8. Sensor

8.1. ccGBLSensor

class cloudComPy.ccGBLSensor

Bases: ccSensor

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.

__init__(self: _cloudComPy.ccGBLSensor, arg0: _cloudComPy.ROTATION_ORDER) → None

ccGBLSensor constructor:

Parameters:: rotOrder (ROTATION_ORDER,optional) – default ROTATION_ORDER.YAW_THEN_PITCH

getType(self: _cloudComPy.ccGBLSensor) → _cloudComPy.CC_SENSOR_TYPE

Returns the Sensor type, from CC_SENSOR_TYPE. Possibles values are UNKNOWN_SENSOR or GROUND_BASED_LIDAR

Returns:: Sensor type
Return type:: CC_SENSOR_TYPE

getUncertainty(self: _cloudComPy.ccGBLSensor) → float

Returns the Z-buffer uncertainty on depth values. The uncertainty is used to handle numerical inaccuracies.

Returns:: Z-buffer uncertainty on depth values.
Return type:: float

class cloudComPy.ROTATION_ORDER

Members:

YAW_THEN_PITCH

PITCH_THEN_YAW

PITCH_THEN_YAW = <ROTATION_ORDER.PITCH_THEN_YAW: 1>

YAW_THEN_PITCH = <ROTATION_ORDER.YAW_THEN_PITCH: 0>

__init__(self: _cloudComPy.ROTATION_ORDER, value: int) → None

property name

property value

8.2. ccSensor

class cloudComPy.ccSensor

Bases: ccHObject

Generic sensor interface

Sensor information is provided in acquisition file with clouds, for instance in .e57 format files. 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).

See __init__ method for constructor.

ComputeScatteringAngles(self: _cloudComPy.ccSensor, cloud: _cloudComPy.ccPointCloud = None, toDegreeFlag: bool = True) → None

Compute scattering angles for this sensor. The result is a new or updated scalar field on the cloud.

Parameters:

cloud (ccPointCloud,optional) – cloud on which the scattering angles are computed, default parent point cloud
toDegreeFlag (bool,optional) – whether to convert angles in degrees or leave in radians, default True

__init__(self: _cloudComPy.ccSensor, arg0: QString) → None

ccSensor constructor

Parameters:: name (string) – sensor name.

addPosition(self: _cloudComPy.ccSensor, arg0: _cloudComPy.ccGLMatrix) → bool

Adds a new position

Parameters:: trans (ccGLMatrix) – transformation matrix associated to the new position.
Returns:: success
Return type:: bool

getGraphicScale(self: _cloudComPy.ccSensor) → float

Returns the sensor graphic representation scale

Returns:: the sensor graphic representation scale
Return type:: float

getRigidTransformation(self: _cloudComPy.ccSensor) → _cloudComPy.ccGLMatrix

Returns the rigid transformation between this sensor and its associated positions

Returns:: a rigid transformation
Return type:: ccGLMatrix

getType(self: _cloudComPy.ccSensor) → _cloudComPy.CC_SENSOR_TYPE

Returns the Sensor type, from CC_SENSOR_TYPE. Possibles values are UNKNOWN_SENSOR or GROUND_BASED_LIDAR

Returns:: Sensor type
Return type:: CC_SENSOR_TYPE

setGraphicScale(self: _cloudComPy.ccSensor, arg0: float) → None

Sets the sensor graphic representation scale

Parameters:: scale (float) – graphic representation scale

setRigidTransformation(self: _cloudComPy.ccSensor, arg0: _cloudComPy.ccGLMatrix) → None

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

Parameters:: mat (ccGLMatrix) – transformation matrix.

class cloudComPy.CC_SENSOR_TYPE

Members:

UNKNOWN_SENSOR

GROUND_BASED_LIDAR

GROUND_BASED_LIDAR = <CC_SENSOR_TYPE.GROUND_BASED_LIDAR: 1>

UNKNOWN_SENSOR = <CC_SENSOR_TYPE.UNKNOWN_SENSOR: 0>

__init__(self: _cloudComPy.CC_SENSOR_TYPE, value: int) → None

property name

property value