ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Classes | Static Public Member Functions | List of all members
ccGriddedTools Class Reference

Tools dedicated to gridded clouds. More...

#include <ecvGriddedTools.h>

Classes

struct  GridParameters
 Grid (angular) parameters. More...
 

Static Public Member Functions

static bool DetectParameters (const ccPointCloud *cloud, const ccPointCloud::Grid::Shared grid, GridParameters &parameters, bool verbose=false, ccGLMatrix *cloudToSensorTrans=0)
 Detects the given grid parameters (angular span, etc.) More...
 
static ccGBLSensor * ComputeBestSensor (ccPointCloud *cloud, ccPointCloud::Grid::Shared grid, ccGLMatrix *cloudToSensorTrans=0)
 

Detailed Description

Tools dedicated to gridded clouds.

Definition at line 17 of file ecvGriddedTools.h.

Member Function Documentation

◆ ComputeBestSensor()

ccGBLSensor * ccGriddedTools::ComputeBestSensor ( ccPointCloud *  cloud,
ccPointCloud::Grid::Shared  grid,
ccGLMatrix *  cloudToSensorTrans = 0 
)
static

Determines the (TLS) sensor parameters from the relative position of gridded points

Parameters
cloudcloud on which to compute the sensor parameters (should be a single grid)
gridscan grid
cloudToSensorTranstransformation from cloud coordinate system to the sensor coordinate system (optional)
Returns
sensor (if successful) or 0 otherwise

Definition at line 310 of file ecvGriddedTools.cpp.

References ccGriddedTools::GridParameters::deltaPhiRad, ccGriddedTools::GridParameters::deltaThetaRad, DetectParameters(), ccGriddedTools::GridParameters::maxPhi, ccGriddedTools::GridParameters::maxRange, ccGriddedTools::GridParameters::maxTheta, ccGriddedTools::GridParameters::minPhi, ccGriddedTools::GridParameters::minTheta, PC_ONE, ccObject::setEnabled(), ccSensor::setGraphicScale(), ccGBLSensor::setPitchRange(), ccGBLSensor::setPitchStep(), ccGBLSensor::setSensorRange(), ccDrawableObject::setVisible(), ccGBLSensor::setYawRange(), ccGBLSensor::setYawStep(), and ccGBLSensor::YAW_THEN_PITCH.

Referenced by PTXFilter::loadFile().

◆ DetectParameters()

bool ccGriddedTools::DetectParameters ( const ccPointCloud *  cloud,
const ccPointCloud::Grid::Shared  grid,
GridParameters &  parameters,
bool  verbose = false,
ccGLMatrix *  cloudToSensorTrans = 0 
)
static

Detects the given grid parameters (angular span, etc.)

Parameters
cloudassociated cloud
gridscan grid
parametersoutput parameters
verbosewhether the process should output some detailed information in the log/console or not
cloudToSensorTranstransformation from cloud coordinate system to the sensor coordinate system (optional)
Returns
success

Definition at line 19 of file ecvGriddedTools.cpp.

References ccGLMatrixTpl< T >::apply(), ccGriddedTools::GridParameters::deltaPhiRad, ccGriddedTools::GridParameters::deltaThetaRad, cloudViewer::PointCloudTpl< T >::getPoint(), M_PI, ccGriddedTools::GridParameters::maxPhi, ccGriddedTools::GridParameters::maxRange, ccGriddedTools::GridParameters::maxTheta, ccGriddedTools::GridParameters::minPhi, ccGriddedTools::GridParameters::minTheta, Vector3Tpl< Type >::norm(), CVLog::Print(), cloudViewer::RadiansToDegrees(), CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ComputeBestSensor().

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