qCC_db version 2.13.alpha (Qt) - 31 May 2022
CloudCompare 3D entities
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
ccSensor Class Reference

Generic sensor interface. More...

#include <ccSensor.h>

Inheritance diagram for ccSensor:
Inheritance graph
[legend]
Collaboration diagram for ccSensor:
Collaboration graph
[legend]

Public Member Functions

 ccSensor (const QString &name)
 Default constructor.
 
 ccSensor (const ccSensor &sensor)
 Copy constructor.
 
CC_CLASS_ENUM getClassID () const override
 Returns class ID. More...
 
bool isSerializable () const override
 Returns whether object is serializable of not. More...
 
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...
 
ccIndexedTransformationBuffergetPositions ()
 Returns associated positions.
 
const ccIndexedTransformationBuffergetPositions () const
 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.
 
virtual bool applyViewport (ccGenericGLDisplay *win=nullptr)
 Apply sensor 'viewport' to a 3D view. More...
 
void applyGLTransformation (const ccGLMatrix &trans) override
 Applies a GL transformation to the entity. More...
 
- Public Member Functions inherited from ccHObject
 ccHObject (const QString &name=QString(), unsigned uniqueID=ccUniqueIDGenerator::InvalidUniqueID)
 Default constructor. More...
 
 ccHObject (const ccHObject &object)
 Copy constructor.
 
 ~ccHObject () override
 Default destructor.
 
CC_CLASS_ENUM getClassID () const override
 Returns class ID. More...
 
bool isGroup () const
 Returns whether the instance is a group.
 
ccHObjectgetParent () 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) const
 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...
 
ccHObjectgetChild (unsigned childPos) const
 Returns the ith child. More...
 
ccHObjectfind (unsigned uniqueID) const
 Finds an entity in this object hierarchy. More...
 
unsigned filterChildren (Container &filteredChildren, bool recursive=false, CC_CLASS_ENUM filter=CC_TYPES::OBJECT, bool strict=false, ccGenericGLDisplay *inDisplay=nullptr) 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 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 getOwnBB (bool withGLFeatures=false)
 Returns the entity's own bounding-box (with local/shifted coordinates) More...
 
virtual ccBBox getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
 Returns the local bounding-box of this entity and it's children. More...
 
virtual GlobalBoundingBox getOwnGlobalBB (bool withGLFeatures=false)
 Returns the entity's own global bounding-box (with global/non-shifted coordinates - if relevant) More...
 
virtual bool getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)
 Returns the entity's own global bounding-box (with global/non-shifted coordinates - if relevant) More...
 
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, const ccGenericGLDisplay *display=nullptr)
 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 ccColor::Rgb &col)
 Draws the entity (and its children) bounding-box. More...
 
void draw (CC_DRAW_CONTEXT &context) override
 Draws entity and its children. More...
 
bool getAbsoluteGLTransformation (ccGLMatrix &trans) const
 Returns the absolute transformation (i.e. the actual displayed GL transformation) of an entity. More...
 
virtual bool isDisplayed () const
 Returns whether the object is actually displayed (visible) or not.
 
virtual bool isDisplayedIn (const ccGenericGLDisplay *display) const
 Returns whether the object is actually displayed (visible) in a given display 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
 
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive ccHObject_recursive_call1 (refreshDisplay, bool, refreshDisplay_recursive) ccHObject_recursive_call0(resetGLTransformationHistory
 
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive resetGLTransformationHistory_recursive ccHObject_recursive_call0 (toggleActivation, toggleActivation_recursive) ccHObject_recursive_call0(toggleVisibility
 
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive resetGLTransformationHistory_recursive toggleVisibility_recursive ccHObject_recursive_call0 (toggleColors, toggleColors_recursive) ccHObject_recursive_call0(toggleNormals
 
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive resetGLTransformationHistory_recursive toggleVisibility_recursive toggleNormals_recursive ccHObject_recursive_call0 (toggleSF, toggleSF_recursive) ccHObject_recursive_call0(toggleShowName
 
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive resetGLTransformationHistory_recursive toggleVisibility_recursive toggleNormals_recursive toggleShowName_recursive ccHObject_recursive_call0 (toggleMaterials, toggleMaterials_recursive) inline virtual void transferDisplay(ccGenericGLDisplay *oldDisplay
 Transfers the entity from one display to the other.
 
void applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
 Applies the active OpenGL transformation to the entity (recursive) More...
 
virtual void notifyGeometryUpdate ()
 Notifies all dependent entities that the geometry of this entity has changed.
 
bool isSerializable () const override
 Returns whether object is serializable of not. More...
 
bool toFile (QFile &out) 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...
 
