#include <ScanPoint.hpp>

Public Types
enum	Flags { FlagGround = 0x0001, FlagDirt = 0x0002, FlagRain = 0x0004, FlagThresholdSwitching = 0x0010, FlagReflector = 0x0020, FlagLeftCovered = 0x0100, FlagRightCovered = 0x0200, FlagBackground = 0x0400, FlagMarker = 0x0800, FlagTransparent = 0x1000, MaskInvalid = FlagGround \| FlagDirt \| FlagRain \| FlagBackground, MaskCovered = FlagLeftCovered \| FlagRightCovered }

Public Member Functions
void	addCartesianOffset (double xOffset, double yOffset, double zOffset)

void	addPolarOffset (double distOffset, double hAngleOffset, double vAngleOffset)

void	clear ()

double	getDist () const

double	getDist (const ScanPoint &other) const
	Returns the distance between this and the given other scanpoint, in [m]. More...

double	getDist2D (const ScanPoint &other) const
	Returns the two-dimensional distance between this and the given other scanpoint, in [m]. More...

UINT8	getEchoNum () const

double	getEchoWidth () const

UINT16	getFlags () const

double	getHAngle () const

UINT8	getLayer () const

UINT8	getSourceId () const

double	getVAngle () const

double	getX () const

double	getY () const

double	getZ () const

bool	isBackground () const
	Checks if the scan point is labeled as background. More...

bool	isDirt () const
	Checks if the scan point is labeled as dirt. More...

bool	isGround () const
	Checks if the scan point is labeled as ground. More...

bool	isLeftCovered () const
	Checks if the "left covered" flag is set. More...

bool	isMarked () const
	Checks if the marker is set. More...

bool	isRain () const
	Checks if the scan point is labeled as rain. More...

bool	isReflector () const
	Checks if the reflector flag is set. More...

bool	isRightCovered () const
	Checks if the "right covered" flag is set. More...

bool	isThresholdSwitching () const
	Checks if the threshold switching flag is set. More...

bool	isTransparent () const
	Checks if there is at least one more echo behind this scan point (B or C echo) More...

bool	isValid () const
	Checks if the scan point is valid (no ground, dirt, or rain) More...

	ScanPoint ()

void	setBackground (bool isBackground=true)
	Labels the scan point as invalid because it is in the background area. More...

void	setCartesian (double x, double y, double z)

void	setDirt (bool isDirt=true)
	Labels the scan point as invalid because its an echo from dirt. More...

void	setEchoNum (UINT8 sub)

void	setEchoWidth (double echoWidth)
	Set the echo pulse width, typically in [m]. More...

void	setFlags (UINT16 flags)
	Sets the scan point flags directly. More...

void	setGround (bool isGround=true)
	Labels the scan point as invalid because it is an echo from the ground. More...

void	setLayer (UINT8 ch)

void	setLeftCovered (bool isLeftCovered=true)
	Labels the scan point: Left neighbour point may be covered. More...

void	setMarker (bool isMarked=true)
	Set or clear the "Marker" flag. More...

void	setNotCovered ()
	Remove cover status. More...

void	setPoint3D (const Point3D &pt)

void	setPolar (double dist, double hAngle, double vAngle)

void	setRain (bool isRain=true)
	Labels the scan point as invalid because its an echo from rain. More...

void	setReflector (bool isReflector=true)
	Labels the scan point: EPW is high enough to be a reflector. More...

void	setRightCovered (bool isRightCovered=true)
	Labels the scan point: Right neighbour point may be covered. More...

void	setSourceId (UINT8 id)

void	setValid ()
	Removes all scan status information. More...

Point2D	toPoint2D () const
	Returns the x and y coordinates as a Point2D structure. More...

Point3D	toPoint3D () const
	Returns the x,y,z coordinates as a Point3D structure. More...

std::string	toString () const

Static Public Member Functions
static double	getDistanceBetweenScanpoints (const ScanPoint &pt1, const ScanPoint &pt2)

Protected Attributes
UINT8	m_channel

double	m_dist

double	m_echoWidth

UINT16	m_flags

double	m_hAngle

UINT8	m_sourceId

UINT8	m_subchannel

double	m_vAngle

double	m_x

double	m_y

double	m_z

Private Member Functions
void	updateCartesian ()
	Compute Cartesian coordinates from the current polar coordinates. More...

void	updatePolar ()
	Compute polar coordinates from the current Cartesian coordinates. More...

