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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#ifndef CC_SENSOR_HEADER
#define CC_SENSOR_HEADER
//Local
#include "ccIndexedTransformationBuffer.h"
//! Sensor types
enum CC_SENSOR_TYPE { UNKNOWN_SENSOR,
GROUND_BASED_LIDAR,
};
//! 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).
**/
class QCC_DB_LIB_API ccSensor : public ccHObject
{
public:
//! Default constructor
ccSensor(QString name);
//! Copy constructor
ccSensor(const ccSensor &sensor);
//inherited from ccHObject
virtual CC_CLASS_ENUM getClassID() const override { return CC_TYPES::SENSOR; }
virtual bool isSerializable() const override { return true; }
//! Returns the sensor type
/** Should be re-implemented by sub-classes
\return the sensor type
**/
virtual CC_SENSOR_TYPE getType() const { return UNKNOWN_SENSOR; }
//! 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.
\param P a 3D point
\return the visibility of the point
**/
virtual inline unsigned char checkVisibility(const CCVector3& P) const { return POINT_VISIBLE; }
//! Returns associated positions
ccIndexedTransformationBuffer* getPositions() { return m_posBuffer; }
//! Sets associated positions
void setPositions(ccIndexedTransformationBuffer* positions) { m_posBuffer = positions; }
//! 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)
**/
bool addPosition(ccGLMatrix& trans, double index);
//! 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.
**/
bool getAbsoluteTransformation(ccIndexedTransformation& trans, double index) const;
//! Gets currently active absolute transformation
bool getActiveAbsoluteTransformation(ccIndexedTransformation& trans) const;
//! Gets currently active absolute position
bool getActiveAbsoluteCenter(CCVector3& vec) const;
//! Gets currently active rotation matrix (without translation)
bool getActiveAbsoluteRotation(ccGLMatrix& rotation) const;
//! Sets the rigid transformation between this sensor and its associated positions
/** Rigid transformation goes from the sensor position(s) to the sensor "optical" center.
**/
virtual void setRigidTransformation(const ccGLMatrix& mat) { m_rigidTransformation = mat; }
//! Returns the rigid transformation between this sensor and its associated positions
virtual ccGLMatrix& getRigidTransformation() { return m_rigidTransformation; }
//! Returns the rigid transformation between this sensor and its associated positions (const version)
virtual const ccGLMatrix& getRigidTransformation() const { return m_rigidTransformation; }
//! Gets index boundaries (shortcut)
void getIndexBounds(double& minIndex, double& maxIndex) const;
//! Sets currently active index (displayed position, etc.)
double getActiveIndex() const { return m_activeIndex; }
//! Sets currently active index (displayed position, etc.)
void setActiveIndex(double index) { m_activeIndex = index; }
//! Sets the sensor graphic representation scale
void setGraphicScale(PointCoordinateType scale) { m_scale = scale; }
//! Returns the sensor graphic representation scale
PointCoordinateType getGraphicScale() const { return m_scale; }
//! Apply sensor 'viewport' to a 3D view
/** \param win 3D view to which to apply the sensor viewport (or the associated 'display' if 0)
\return success
**/
virtual bool applyViewport(ccGenericGLDisplay* win = 0);
//inherited from ccHObject
virtual void applyGLTransformation(const ccGLMatrix& trans) override;
protected:
//inherited from ccHObject
virtual bool toFile_MeOnly(QFile& out) const override;
virtual bool fromFile_MeOnly(QFile& in, short dataVersion, int flags) override;
//! Positions buffer (optional)
ccIndexedTransformationBuffer* m_posBuffer;
//! Rigid transformation between this sensor and its associated positions
/** The transformation goes from the sensor position(s) to the sensor "optical" center.
**/
ccGLMatrix m_rigidTransformation;
//! Active index (for displayed position, etc.)
double m_activeIndex;
//! Color of the sensor
/** Default color is green.
**/
ccColor::Rgb m_color;
//! Sensor graphic representation scale
PointCoordinateType m_scale;
};
#endif //CC_SENSOR_HEADER
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