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.
 
virtual unsigned getUniqueIDForDisplay () const
 Returns object unique ID used for display. More...
 
virtual const ccGLMatrixgetGLTransformationHistory () const
 Returns the transformation 'history' matrix. More...
 
virtual void setGLTransformationHistory (const ccGLMatrix &mat)
 Sets the transformation 'history' matrix (handle with care!)
 
virtual void resetGLTransformationHistory ()
 Resets the transformation 'history' matrix.
 
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 (const QString &name=QString(), unsigned uniqueID=ccUniqueIDGenerator::InvalidUniqueID)
 Default constructor. More...
 
 ccObject (const ccObject &object)
 Copy constructor.
 
virtual CC_CLASS_ENUM getClassID () const =0
 Returns class ID. More...
 
virtual QString getName () const
 Returns object name. More...
 
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 void toggleActivation ()
 Toggles the "enabled" property.
 
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 (CC_CLASS_ENUM type) const
 
bool isA (CC_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)
 
- Public Member Functions inherited from ccSerializableObject
virtual ~ccSerializableObject ()=default
 Destructor.
 
virtual bool isSerializable () const
 Returns whether object is serializable of not. More...
 
virtual bool toFile (QFile &out) const
 Saves data to binary stream. More...
 
virtual bool fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
 Loads data from binary stream. More...
 
- Public Member Functions inherited from ccDrawableObject
 ccDrawableObject ()
 Default constructor.
 
 ccDrawableObject (const ccDrawableObject &object)
 Copy constructor.
 
virtual void draw (CC_DRAW_CONTEXT &context)=0
 Draws entity and its children. More...
 
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 isVisibilityLocked () const
 Returns whether visibility is locked or not.
 
virtual void lockVisibility (bool state)
 Locks/unlocks visibility. More...
 
virtual bool isSelected () const
 Returns whether entity is selected or not.
 
virtual void setSelected (bool state)
 Selects/unselects entity.
 
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.
 
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. 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.
 
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.
 
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. More...
 
virtual void showNameIn3D (bool state)
 Sets whether name should be displayed in 3D or not.
 
virtual bool nameShownIn3D () const
 Returns whether name is displayed in 3D or not.
 
virtual void toggleShowName ()
 Toggles name in 3D display state.
 
virtual bool isColorOverridden () const
 Returns whether colors are currently overridden by a temporary (unique) color. More...
 
virtual const ccColor::RgbagetTempColor () const
 Returns current temporary (unique) color.
 
virtual void setTempColor (const ccColor::Rgba &col, bool autoActivate=true)
 Sets current temporary (unique) More...
 
virtual void setTempColor (const ccColor::Rgb &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 (bool only2D=false)
 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
 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)
 
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 bool pushDisplayState ()
 Pushes the current display state. More...
 
virtual void popDisplayState (bool apply=true)
 Pops the last pushed display state. More...
 
virtual void applyDisplayState (const DisplayState &state)
 Applies a display state.
 

Protected Member Functions

bool toFile_MeOnly (QFile &out) const override
 Save own object data. More...
 
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.
 
virtual void drawMeOnly (CC_DRAW_CONTEXT &context)
 Draws the entity only (not its children) More...
 
virtual void applyGLTransformation (const ccGLMatrix &trans)
 Applies a GL transformation to the entity. More...
 
virtual bool toFile_MeOnly (QFile &out) const
 Save own object data. More...
 
virtual bool fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
 Loads own object data. More...
 
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...
 
bool toFile (QFile &out) const override
 Saves data to binary stream. More...
 
bool fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
 Reimplemented from ccSerializableObject::fromFile. More...
 