Friends
bool	operator== (const ScanPoint &, const ScanPoint &)
	Equality predicate. More...

Detailed Description

Definition at line 36 of file ScanPoint.hpp.

Member Enumeration Documentation

enum datatypes::ScanPoint::Flags

Enumerator
FlagGround	Invalid scan point, echo from ground.
FlagDirt	Invalid scan point, echo from dirt.
FlagRain	Invalid scan point, echo from rain drop.
FlagThresholdSwitching	Old: Scan point was measured in a shot with threshold switching (earlier FPGA versions) Scan point was measured using the higher threshold (since FGPA version 8.0.08)
FlagReflector	EPW of scan point is high enough to be a reflector.
FlagLeftCovered	Left neighbour point may be covered.
FlagRightCovered	Right neighbour point may be covered.
FlagBackground	Point has been recognized as background and should not be used in the tracking anymore.
FlagMarker	Point is "marked" (see above)
FlagTransparent	There is at least one more echo behind this scan point (B or C echo)
MaskInvalid	All flags of invalid scan points.
MaskCovered	All coverage flags.

Definition at line 48 of file ScanPoint.hpp.

Constructor & Destructor Documentation

datatypes::ScanPoint::ScanPoint ( )

Definition at line 22 of file ScanPoint.cpp.

Member Function Documentation

void datatypes::ScanPoint::addCartesianOffset	(	double	xOffset,
		double	yOffset,
		double	zOffset
	)

Definition at line 137 of file ScanPoint.cpp.

void datatypes::ScanPoint::addPolarOffset	(	double	distOffset,
		double	hAngleOffset,
		double	vAngleOffset
	)

Useful e.g. to add the horizontal and vertical angle offsets of the mounting position of a laserscanner.

Parameters

distOffset	Radial offset in meters
hAngleOffset	Horizontal (yaw) angle offset in radians. The resulting angle will be normalized into the interval [-pi,+pi).
vAngleOffset	Vertical (pitch) angle offset in radians. The resulting angle will be normalized into the interval [-pi,+pi).

Definition at line 158 of file ScanPoint.cpp.

void datatypes::ScanPoint::clear ( )

Definition at line 26 of file ScanPoint.cpp.

double datatypes::ScanPoint::getDist ( ) const

inline

Definition at line 93 of file ScanPoint.hpp.

double datatypes::ScanPoint::getDist ( const ScanPoint & other ) const

Returns the distance between this and the given other scanpoint, in [m].

This method calculates the actual three-dimensional distance in x,y,z. dist2D() uses only x and y.

Definition at line 73 of file ScanPoint.cpp.

double datatypes::ScanPoint::getDist2D ( const ScanPoint & other ) const

Returns the two-dimensional distance between this and the given other scanpoint, in [m].

This method calculates the distance only in x and y coordinates; the z dimension is ignored. dist() uses all three dimensions.

Definition at line 83 of file ScanPoint.cpp.

double datatypes::ScanPoint::getDistanceBetweenScanpoints	(	const ScanPoint &	pt1,
		const ScanPoint &	pt2
	)

static

Returns the distance, in [m], between the two 3d-scanpoint coordinates.

Definition at line 68 of file ScanPoint.cpp.

UINT8 datatypes::ScanPoint::getEchoNum ( ) const

inline

Definition at line 101 of file ScanPoint.hpp.

double datatypes::ScanPoint::getEchoWidth ( ) const

inline

Definition at line 97 of file ScanPoint.hpp.

UINT16 datatypes::ScanPoint::getFlags ( ) const

inline

Definition at line 98 of file ScanPoint.hpp.

double datatypes::ScanPoint::getHAngle ( ) const

inline

Definition at line 94 of file ScanPoint.hpp.

