.

◆ getFrameColor()

const ecvColor::Rgb& ccSensor::getFrameColor ( ) const

inline

Definition at line 131 of file ecvSensor.h.

◆ getGraphicScale()

PointCoordinateType ccSensor::getGraphicScale ( ) const

inline

Returns the sensor graphic representation scale.

Definition at line 128 of file ecvSensor.h.

Referenced by define_ccSensor(), and ccPropertiesTreeDelegate::setEditorData().

◆ getIndexBounds()

void ccSensor::getIndexBounds	(	double &	minIndex,
		double &	maxIndex
	)		const

Gets index boundaries (shortcut)

Referenced by ccPropertiesTreeDelegate::createEditor(), and ccPropertiesTreeDelegate::fillWithSensor().

◆ getPositions()

ccIndexedTransformationBuffer* ccSensor::getPositions ( )

inline

Returns associated positions.

Definition at line 63 of file ecvSensor.h.

Referenced by ccPropertiesTreeDelegate::fillWithSensor().

◆ getRigidTransformation() [1/2]

virtual ccGLMatrix& ccSensor::getRigidTransformation ( )

inlinevirtual

Returns the rigid transformation between this sensor and its associated positions

Definition at line 105 of file ecvSensor.h.

Referenced by define_ccSensor(), ccCamSensorProjectionDlg::initWithCamSensor(), ccGBLSensorProjectionDlg::initWithGBLSensor(), PcdFilter::saveToFile(), and PovFilter::saveToFile().

◆ getRigidTransformation() [2/2]

virtual const ccGLMatrix& ccSensor::getRigidTransformation ( ) const

inlinevirtual

Returns the rigid transformation between this sensor and its associated positions (const version)

Definition at line 111 of file ecvSensor.h.

◆ getType()

virtual CC_SENSOR_TYPE ccSensor::getType ( ) const

inlinevirtual

Returns the sensor type.

Should be re-implemented by sub-classes

Returns: the sensor type

Definition at line 48 of file ecvSensor.h.

References UNKNOWN_SENSOR.

◆ hideShowDrawings()

virtual void ccSensor::hideShowDrawings ( CC_DRAW_CONTEXT & context )

virtual

Reimplemented in ccGBLSensor, and ccCameraSensor.

Referenced by ccDBRoot::setData().

◆ isSerializable()

virtual bool ccSensor::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccHObject.

Reimplemented in ccGBLSensor, and ccCameraSensor.

Definition at line 39 of file ecvSensor.h.

◆ minimumFileVersion_MeOnly()

short ccSensor::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.

◆ setActiveIndex()

void ccSensor::setActiveIndex ( double index )

inline

Sets currently active index (displayed position, etc.)

Definition at line 122 of file ecvSensor.h.

Referenced by define_ccSensor().

◆ setFrameColor()

void ccSensor::setFrameColor ( ecvColor::Rgb color )

inline

Definition at line 130 of file ecvSensor.h.

References color.

◆ setGraphicScale()

void ccSensor::setGraphicScale ( PointCoordinateType scale )

inline

Sets the sensor graphic representation scale.

Definition at line 125 of file ecvSensor.h.

Referenced by define_ccSensor(), IcmFilter::LoadCalibratedImages(), PhotoScanFilter::loadFile(), PcdFilter::loadFile(), and LoadScan().

◆ setPositions()

void ccSensor::setPositions ( ccIndexedTransformationBuffer * positions )

inline

Sets associated positions.

Definition at line 66 of file ecvSensor.h.

◆ setRigidTransformation()

virtual void ccSensor::setRigidTransformation ( const ccGLMatrix & mat )

inlinevirtual

Sets the rigid transformation between this sensor and its associated positions Rigid transformation goes from the sensor position(s) to the sensor "optical" center.

Definition at line 99 of file ecvSensor.h.

Referenced by define_ccSensor(), IcmFilter::LoadCalibratedImages(), PhotoScanFilter::loadFile(), PcdFilter::loadFile(), PovFilter::loadFile(), LoadImage(), LoadScan(), ccCamSensorProjectionDlg::updateCamSensor(), and ccGBLSensorProjectionDlg::updateGBLSensor().

◆ toFile_MeOnly()

bool ccSensor::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.

Member Data Documentation

◆ m_activeIndex

double ccSensor::m_activeIndex

protected

Active index (for displayed position, etc.)

Definition at line 161 of file ecvSensor.h.

◆ m_color

ecvColor::Rgb ccSensor::m_color

protected

Color of the sensor.

Default color is green.

Definition at line 166 of file ecvSensor.h.

◆ m_posBuffer

ccIndexedTransformationBuffer* ccSensor::m_posBuffer

protected

Positions buffer (optional)

Definition at line 152 of file ecvSensor.h.

◆ m_rigidTransformation

ccGLMatrix ccSensor::m_rigidTransformation

protected

Rigid transformation between this sensor and its associated positions.

The transformation goes from the sensor position(s) to the sensor "optical" center.

Definition at line 158 of file ecvSensor.h.

◆ m_scale

PointCoordinateType ccSensor::m_scale

protected

Sensor graphic representation scale.

Definition at line 169 of file ecvSensor.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ccSensor() [1/2]

◆ ccSensor() [2/2]

Member Function Documentation

◆ addPosition()

◆ applyGLTransformation()

◆ applyViewport()

◆ checkVisibility()

◆ clearDrawings()

◆ fromFile_MeOnly()

◆ getAbsoluteTransformation()

◆ getActiveAbsoluteCenter()

◆ getActiveAbsoluteRotation()

◆ getActiveAbsoluteTransformation()

◆ getActiveIndex()

◆ getClassID()

◆ getFrameColor()

◆ getGraphicScale()

◆ getIndexBounds()

◆ getPositions()

◆ getRigidTransformation() [1/2]

◆ getRigidTransformation() [2/2]

◆ getType()

◆ hideShowDrawings()

◆ isSerializable()

◆ minimumFileVersion_MeOnly()

◆ setActiveIndex()

◆ setFrameColor()

◆ setGraphicScale()

◆ setPositions()

◆ setRigidTransformation()

◆ toFile_MeOnly()

Member Data Documentation

◆ m_activeIndex

◆ m_color

◆ m_posBuffer

◆ m_rigidTransformation

◆ m_scale