Protected Attributes

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.)
 
ccColor::Rgb m_color
 Color of the sensor. More...
 
PointCoordinateType m_scale
 Sensor graphic representation scale.
 
- Protected Attributes inherited from ccHObject
ccHObjectm_parent
 Parent.
 
Container m_children
 Children.
 
SelectionBehavior m_selectionBehavior
 Selection behavior.
 
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.
 
- 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.
 
ccColor::Rgba m_tempColor
 Temporary (unique) color.
 
bool m_colorIsOverridden
 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.
 
CCVector3d m_nameIn3DPos
 Last 2D position of the '3D' name.
 
bool m_nameIn3DPosIsValid
 Whether the last 2D position of the '3D' name is valid or not.
 
ccGenericGLDisplaym_currentDisplay
 Currently associated GL display.
 
ccClipPlaneSet m_clipPlanes
 Active clipping planes (used for display only)
 
std::vector< DisplayState::Shared > m_displayStateStack
 The stack of pushed display states.
 

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 = 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.
 
using Container = std::vector< ccHObject * >
 Standard instances container (for children, etc.)
 
using Shared = QSharedPointer< ccHObject >
 Shared pointer.
 
using SharedContainer = std::vector< Shared >
 Shared instances container (for children, etc.)
 
using GlobalBoundingBox = CCCoreLib::BoundingBoxTpl< double >
 Global (non-shifted) bounding-box.
 
- Public Types inherited from ccSerializableObject
enum  DeserializationFlags { DF_POINT_COORDS_64_BITS = 1 , 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)
 
- Static Public Member Functions inherited from ccHObject
static ccHObjectNew (CC_CLASS_ENUM objectType, const char *name=nullptr)
 Static factory. More...
 
static ccHObjectNew (const QString &pluginId, const QString &classId, const char *name=nullptr)
 Static factory (version to be used by external plugin factories) More...
 
- Static Public Member Functions inherited from ccObject
static unsigned GetCurrentDBVersion ()
 Returns current database version.
 
static void SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
 Sets the unique ID generator.
 
static ccUniqueIDGenerator::Shared GetUniqueIDGenerator ()
 Returns the unique ID generator.
 
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...
 
- Public Attributes inherited from ccHObject
ccGenericGLDisplay setDisplay_recursive prepareDisplayForRefresh_recursive resetGLTransformationHistory_recursive toggleVisibility_recursive toggleNormals_recursive toggleShowName_recursive ccGenericGLDisplaynewDisplay
 

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).

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)

◆ applyGLTransformation()

void ccSensor::applyGLTransformation ( const ccGLMatrix trans)
overridevirtual

Applies a GL transformation to the entity.

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

Parameters
transa ccGLMatrix structure

Reimplemented from ccHObject.

◆ applyViewport()

bool ccSensor::applyViewport ( ccGenericGLDisplay win = nullptr)
virtual

Apply sensor 'viewport' to a 3D view.

Parameters
win3D view to which to apply the sensor viewport (or the associated 'display' if 0)
Returns
success

Reimplemented in ccCameraSensor, and ccGBLSensor.

◆ 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
Pa 3D point
Returns
the visibility of the point

Reimplemented in ccGBLSensor.

◆ 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
ininput file
dataVersionfile version
flagsdeserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMapmap 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.

◆ getClassID()

CC_CLASS_ENUM ccSensor::getClassID ( ) const
inlineoverridevirtual

Returns class ID.

Returns
class unique ID

Reimplemented from ccHObject.

◆ getType()

virtual CC_SENSOR_TYPE ccSensor::getType ( ) const
inlinevirtual

Returns the sensor type.

Should be re-implemented by sub-classes

Returns
the sensor type

◆ isSerializable()

bool ccSensor::isSerializable ( ) const
inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccHObject.

◆ 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.

◆ toFile_MeOnly()

bool ccSensor::toFile_MeOnly ( QFile &  out) const
overrideprotectedvirtual

Save own object data.

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

Reimplemented from ccHObject.

Member Data Documentation

◆ m_color

ccColor::Rgb ccSensor::m_color
protected

Color of the sensor.

Default color is green.

◆ 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.


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