UINT8 datatypes::ScanPoint::getLayer ( ) const

inline

Definition at line 100 of file ScanPoint.hpp.

UINT8 datatypes::ScanPoint::getSourceId ( ) const

inline

Definition at line 99 of file ScanPoint.hpp.

double datatypes::ScanPoint::getVAngle ( ) const

inline

Definition at line 95 of file ScanPoint.hpp.

double datatypes::ScanPoint::getX ( ) const

inline

Definition at line 89 of file ScanPoint.hpp.

double datatypes::ScanPoint::getY ( ) const

inline

Definition at line 90 of file ScanPoint.hpp.

double datatypes::ScanPoint::getZ ( ) const

inline

Definition at line 91 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isBackground ( ) const

inline

Checks if the scan point is labeled as background.

Definition at line 110 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isDirt ( ) const

inline

Checks if the scan point is labeled as dirt.

Definition at line 112 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isGround ( ) const

inline

Checks if the scan point is labeled as ground.

Definition at line 108 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isLeftCovered ( ) const

inline

Checks if the "left covered" flag is set.

Definition at line 116 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isMarked ( ) const

inline

Checks if the marker is set.

Definition at line 106 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isRain ( ) const

inline

Checks if the scan point is labeled as rain.

Definition at line 114 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isReflector ( ) const

inline

Checks if the reflector flag is set.

Definition at line 120 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isRightCovered ( ) const

inline

Checks if the "right covered" flag is set.

Definition at line 118 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isThresholdSwitching ( ) const

inline

Checks if the threshold switching flag is set.

Definition at line 122 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isTransparent ( ) const

inline

Checks if there is at least one more echo behind this scan point (B or C echo)

Definition at line 124 of file ScanPoint.hpp.

bool datatypes::ScanPoint::isValid ( ) const

inline

Checks if the scan point is valid (no ground, dirt, or rain)

Definition at line 104 of file ScanPoint.hpp.

void datatypes::ScanPoint::setBackground ( bool isBackground = true )

inline

Labels the scan point as invalid because it is in the background area.

Definition at line 185 of file ScanPoint.hpp.

void datatypes::ScanPoint::setCartesian	(	double	x,
		double	y,
		double	z
	)

Equivalent polar coordinates are computed on the fly.

Parameters

x	x-coordinate in meters
y	y-coordinate in meters
z	z-coordinate in meters

Definition at line 45 of file ScanPoint.cpp.

void datatypes::ScanPoint::setDirt ( bool isDirt = true )

inline

Labels the scan point as invalid because its an echo from dirt.

Definition at line 201 of file ScanPoint.hpp.

void datatypes::ScanPoint::setEchoNum ( UINT8 sub )

inline

Definition at line 169 of file ScanPoint.hpp.

void datatypes::ScanPoint::setEchoWidth ( double echoWidth )

Set the echo pulse width, typically in [m].

The resolution of the echo width is reduced in the same way as compressMeters() does. This is to ensure that compressed replay data is the same as uncompressed live data.

Definition at line 237 of file ScanPoint.cpp.

void datatypes::ScanPoint::setFlags ( UINT16 flags )

inline

Sets the scan point flags directly.

Definition at line 172 of file ScanPoint.hpp.

void datatypes::ScanPoint::setGround ( bool isGround = true )

inline

Labels the scan point as invalid because it is an echo from the ground.

Definition at line 193 of file ScanPoint.hpp.

void datatypes::ScanPoint::setLayer ( UINT8 ch )

inline

Definition at line 168 of file ScanPoint.hpp.

void datatypes::ScanPoint::setLeftCovered ( bool isLeftCovered = true )

inline

Labels the scan point: Left neighbour point may be covered.

Definition at line 217 of file ScanPoint.hpp.

void datatypes::ScanPoint::setMarker ( bool isMarked = true )

inline

Set or clear the "Marker" flag.

Definition at line 177 of file ScanPoint.hpp.

void datatypes::ScanPoint::setNotCovered ( )

inline

Remove cover status.

Definition at line 233 of file ScanPoint.hpp.

void datatypes::ScanPoint::setPoint3D ( const Point3D & pt )

Equivalent polar coordinates are computed on the fly.

Parameters

pt	Point coordinates in [m]

Definition at line 59 of file ScanPoint.cpp.

void datatypes::ScanPoint::setPolar	(	double	dist,
		double	hAngle,
		double	vAngle
	)

Equivalent Cartesian coordinates are computed on the fly.

Parameters

dist	Radial distance in meters
hAngle	Horizontal/azimuth angle in radians. The angle will be normalized into the interval [-pi,+pi).
vAngle	Vertical/elevation angle in radians. The angle will be normalized into the interval [-pi,+pi).

Definition at line 106 of file ScanPoint.cpp.

void datatypes::ScanPoint::setRain ( bool isRain = true )

inline

Labels the scan point as invalid because its an echo from rain.

Definition at line 209 of file ScanPoint.hpp.

void datatypes::ScanPoint::setReflector ( bool isReflector = true )

inline

Labels the scan point: EPW is high enough to be a reflector.

Definition at line 236 of file ScanPoint.hpp.

void datatypes::ScanPoint::setRightCovered ( bool isRightCovered = true )

inline

Labels the scan point: Right neighbour point may be covered.

Definition at line 225 of file ScanPoint.hpp.

void datatypes::ScanPoint::setSourceId ( UINT8 id )

inline

Definition at line 166 of file ScanPoint.hpp.

void datatypes::ScanPoint::setValid ( )

inline

Removes all scan status information.

Definition at line 245 of file ScanPoint.hpp.

Point2D datatypes::ScanPoint::toPoint2D ( ) const

Returns the x and y coordinates as a Point2D structure.

Definition at line 123 of file ScanPoint.cpp.

Point3D datatypes::ScanPoint::toPoint3D ( ) const

Returns the x,y,z coordinates as a Point3D structure.

Definition at line 116 of file ScanPoint.cpp.

std::string datatypes::ScanPoint::toString ( ) const

Definition at line 243 of file ScanPoint.cpp.

void datatypes::ScanPoint::updateCartesian ( )

private

Compute Cartesian coordinates from the current polar coordinates.

This method is called when the polar coordinates have changed, to keep polar and Cartesian coordinates consistent.

Note: Note that up to 6. June 2009, a negative vertical angle resulted in a neg. z component which was incorrect. Now, the resulting z component is positive to comply with DIN 70000.

Definition at line 217 of file ScanPoint.cpp.

void datatypes::ScanPoint::updatePolar ( )

private

Compute polar coordinates from the current Cartesian coordinates.

This method is called when the Cartesian coordinates have changed, to keep polar and Cartesian coordinates consistent.

Moreover, since polar coordinates are redundant information, they are not part of the external representation of a scan point. Upon input, the polar coordinates are reconstructed using this method.

Note: Note that up to 6. June 2009, resulting vertical (pitch) angles from negative z components erroneously had a negative sign. Now, the resulting pitch angles are positive to comply with DIN 70000, i.e. positive pitch angles are pointing "downwards".

Definition at line 180 of file ScanPoint.cpp.

Friends And Related Function Documentation

bool operator==	(	const ScanPoint &	,
		const ScanPoint &
	)

friend

Equality predicate.

Definition at line 262 of file ScanPoint.cpp.

Member Data Documentation

UINT8 datatypes::ScanPoint::m_channel

protected

Definition at line 82 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_dist

protected

Definition at line 72 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_echoWidth

protected

Definition at line 77 of file ScanPoint.hpp.

UINT16 datatypes::ScanPoint::m_flags

protected

Definition at line 80 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_hAngle

protected

Definition at line 73 of file ScanPoint.hpp.

UINT8 datatypes::ScanPoint::m_sourceId

protected

Definition at line 81 of file ScanPoint.hpp.

UINT8 datatypes::ScanPoint::m_subchannel

protected

Definition at line 83 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_vAngle

protected

Definition at line 74 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_x

protected

Definition at line 67 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_y

protected

Definition at line 68 of file ScanPoint.hpp.

double datatypes::ScanPoint::m_z

protected

Definition at line 69 of file ScanPoint.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation