Primary class for terrestrial LiDAR scan. More...

#include <LiDAR.h>

Public Member Functions
	LiDARcloud ()
	LiDAR point cloud constructor.

	~LiDARcloud ()
	LiDAR point cloud destructor.

void	validateRayDirections ()

void	disableMessages ()
	Disable all print messages to the screen except for fatal error messages.

void	enableMessages ()
	Enable all print messages to the screen.

void	initializeCollisionDetection (helios::Context *context)
	Initialize collision detection plugin for unified ray-tracing (called automatically when needed)

void	performUnifiedRayTracing (helios::Context context, size_t N, int Npulse, helios::vec3 ray_origins, helios::vec3 direction, float hit_t, float hit_fnorm, int hit_ID)
	Perform unified ray-tracing using collision detection plugin (replaces CUDA kernels)

uint	getScanCount ()
	Get number of scans in point cloud.

uint	addScan (ScanMetadata &newscan)
	Add a LiDAR scan to the point cloud.

void	addHitPoint (uint scanID, const helios::vec3 &xyz, const helios::SphericalCoord &direction)
	Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

void	addHitPoint (uint scanID, const helios::vec3 &xyz, const helios::SphericalCoord &direction, const helios::RGBcolor &color)
	Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

void	addHitPoint (uint scanID, const helios::vec3 &xyz, const helios::SphericalCoord &direction, const std::map< std::string, double > &data)
	Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

void	addHitPoint (uint scanID, const helios::vec3 &xyz, const helios::SphericalCoord &direction, const helios::RGBcolor &color, const std::map< std::string, double > &data)
	Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

void	addHitPoint (uint scanID, const helios::vec3 &xyz, const helios::int2 &row_column, const helios::RGBcolor &color, const std::map< std::string, double > &data)
	Specify a scan point as a hit by providing the (x,y,z) coordinates and row,column in scan table.

void	deleteHitPoint (uint index)
	Delete a hit point in the scan.

uint	getHitCount () const
	Get the number of hit points in the point cloud.

helios::vec3	getScanOrigin (uint scanID) const
	Get the (x,y,z) scan origin.

uint	getScanSizeTheta (uint scanID) const
	Get the number of scan points in the theta (zenithal) direction.

uint	getScanSizePhi (uint scanID) const
	Get the number of scan points in the phi (azimuthal) direction.

helios::vec2	getScanRangeTheta (uint scanID) const
	Get the range of scan directions in the theta (zenithal) direction.

helios::vec2	getScanRangePhi (uint scanID) const
	Get the range of scan directions in the phi (azimuthal) direction.

float	getScanBeamExitDiameter (uint scanID) const
	Get the diameter of the laser beam at exit from the instrument.

std::vector< std::string >	getScanColumnFormat (uint scanID) const
	Get the labels for columns in ASCII input/output file.

float	getScanBeamDivergence (uint scanID) const
	Divergence angle of the laser beam in radians.

helios::vec3	getHitXYZ (uint index) const
	Get (x,y,z) coordinate of hit point by index.

helios::SphericalCoord	getHitRaydir (uint index) const
	Get ray direction of hit point in the scan based on its index.

double	getHitData (uint index, const char *label) const
	Get floating point data value associated with a hit point.

void	setHitData (uint index, const char *label, double value)
	Set floating point data value associated with a hit point.

bool	doesHitDataExist (uint index, const char *label) const
	Check if scalar data exists for a hit point.

helios::RGBcolor	getHitColor (uint index) const
	Get color of hit point.

int	getHitScanID (uint index) const
	Get the scan with which a hit is associated.

int	getHitIndex (uint scanID, uint row, uint column) const
	Get the index of a scan point based on its row and column in the hit table.

int	getHitGridCell (uint index) const
	Get the grid cell in which the hit point resides.

void	setHitGridCell (uint index, int cell)
	Set the grid cell in which the hit point resides.

void	coordinateShift (const helios::vec3 &shift)
	Apply a translation to all points in the point cloud.

void	coordinateShift (uint scanID, const helios::vec3 &shift)
	Apply a translation to all points in a given scan.

void	coordinateRotation (const helios::SphericalCoord &rotation)
	Rotate all points in the point cloud about the origin.

void	coordinateRotation (uint scanID, const helios::SphericalCoord &rotation)
	Rotate all points in the point cloud about the origin.

void	coordinateRotation (float rotation, const helios::vec3 &line_base, const helios::vec3 &line_direction)
	Rotate all points in the point cloud about an arbitrary line.

uint	getTriangleCount () const
	Get the number of triangles formed by the triangulation.

Triangulation	getTriangle (uint index) const
	Get hit point corresponding to first vertex of triangle.

void	loadXML (const char *filename)
	Read an XML file containing scan information.

void	loadXML (const char *filename, bool load_grid_only)
	Read an XML file containing scan information.

size_t	loadASCIIFile (uint scanID, const std::string &ASCII_data_file)
	Load point cloud data from a tabular ASCII text file into an existing scan.

void	exportTriangleNormals (const char *filename)
	Export to file the normal vectors (nx,ny,nz) for all triangles formed.

void	exportTriangleNormals (const char *filename, int gridcell)
	Export to file the normal vectors (nx,ny,nz) for triangles formed within a single gridcell.

void	exportTriangleAreas (const char *filename)
	Export to file the area of all triangles formed.

void	exportTriangleAreas (const char *filename, int gridcell)
	Export to file the area of all triangles formed within a single grid cell.

void	exportTriangleInclinationDistribution (const char *filename, uint Nbins)

void	exportTriangleAzimuthDistribution (const char *filename, uint Nbins)

void	exportLeafAreas (const char *filename)
	Export to file the leaf area within each grid cell. Lines of the file correspond to each grid cell.

void	exportLeafAreaDensities (const char *filename)
	Export to file the leaf area density within each grid cell. Lines of the file correspond to each grid cell.

void	exportGtheta (const char *filename)
	Export to file the G(theta) value within each grid cell. Lines of the file correspond to each grid cell.

void	exportPointCloud (const char *filename)
	Export to file all points in the point cloud to an ASCII text file following the column format specified by the <ASCII_format></ASCII_format> tag in the scan XML file.

void	exportPointCloud (const char *filename, uint scanID)
	Export to file all points from a given scan to an ASCII text file following the column format specified by the <ASCII_format></ASCII_format> tag in the scan XML file.

void	exportPointCloudPTX (const char *filename, uint scanID)
	Export to file all points from a given scan to PTX file.

void	addHitsToVisualizer (Visualizer *visualizer, uint pointsize) const
	Add all hit points to the visualizer plug-in, and color them by their r-g-b color.

void	addHitsToVisualizer (Visualizer *visualizer, uint pointsize, const helios::RGBcolor &point_color) const
	Add all hit points to the visualizer plug-in, and color them by a specified r-g-b color.

void	addHitsToVisualizer (Visualizer visualizer, uint pointsize, const char color_value) const
	Add all hit points to the visualizer plug-in, and color them by a hit scalar data value.

void	addGridToVisualizer (Visualizer *visualizer) const
	Add all grid cells to the visualizer plug-in.

void	addGridWireFrametoVisualizer (Visualizer *visualizer, float linewidth_pixels=1.0f) const
	Add wire frame of the grid to the visualizer plug-in.

void	addGrid (const helios::vec3 &center, const helios::vec3 &size, const helios::int3 &ndiv, float rotation)
	Add a grid to point cloud instead of reading in from an xml file.

void	addTrianglesToVisualizer (Visualizer *visualizer) const
	Add all triangles to the visualizer plug-in, and color them by their r-g-b color.

void	addTrianglesToVisualizer (Visualizer *visualizer, uint gridcell) const
	Add triangles within a given grid cell to the visualizer plug-in, and color them by their r-g-b color.

void	addLeafReconstructionToVisualizer (Visualizer *visualizer) const
	Add reconstructed leaves (triangles or alpha masks) to the visualizer plug-in.

void	addTrunkReconstructionToVisualizer (Visualizer *visualizer) const
	Add trunk reconstruction to the visualizer plug-in. Colors reconstructed triangles by hit point color.

void	addTrunkReconstructionToVisualizer (Visualizer *visualizer, const helios::RGBcolor &trunk_color) const
	Add trunk reconstruction to the visualizer plug-in.

std::vector< uint >	addLeafReconstructionToContext (helios::Context *context) const
	Add reconstructed leaves (texture-masked patches) to the Context.

std::vector< uint >	addLeafReconstructionToContext (helios::Context *context, const helios::int2 &subpatches) const
	Add reconstructed leaves (texture-masked patches) to the Context with leaves divided into sub-patches (tiled)

std::vector< uint >	addReconstructedTriangleGroupsToContext (helios::Context *context) const
	Add triangle groups used in the direct reconstruction to the Context.

std::vector< uint >	addTrunkReconstructionToContext (helios::Context *context) const
	Add reconstructed trunk triangles to the Context.

void	getHitBoundingBox (helios::vec3 &boxmin, helios::vec3 &boxmax) const
	Form an axis-aligned bounding box for all hit points in the point cloud.

void	getGridBoundingBox (helios::vec3 &boxmin, helios::vec3 &boxmax) const
	Form an axis-aligned bounding box for all grid cells in the point cloud.

void	distanceFilter (float maxdistance)
	Filter scan by imposing a maximum distance from the scanner.

void	xyzFilter (float xmin, float xmax, float ymin, float ymax, float zmin, float zmax)
	overloaded version of xyzFilter that defaults to deleting points outside the provided bounding box

void	xyzFilter (float xmin, float xmax, float ymin, float ymax, float zmin, float zmax, bool deleteOutside)
	Filter scan with a bounding box.

void	reflectanceFilter (float minreflectance)
	Filter scan by imposing a minimum reflectance value.

void	scalarFilter (const char scalar_field, float threshold, const char comparator)
	Filter hit points based on a scalar field given by a column in the ASCII data.

void	maxPulseFilter (const char *scalar)
	Filter full-waveform data according to the maximum scalar value along each pulse. Any scalar value can be used, provided it is a field in the hit point data file. The resulting point cloud will have only one hit point per laser pulse.

void	minPulseFilter (const char *scalar)
	Filter full-waveform data according to the minimum scalar value along each pulse. Any scalar value can be used, provided it is a field in the hit point data file. The resulting point cloud will have only one hit point per laser pulse.

void	firstHitFilter ()
	Filter full-waveform data to include only the first hit per laser pulse. The resulting point cloud will have only one hit point per laser pulse (first hits).

void	lastHitFilter ()
	Filter full-waveform data to include only the last hit per laser pulse. The resulting point cloud will have only one hit point per laser pulse (last hits).

void	triangulateHitPoints (float Lmax, float max_aspect_ratio)
	Perform triangulation on all hit points in point cloud.

void	triangulateHitPoints (float Lmax, float max_aspect_ratio, const char scalar_field, float threshold, const char comparator)
	Perform triangulation on hit points in point cloud that meet some filtering criteria based on scalar data.

void	addTrianglesToContext (helios::Context *context) const
	Add triangle geometry to Helios context.

uint	getGridCellCount () const
	Get the number of cells in the grid.

void	addGridCell (const helios::vec3 &center, const helios::vec3 &size, float rotation)
	Add a cell to the grid.

void	addGridCell (const helios::vec3 &center, const helios::vec3 &global_anchor, const helios::vec3 &size, const helios::vec3 &global_size, float rotation, const helios::int3 &global_ijk, const helios::int3 &global_count)
	Add a cell to the grid, where the cell is part of a larger global rectangular grid.

helios::vec3	getCellCenter (uint index) const
	Get the (x,y,z) coordinate of a grid cell by its index.

helios::vec3	getCellGlobalAnchor (uint index) const
	Get the (x,y,z) coordinate of a grid global anchor by its index.

helios::vec3	getCellSize (uint index) const
	Get the size of a grid cell by its index.

float	getCellRotation (uint index) const
	Get the size of a grid cell by its index.

void	syntheticScan (helios::Context *context)
	Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

void	syntheticScan (helios::Context *context, bool append)
	Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

void	syntheticScan (helios::Context *context, bool scan_grid_only, bool record_misses)
	Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

void	syntheticScan (helios::Context *context, bool scan_grid_only, bool record_misses, bool append)
	Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

void	syntheticScan (helios::Context *context, int rays_per_pulse, float pulse_distance_threshold)
	Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

void	syntheticScan (helios::Context *context, int rays_per_pulse, float pulse_distance_threshold, bool append)
	Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

void	syntheticScan (helios::Context *context, int rays_per_pulse, float pulse_distance_threshold, bool scan_grid_only, bool record_misses)
	Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

void	syntheticScan (helios::Context *context, int rays_per_pulse, float pulse_distance_threshold, bool scan_grid_only, bool record_misses, bool append)
	Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

std::vector< float >	calculateSyntheticLeafArea (helios::Context *context)
	Calculate the surface area of all primitives in the context.

std::vector< float >	calculateSyntheticGtheta (helios::Context *context)
	Calculate the G(theta) of all primitives in the context.

void	setCellLeafArea (float area, uint index)
	Set the leaf area of a grid cell in m^2.

float	getCellLeafArea (uint index) const
	Get the leaf area of a grid cell in m^2.

float	getCellLeafAreaDensity (uint index) const
	Get the leaf area density of a grid cell in 1/m.

void	setCellGtheta (float Gtheta, uint index)
	Set the average G(theta) value of a grid cell.

float	getCellGtheta (uint index) const
	Get the G(theta) of a grid cell.

std::vector< helios::vec3 >	gapfillMisses ()
	For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points for all scans. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

std::vector< helios::vec3 >	gapfillMisses (uint scanID)
	For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

std::vector< helios::vec3 >	gapfillMisses (uint scanID, const bool gapfill_grid_only, const bool add_flags)
	For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

void	calculateLeafArea (helios::Context *context)
	Calculate the leaf area for each grid volume.

void	calculateLeafArea (helios::Context *context, int min_voxel_hits)
	Calculate the leaf area for each grid volume.

void	calculateLeafAreaGPU (helios::Context *context)
	Calculate the leaf area for each grid volume (DEPRECATED - use calculateLeafArea)

void	calculateLeafAreaGPU (helios::Context *context, int min_voxel_hits)
	Calculate the leaf area for each grid volume (DEPRECATED - use calculateLeafArea)

void	enableGPUAcceleration ()
	Enable GPU acceleration in CollisionDetection plugin.

void	disableGPUAcceleration ()
	Disable GPU acceleration in CollisionDetection plugin (use CPU/OpenMP only)

void	calculateHitGridCell ()
	Determine which grid cell each hit point resides in.

void	leafReconstructionAlphaMask (float minimum_leaf_group_area, float maximum_leaf_group_area, float leaf_aspect_ratio, const char *mask_file)
	Perform a leaf reconstruction based on texture-masked Patches within each gridcell. The reconstruction produces Patches for each reconstructed leaf surface, with leaf size automatically estimated algorithmically.

void	leafReconstructionAlphaMask (float minimum_leaf_group_area, float maximum_leaf_group_area, float leaf_aspect_ratio, float leaf_length_constant, const char *mask_file)
	Perform a leaf reconstruction based on texture-masked Patches within each gridcell. The reconstruction produces Patches for each reconstructed leaf surface, with leaf size set to a constant value.

void	trunkReconstruction (const helios::vec3 &box_center, const helios::vec3 &box_size, float Lmax, float max_aspect_ratio)

std::vector< uint >	loadTreeQSM (helios::Context *context, const std::string &filename, uint radial_subdivisions, const std::string &texture_file="")
	Read a TreeQSM cylinder file and add tube objects to the context for each branch.

std::vector< uint >	loadTreeQSMColormap (helios::Context *context, const std::string &filename, uint radial_subdivisions, const std::string &colormap_name)
	Read a TreeQSM cylinder file and add tube objects to the context for each branch with colormap-based coloring.

void	cropBeamsToGridAngleRange (uint source)
	Delete hitpoints that do not pass through / intersect the voxel grid.

std::vector< uint >	peakFinder (std::vector< float > signal)
	find the indices of the peaks of a vector of floats

Static Public Member Functions
static int	selfTest (int argc=0, char **argv=nullptr)
	Self-test (unit test) function.

Detailed Description

Primary class for terrestrial LiDAR scan.

Definition at line 268 of file LiDAR.h.

Constructor & Destructor Documentation

◆ LiDARcloud()

LiDARcloud::LiDARcloud ( )

LiDAR point cloud constructor.

Definition at line 84 of file LiDAR.cpp.

◆ ~LiDARcloud()

LiDARcloud::~LiDARcloud ( void )

LiDAR point cloud destructor.

Definition at line 93 of file LiDAR.cpp.

Member Function Documentation

◆ addGrid()

void LiDARcloud::addGrid	(	const helios::vec3 &	center,
		const helios::vec3 &	size,
		const helios::int3 &	ndiv,
		float	rotation
	)

Add a grid to point cloud instead of reading in from an xml file.

Parameters

[in]	center	center of the grid.
[in]	size	Size of the grid in each dimension.
[in]	ndiv	number of cells in the grid in each dimension.
[in]	rotation	horizontal rotation in degrees.

Definition at line 699 of file LiDAR.cpp.

◆ addGridCell() [1/2]

void LiDARcloud::addGridCell	(	const helios::vec3 &	center,
		const helios::vec3 &	global_anchor,
		const helios::vec3 &	size,
		const helios::vec3 &	global_size,
		float	rotation,
		const helios::int3 &	global_ijk,
		const helios::int3 &	global_count
	)

Add a cell to the grid, where the cell is part of a larger global rectangular grid.

Parameters

[in]	center	(x,y,z) coordinate of grid center
[in]	global_anchor	(x,y,z) coordinate of grid global anchor, i.e., this is the 'center' coordinate entered in the xml file. If grid Nx=Ny=Nz=1, global_anchor=center
[in]	size	size of the grid cell in the x,y,z directions
[in]	global_size	size of the global grid in the x,y,z directions
[in]	rotation	rotation angle (in radians) of the grid cell about the z-axis
[in]	global_ijk	index within the global grid in the x,y,z directions
[in]	global_count	total number of cells in global grid in the x,y,z directions

Definition at line 2548 of file LiDAR.cpp.

◆ addGridCell() [2/2]

void LiDARcloud::addGridCell	(	const helios::vec3 &	center,
		const helios::vec3 &	size,
		float	rotation
	)

Add a cell to the grid.

Parameters

[in]	center	(x,y,z) coordinate of grid center.
[in]	size	size of the grid cell in the x,y,z directions.
[in]	rotation	rotation angle (in radians) of the grid cell about the z-axis.

Definition at line 2544 of file LiDAR.cpp.

◆ addGridToVisualizer()

void LiDARcloud::addGridToVisualizer ( Visualizer * visualizer ) const

Add all grid cells to the visualizer plug-in.

Parameters

[in] visualizer Pointer to the Visualizer plug-in object.

Definition at line 614 of file LiDAR.cpp.

◆ addGridWireFrametoVisualizer()

void LiDARcloud::addGridWireFrametoVisualizer	(	Visualizer *	visualizer,
		float	linewidth_pixels = `1.0f`
	)		const

Add wire frame of the grid to the visualizer plug-in.

Parameters

[in]	visualizer	Pointer to the Visualizer plug-in object.
[in]	linewidth_pixels	Width of the wire frame lines in pixels (default = 1.0).

Definition at line 739 of file LiDAR.cpp.

◆ addHitPoint() [1/5]

void LiDARcloud::addHitPoint	(	uint	scanID,
		const helios::vec3 &	xyz,
		const helios::int2 &	row_column,
		const helios::RGBcolor &	color,
		const std::map< std::string, double > &	data
	)

Specify a scan point as a hit by providing the (x,y,z) coordinates and row,column in scan table.

Parameters

[in]	scanID	ID of scan hit point to which hit point should be added.
[in]	xyz	(x,y,z) coordinates of hit point.
[in]	row_column	row (theta index) and column (phi index) for point in scan table
[in]	color	r-g-b color of the hit point
[in]	data	Map data structure containing floating point data values for the hit point. E.g., "reflectance" could be mapped to a value of 965.2.

◆ addHitPoint() [2/5]

void LiDARcloud::addHitPoint	(	uint	scanID,
		const helios::vec3 &	xyz,
		const helios::SphericalCoord &	direction
	)

Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

Parameters

[in]	scanID	ID of scan hit point to which hit point should be added.
[in]	xyz	(x,y,z) coordinates of hit point.
[in]	direction	Spherical coordinate corresponding to the scanner ray direction for the hit point.

Note: If only the (row,column) scan table coordinates are available, use ScanMetadata::rc2direction() to convert them to a spherical scan direction coordinate.

Definition at line 219 of file LiDAR.cpp.

◆ addHitPoint() [3/5]

void LiDARcloud::addHitPoint	(	uint	scanID,
		const helios::vec3 &	xyz,
		const helios::SphericalCoord &	direction,
		const helios::RGBcolor &	color
	)

Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

Parameters

[in]	scanID	ID of scan hit point to which hit point should be added.
[in]	xyz	(x,y,z) coordinates of hit point.
[in]	direction	Spherical coordinate corresponding to the scanner ray direction for the hit point.
[in]	color	r-g-b color of the hit point

Note: If only the (row,column) scan table coordinates are available, use ScanMetadata::rc2direction() to convert them to a spherical scan direction coordinate.

Definition at line 238 of file LiDAR.cpp.

◆ addHitPoint() [4/5]

void LiDARcloud::addHitPoint	(	uint	scanID,
		const helios::vec3 &	xyz,
		const helios::SphericalCoord &	direction,
		const helios::RGBcolor &	color,
		const std::map< std::string, double > &	data
	)

Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

Parameters

[in]	scanID	ID of scan hit point to which hit point should be added.
[in]	xyz	(x,y,z) coordinates of hit point.
[in]	direction	Spherical coordinate corresponding to the scanner ray direction for the hit point.
[in]	color	r-g-b color of the hit point
[in]	data	Map data structure containing floating point data values for the hit point. E.g., "reflectance" could be mapped to a value of 965.2.

◆ addHitPoint() [5/5]

void LiDARcloud::addHitPoint	(	uint	scanID,
		const helios::vec3 &	xyz,
		const helios::SphericalCoord &	direction,
		const std::map< std::string, double > &	data
	)

Specify a scan point as a hit by providing the (x,y,z) coordinates and scan ray direction.

Parameters

[in]	scanID	ID of scan hit point to which hit point should be added.
[in]	xyz	(x,y,z) coordinates of hit point.
[in]	direction	Spherical coordinate corresponding to the scanner ray direction for the hit point.
[in]	data	Map data structure containing floating point data values for the hit point. E.g., "reflectance" could be mapped to a value of 965.2.

◆ addHitsToVisualizer() [1/3]

void LiDARcloud::addHitsToVisualizer	(	Visualizer *	visualizer,
		uint	pointsize
	)		const

Add all hit points to the visualizer plug-in, and color them by their r-g-b color.

Parameters

[in]	visualizer	Pointer to the Visualizer plugin object.
[in]	pointsize	Size of scan point in font points.

Definition at line 538 of file LiDAR.cpp.

◆ addHitsToVisualizer() [2/3]

void LiDARcloud::addHitsToVisualizer	(	Visualizer *	visualizer,
		uint	pointsize,
		const char *	color_value
	)		const

Add all hit points to the visualizer plug-in, and color them by a hit scalar data value.

Parameters

[in]	visualizer	Pointer to the Visualizer plugin object.
[in]	pointsize	Size of scan point in font points.
[in]	color_value	Label for scalar hit data value to be used for coloring the points based on a pseudocolor mapping (e.g., "reflectance"). If the label does not exist, the function will print a warning and use the default color.

Definition at line 556 of file LiDAR.cpp.

◆ addHitsToVisualizer() [3/3]

void LiDARcloud::addHitsToVisualizer	(	Visualizer *	visualizer,
		uint	pointsize,
		const helios::RGBcolor &	point_color
	)		const

Add all hit points to the visualizer plug-in, and color them by a specified r-g-b color.

Parameters

[in]	visualizer	Pointer to the Visualizer plugin object.
[in]	pointsize	Size of scan point in font points.
[in]	point_color	r-g-b color of the hit points.

Definition at line 542 of file LiDAR.cpp.

◆ addLeafReconstructionToContext() [1/2]

std::vector< uint > LiDARcloud::addLeafReconstructionToContext ( helios::Context * context ) const

Add reconstructed leaves (texture-masked patches) to the Context.

Parameters

[in] context Pointer to the Helios context

Note: This function creates the following primitive data for each patch 1) "gridCell" which indicates the index of the gridcell that contains the patch, 2) "directFlag" which equals 1 if the leaf was part of the direct reconstruction, and 0 if the leaf was backfilled.

Definition at line 854 of file LiDAR.cpp.

◆ addLeafReconstructionToContext() [2/2]

std::vector< uint > LiDARcloud::addLeafReconstructionToContext	(	helios::Context *	context,
		const helios::int2 &	subpatches
	)		const

Add reconstructed leaves (texture-masked patches) to the Context with leaves divided into sub-patches (tiled)

Parameters

[in]	context	Pointer to the Helios context
[in]	subpatches	Number of leaf sub-patches (tiles) in the x- and y- directions.

Note: This function creates the following primitive data for each patch 1) "gridCell" which indicates the index of the gridcell that contains the patch, 2) "directFlag" which equals 1 if the leaf was part of the direct reconstruction, and 0 if the leaf was backfilled.

Definition at line 858 of file LiDAR.cpp.

◆ addLeafReconstructionToVisualizer()

void LiDARcloud::addLeafReconstructionToVisualizer ( Visualizer * visualizer ) const

Add reconstructed leaves (triangles or alpha masks) to the visualizer plug-in.

Parameters

[in] visualizer Pointer to the Visualizer plugin object.

Definition at line 770 of file LiDAR.cpp.

◆ addReconstructedTriangleGroupsToContext()

std::vector< uint > LiDARcloud::addReconstructedTriangleGroupsToContext ( helios::Context * context ) const

Add triangle groups used in the direct reconstruction to the Context.

Parameters

[in] context Pointer to the Helios context.

Note: This function creates primitive data called "leafGroup" which provides an identifier for each triangle based on the fill group it is in.

Definition at line 898 of file LiDAR.cpp.

◆ addScan()

uint LiDARcloud::addScan ( ScanMetadata & newscan )

Add a LiDAR scan to the point cloud.

Parameters

[in] newscan LiDAR scan data structure

Returns: ID for scan that was created

Definition at line 187 of file LiDAR.cpp.

◆ addTrianglesToContext()

void LiDARcloud::addTrianglesToContext ( helios::Context * context ) const

Add triangle geometry to Helios context.

Parameters

[in] context Pointer to Helios context

Definition at line 2523 of file LiDAR.cpp.

◆ addTrianglesToVisualizer() [1/2]

void LiDARcloud::addTrianglesToVisualizer ( Visualizer * visualizer ) const

Add all triangles to the visualizer plug-in, and color them by their r-g-b color.

Parameters

[in] visualizer Pointer to the Visualizer plug-in object.

Definition at line 667 of file LiDAR.cpp.

◆ addTrianglesToVisualizer() [2/2]

void LiDARcloud::addTrianglesToVisualizer	(	Visualizer *	visualizer,
		uint	gridcell
	)		const

Add triangles within a given grid cell to the visualizer plug-in, and color them by their r-g-b color.

Parameters

[in]	visualizer	Pointer to the Visualizer plugin object.
[in]	gridcell	Index of grid cell.

Definition at line 682 of file LiDAR.cpp.

◆ addTrunkReconstructionToContext()

std::vector< uint > LiDARcloud::addTrunkReconstructionToContext ( helios::Context * context ) const

Add reconstructed trunk triangles to the Context.

Parameters

[in] context Pointer to the Helios context

Definition at line 928 of file LiDAR.cpp.

◆ addTrunkReconstructionToVisualizer() [1/2]

void LiDARcloud::addTrunkReconstructionToVisualizer ( Visualizer * visualizer ) const

Add trunk reconstruction to the visualizer plug-in. Colors reconstructed triangles by hit point color.

Parameters

[in] visualizer Pointer to the Visualizer plugin object.

Definition at line 818 of file LiDAR.cpp.

◆ addTrunkReconstructionToVisualizer() [2/2]

void LiDARcloud::addTrunkReconstructionToVisualizer	(	Visualizer *	visualizer,
		const helios::RGBcolor &	trunk_color
	)		const

Add trunk reconstruction to the visualizer plug-in.

Parameters

[in]	visualizer	Pointer to the Visualizer plugin object.
[in]	trunk_color	r-g-b color of trunk.

Definition at line 837 of file LiDAR.cpp.

◆ calculateHitGridCell()

void LiDARcloud::calculateHitGridCell ( )

Determine which grid cell each hit point resides in.

Definition at line 4061 of file LiDAR.cpp.

◆ calculateLeafArea() [1/2]

void LiDARcloud::calculateLeafArea ( helios::Context * context )

Calculate the leaf area for each grid volume.

Parameters

[in] context Pointer to the Helios context

Definition at line 3595 of file LiDAR.cpp.

◆ calculateLeafArea() [2/2]

void LiDARcloud::calculateLeafArea	(	helios::Context *	context,
		int	min_voxel_hits
	)

Calculate the leaf area for each grid volume.

Parameters

[in]	context	Pointer to the Helios context
[in]	min_voxel_hits	Minimum number of allowable LiDAR hits per voxel

Definition at line 3599 of file LiDAR.cpp.

◆ calculateLeafAreaGPU() [1/2]

void LiDARcloud::calculateLeafAreaGPU ( helios::Context * context )

Calculate the leaf area for each grid volume (DEPRECATED - use calculateLeafArea)

Deprecated:: This function has been renamed to calculateLeafArea(). The GPU-specific implementation has been replaced with CollisionDetection plugin integration. Use calculateLeafArea() instead. For GPU acceleration, call enableCDGPUAcceleration() before calculateLeafArea().

Parameters

[in] context Pointer to the Helios context

Definition at line 4041 of file LiDAR.cpp.

◆ calculateLeafAreaGPU() [2/2]

void LiDARcloud::calculateLeafAreaGPU	(	helios::Context *	context,
		int	min_voxel_hits
	)

Calculate the leaf area for each grid volume (DEPRECATED - use calculateLeafArea)

Deprecated:: This function has been renamed to calculateLeafArea(). The GPU-specific implementation has been replaced with CollisionDetection plugin integration. Use calculateLeafArea() instead. For GPU acceleration, call enableCDGPUAcceleration() before calculateLeafArea().

Parameters

[in]	context	Pointer to the Helios context
[in]	min_voxel_hits	Minimum number of allowable LiDAR hits per voxel

Definition at line 4045 of file LiDAR.cpp.

◆ calculateSyntheticGtheta()

std::vector< float > LiDARcloud::calculateSyntheticGtheta ( helios::Context * context )

Calculate the G(theta) of all primitives in the context.

Parameters

[in] context Pointer to the Helios context

Definition at line 2591 of file LiDAR.cpp.

◆ calculateSyntheticLeafArea()

std::vector< float > LiDARcloud::calculateSyntheticLeafArea ( helios::Context * context )

Calculate the surface area of all primitives in the context.

Parameters

[in] context Pointer to the Helios context

Definition at line 4214 of file LiDAR.cpp.

◆ coordinateRotation() [1/3]

void LiDARcloud::coordinateRotation ( const helios::SphericalCoord & rotation )

Rotate all points in the point cloud about the origin.

Parameters

[in] rotation Spherical rotation angle

Definition at line 486 of file LiDAR.cpp.

◆ coordinateRotation() [2/3]

void LiDARcloud::coordinateRotation	(	float	rotation,
		const helios::vec3 &	line_base,
		const helios::vec3 &	line_direction
	)

Rotate all points in the point cloud about an arbitrary line.

Parameters

[in]	rotation	Spherical rotation angle
[in]	line_base	(x,y,z) coordinate of a point on the line about which points will be rotated
[in]	line_direction	Unit vector pointing in the direction of the line about which points will be rotated

Definition at line 514 of file LiDAR.cpp.

◆ coordinateRotation() [3/3]

void LiDARcloud::coordinateRotation	(	uint	scanID,
		const helios::SphericalCoord &	rotation
	)

Rotate all points in the point cloud about the origin.

Parameters

[in]	scanID	ID of scan to be shifted
[in]	rotation	Spherical rotation angle

Definition at line 498 of file LiDAR.cpp.

◆ coordinateShift() [1/2]

void LiDARcloud::coordinateShift ( const helios::vec3 & shift )

Apply a translation to all points in the point cloud.

Parameters

[in] shift Distance to translate in x-, y-, and z- direction

Definition at line 460 of file LiDAR.cpp.

◆ coordinateShift() [2/2]

void LiDARcloud::coordinateShift	(	uint	scanID,
		const helios::vec3 &	shift
	)

Apply a translation to all points in a given scan.

Parameters

[in]	scanID	ID of scan to be shifted
[in]	shift	Distance to translate in x-, y-, and z- direction

Definition at line 471 of file LiDAR.cpp.

◆ cropBeamsToGridAngleRange()

void LiDARcloud::cropBeamsToGridAngleRange ( uint source )

Delete hitpoints that do not pass through / intersect the voxel grid.

Parameters

[in] source the scan index

Definition at line 3197 of file LiDAR.cpp.

◆ deleteHitPoint()

void LiDARcloud::deleteHitPoint ( uint index )

Delete a hit point in the scan.

Parameters

[in] index Index of hit point in the point cloud

Definition at line 271 of file LiDAR.cpp.

◆ disableGPUAcceleration()

void LiDARcloud::disableGPUAcceleration ( )

Disable GPU acceleration in CollisionDetection plugin (use CPU/OpenMP only)

Definition at line 4055 of file LiDAR.cpp.

◆ disableMessages()

void LiDARcloud::disableMessages ( )

Disable all print messages to the screen except for fatal error messages.

Definition at line 97 of file LiDAR.cpp.

◆ distanceFilter()

void LiDARcloud::distanceFilter ( float maxdistance )

Filter scan by imposing a maximum distance from the scanner.

Parameters

[in] maxdistance Maximum hit point distance from scanner

Definition at line 1030 of file LiDAR.cpp.

◆ doesHitDataExist()

bool LiDARcloud::doesHitDataExist	(	uint	index,
		const char *	label
	)		const

Check if scalar data exists for a hit point.

Parameters

[in]	index	Hit number.
[in]	label	Label of the data value (e.g., "reflectance").

Definition at line 389 of file LiDAR.cpp.

◆ enableGPUAcceleration()

void LiDARcloud::enableGPUAcceleration ( )

Enable GPU acceleration in CollisionDetection plugin.

Definition at line 4049 of file LiDAR.cpp.

◆ enableMessages()

void LiDARcloud::enableMessages ( )

Enable all print messages to the screen.

Definition at line 154 of file LiDAR.cpp.

◆ exportGtheta()

void LiDARcloud::exportGtheta ( const char * filename )

Export to file the G(theta) value within each grid cell. Lines of the file correspond to each grid cell.

Parameters

[in] filename Name of file

Definition at line 793 of file fileIO.cpp.

◆ exportLeafAreaDensities()

void LiDARcloud::exportLeafAreaDensities ( const char * filename )

Export to file the leaf area density within each grid cell. Lines of the file correspond to each grid cell.

Parameters

[in] filename Name of file

Definition at line 773 of file fileIO.cpp.

◆ exportLeafAreas()

void LiDARcloud::exportLeafAreas ( const char * filename )

Export to file the leaf area within each grid cell. Lines of the file correspond to each grid cell.

Parameters

[in] filename Name of file

Definition at line 753 of file fileIO.cpp.

◆ exportPointCloud() [1/2]

void LiDARcloud::exportPointCloud ( const char * filename )

Export to file all points in the point cloud to an ASCII text file following the column format specified by the <ASCII_format></ASCII_format> tag in the scan XML file.

Parameters

[in] filename Name of file

Note: If there are multiple scans in the point cloud, each scan will be exported to a different file with the scan ID appended to the filename. This is because different scans may have a different column format.

Definition at line 813 of file fileIO.cpp.

◆ exportPointCloud() [2/2]

void LiDARcloud::exportPointCloud	(	const char *	filename,
		uint	scanID
	)

Export to file all points from a given scan to an ASCII text file following the column format specified by the <ASCII_format></ASCII_format> tag in the scan XML file.

Parameters

[in]	filename	Name of file
[in]	scanID	Identifier of scan to be exported

Definition at line 839 of file fileIO.cpp.

◆ exportPointCloudPTX()

void LiDARcloud::exportPointCloudPTX	(	const char *	filename,
		uint	scanID
	)

Export to file all points from a given scan to PTX file.

Parameters

[in]	filename	Name of file
[in]	scanID	Identifier of scan to be exported

Definition at line 925 of file fileIO.cpp.

◆ exportTriangleAreas() [1/2]

void LiDARcloud::exportTriangleAreas ( const char * filename )

Export to file the area of all triangles formed.

Parameters

[in] filename Name of file

Definition at line 576 of file fileIO.cpp.

◆ exportTriangleAreas() [2/2]

void LiDARcloud::exportTriangleAreas	(	const char *	filename,
		int	gridcell
	)

Export to file the area of all triangles formed within a single grid cell.

Parameters

[in]	filename	Name of file
[in]	gridcell	Index of gridcell to get triangles from

Definition at line 598 of file fileIO.cpp.

◆ exportTriangleAzimuthDistribution()

void LiDARcloud::exportTriangleAzimuthDistribution	(	const char *	filename,
		uint	Nbins
	)

Export to file discrete azimuthal angle probability distribution based on the triangulation. Azimuthal angles are between 0 and 360 degrees. The probability distribution is normalized such that the integral over all angles is 1. The value of each bin is written as a column in the output file; lines correspond to each voxel grid cell.

Parameters

[in]	filename	Name of file
[in]	Nbins	Number of bins to use for the histogram

Definition at line 684 of file fileIO.cpp.

◆ exportTriangleInclinationDistribution()

void LiDARcloud::exportTriangleInclinationDistribution	(	const char *	filename,
		uint	Nbins
	)

Export to file discrete area-weighted inclination angle probability distribution based on the triangulation. Inclination angles are between 0 and 90 degrees. The probability distribution is normalized such that the sine-weighted integral over all angles is 1. The value of each bin is written as a column in the output file; lines correspond to each voxel grid cell.

Parameters

[in]	filename	Name of file
[in]	Nbins	Number of bins to use for the histogram

Definition at line 623 of file fileIO.cpp.

◆ exportTriangleNormals() [1/2]

void LiDARcloud::exportTriangleNormals ( const char * filename )

Export to file the normal vectors (nx,ny,nz) for all triangles formed.

Parameters

[in] filename Name of file

Definition at line 515 of file fileIO.cpp.

◆ exportTriangleNormals() [2/2]

void LiDARcloud::exportTriangleNormals	(	const char *	filename,
		int	gridcell
	)

Export to file the normal vectors (nx,ny,nz) for triangles formed within a single gridcell.

Parameters

[in]	filename	Name of file
[in]	gridcell	Index of gridcell to get triangles from

Definition at line 544 of file fileIO.cpp.

◆ firstHitFilter()

void LiDARcloud::firstHitFilter ( )

Filter full-waveform data to include only the first hit per laser pulse. The resulting point cloud will have only one hit point per laser pulse (first hits).

Note: This function is only applicable for full-waveform data and requires that the scalar field "target_index" is provided in the hit point data file. The "target_index" values can start at 0 or 1 for first hits as long as it is consistent throughout the point cloud.

Definition at line 1295 of file LiDAR.cpp.

◆ gapfillMisses() [1/3]

std::vector< helios::vec3 > LiDARcloud::gapfillMisses ( )

For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points for all scans. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

Returns: (x,y,z) of missing points added to the scan from gapfilling

Definition at line 1386 of file LiDAR.cpp.

◆ gapfillMisses() [2/3]

std::vector< helios::vec3 > LiDARcloud::gapfillMisses ( uint scanID )

For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

Parameters

[in] scanID ID of scan to gapfill

Returns: (x,y,z) of missing points added to the scan from gapfilling

Definition at line 1395 of file LiDAR.cpp.

◆ gapfillMisses() [3/3]

std::vector< helios::vec3 > LiDARcloud::gapfillMisses	(	uint	scanID,
		const bool	gapfill_grid_only,
		const bool	add_flags
	)

For scans that are missing points (e.g., sky points), this function will attempt to fill in missing points. This increases the accuracy of LAD calculations because it makes sure all pulses are accounted for.

Parameters

[in]	scanID	ID of scan to gapfill
[in]	gapfill_grid_only	if true, missing points are gapfilled only within the axis-aligned bounding box of the voxel grid. If false missing points are gap filled across the range of phi and theta values specified in the scan xml file.
[in]	add_flags	if true, gapfillMisses_code is added as hitpoint data. 0 = original points, 1 = gapfilled, 2 = extrapolated at downward edge, 3 = extrapolated at upward edge

Returns: (x,y,z) of missing points added to the scan from gapfilling

Definition at line 1399 of file LiDAR.cpp.

◆ getCellCenter()

helios::vec3 LiDARcloud::getCellCenter ( uint index ) const

Get the (x,y,z) coordinate of a grid cell by its index.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2555 of file LiDAR.cpp.

◆ getCellGlobalAnchor()

helios::vec3 LiDARcloud::getCellGlobalAnchor ( uint index ) const

Get the (x,y,z) coordinate of a grid global anchor by its index.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2564 of file LiDAR.cpp.

◆ getCellGtheta()

float LiDARcloud::getCellGtheta ( uint index ) const

Get the G(theta) of a grid cell.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2695 of file LiDAR.cpp.

◆ getCellLeafArea()

float LiDARcloud::getCellLeafArea ( uint index ) const

Get the leaf area of a grid cell in m^2.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2666 of file LiDAR.cpp.

◆ getCellLeafAreaDensity()

float LiDARcloud::getCellLeafAreaDensity ( uint index ) const

Get the leaf area density of a grid cell in 1/m.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2675 of file LiDAR.cpp.

◆ getCellRotation()

float LiDARcloud::getCellRotation ( uint index ) const

Get the size of a grid cell by its index.

Parameters

[in] index Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2582 of file LiDAR.cpp.

◆ getCellSize()

helios::vec3 LiDARcloud::getCellSize ( uint index ) const

Get the size of a grid cell by its index.

 \param[in] index Index of a grid cell.  Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, an

d the last cell's index is Ncells-1.

Definition at line 2573 of file LiDAR.cpp.

◆ getGridBoundingBox()

void LiDARcloud::getGridBoundingBox	(	helios::vec3 &	boxmin,
		helios::vec3 &	boxmax
	)		const

Form an axis-aligned bounding box for all grid cells in the point cloud.

Parameters

[out]	boxmin	Coordinates of the bounding box vertex in the (-x,-y,-z) direction.
[out]	boxmax	Coordinates of the bounding box vertex in the (+x,+y,+z) direction.

Definition at line 986 of file LiDAR.cpp.

◆ getGridCellCount()

uint LiDARcloud::getGridCellCount ( void ) const

Get the number of cells in the grid.

Definition at line 2540 of file LiDAR.cpp.

◆ getHitBoundingBox()

void LiDARcloud::getHitBoundingBox	(	helios::vec3 &	boxmin,
		helios::vec3 &	boxmax
	)		const

Form an axis-aligned bounding box for all hit points in the point cloud.

Parameters

[out]	boxmin	Coordinates of the bounding box vertex in the (-x,-y,-z) direction.
[out]	boxmax	Coordinates of the bounding box vertex in the (+x,+y,+z) direction.

Definition at line 951 of file LiDAR.cpp.

◆ getHitColor()

RGBcolor LiDARcloud::getHitColor ( uint index ) const

Get color of hit point.

Parameters

[in] index Hit number

Definition at line 403 of file LiDAR.cpp.

◆ getHitCount()

uint LiDARcloud::getHitCount ( ) const

Get the number of hit points in the point cloud.

Definition at line 287 of file LiDAR.cpp.

◆ getHitData()

double LiDARcloud::getHitData	(	uint	index,
		const char *	label
	)		const

Get floating point data value associated with a hit point.

Parameters

[in]	index	Hit number.
[in]	label	Label of the data value (e.g., "reflectance").

Returns: Value of scalar data.

Definition at line 375 of file LiDAR.cpp.

◆ getHitGridCell()

int LiDARcloud::getHitGridCell ( uint index ) const

Get the grid cell in which the hit point resides.

Parameters

[in] index Hit number

Note: If the point does not reside in any grid cells, this function returns ‘-1’.; Calling this function requires that the function calculateHitGridCell[*]() has been called previously.

Definition at line 439 of file LiDAR.cpp.

◆ getHitIndex()

int LiDARcloud::getHitIndex	(	uint	scanID,
		uint	row,
		uint	column
	)		const

Get the index of a scan point based on its row and column in the hit table.

Parameters

[in]	scanID	ID of scan.
[in]	row	Row in the 2D scan data table (elevation angle).
[in]	column	Column in the 2D scan data table (azimuthal angle).

Note: If the point was not a hit, the function will return ‘-1’.

Definition at line 421 of file LiDAR.cpp.

◆ getHitRaydir()

helios::SphericalCoord LiDARcloud::getHitRaydir ( uint index ) const

Get ray direction of hit point in the scan based on its index.

Parameters

[in] index Hit number

Definition at line 356 of file LiDAR.cpp.

◆ getHitScanID()

int LiDARcloud::getHitScanID ( uint index ) const

Get the scan with which a hit is associated.

Parameters

[in] index Hit number

Definition at line 412 of file LiDAR.cpp.

◆ getHitXYZ()

helios::vec3 LiDARcloud::getHitXYZ ( uint index ) const

Get (x,y,z) coordinate of hit point by index.

Parameters

[in] index Hit number

Definition at line 347 of file LiDAR.cpp.

◆ getScanBeamDivergence()

float LiDARcloud::getScanBeamDivergence ( uint scanID ) const

Divergence angle of the laser beam in radians.

Parameters

[in] scanID ID of scan.

Returns: Divergence angle of the beam.

Definition at line 333 of file LiDAR.cpp.

◆ getScanBeamExitDiameter()

float LiDARcloud::getScanBeamExitDiameter ( uint scanID ) const

Get the diameter of the laser beam at exit from the instrument.

Parameters

[in] scanID ID of scan.

Returns: Diameter of the beam at exit.

Definition at line 326 of file LiDAR.cpp.

◆ getScanColumnFormat()

std::vector< std::string > LiDARcloud::getScanColumnFormat ( uint scanID ) const

Get the labels for columns in ASCII input/output file.

Parameters

[in] scanID ID of scan.

Definition at line 340 of file LiDAR.cpp.

◆ getScanCount()

uint LiDARcloud::getScanCount ( )

Get number of scans in point cloud.

Definition at line 183 of file LiDAR.cpp.

◆ getScanOrigin()

helios::vec3 LiDARcloud::getScanOrigin ( uint scanID ) const

Get the (x,y,z) scan origin.

Parameters

[in] scanID ID of scan.

Definition at line 291 of file LiDAR.cpp.

◆ getScanRangePhi()

helios::vec2 LiDARcloud::getScanRangePhi ( uint scanID ) const

Get the range of scan directions in the phi (azimuthal) direction.

Parameters

[in] scanID ID of scan.

Returns: vec2.x is the minimum scan azimuthal angle, and vec2.y is the maximum scan azimuthal angle, both in radians

Definition at line 319 of file LiDAR.cpp.

◆ getScanRangeTheta()

helios::vec2 LiDARcloud::getScanRangeTheta ( uint scanID ) const

Get the range of scan directions in the theta (zenithal) direction.

Parameters

[in] scanID ID of scan.

Returns: vec2.x is the minimum scan zenithal angle, and vec2.y is the maximum scan zenithal angle, both in radians

Definition at line 312 of file LiDAR.cpp.

◆ getScanSizePhi()

uint LiDARcloud::getScanSizePhi ( uint scanID ) const

Get the number of scan points in the phi (azimuthal) direction.

Parameters

[in] scanID ID of scan.

Definition at line 305 of file LiDAR.cpp.

◆ getScanSizeTheta()

uint LiDARcloud::getScanSizeTheta ( uint scanID ) const

Get the number of scan points in the theta (zenithal) direction.

Parameters

[in] scanID ID of scan.

Definition at line 298 of file LiDAR.cpp.

◆ getTriangle()

Triangulation LiDARcloud::getTriangle ( uint index ) const

Get hit point corresponding to first vertex of triangle.

Parameters

[in] index Triangulation index (0 thru Ntriangles-1)

Returns: Hit point index (0 thru Nhits-1)

Definition at line 530 of file LiDAR.cpp.

◆ getTriangleCount()

uint LiDARcloud::getTriangleCount ( ) const

Get the number of triangles formed by the triangulation.

Definition at line 526 of file LiDAR.cpp.

◆ initializeCollisionDetection()

void LiDARcloud::initializeCollisionDetection ( helios::Context * context )

Initialize collision detection plugin for unified ray-tracing (called automatically when needed)

Definition at line 101 of file LiDAR.cpp.

◆ lastHitFilter()

void LiDARcloud::lastHitFilter ( )

Filter full-waveform data to include only the last hit per laser pulse. The resulting point cloud will have only one hit point per laser pulse (last hits).

Note: This function is only applicable for full-waveform data and requires that the scalar fields "target_index" and "target_count" are provided in the hit point data file. The "target_index" values can start at 0 or 1 for first hits as long as it is consistent throughout the point cloud.

Definition at line 1335 of file LiDAR.cpp.

◆ leafReconstructionAlphaMask() [1/2]

void LiDARcloud::leafReconstructionAlphaMask	(	float	minimum_leaf_group_area,
		float	maximum_leaf_group_area,
		float	leaf_aspect_ratio,
		const char *	mask_file
	)

Perform a leaf reconstruction based on texture-masked Patches within each gridcell. The reconstruction produces Patches for each reconstructed leaf surface, with leaf size automatically estimated algorithmically.

Parameters

[in]	minimum_leaf_group_area	Minimum allowable area of leaf triangular fill groups. Leaf fill groups with total areas less than minimum_leaf_group_area are not considered in the reconstruction.
[in]	maximum_leaf_group_area	Maximum area of leaf triangular fill groups. Leaf fill groups with total areas greater than maximum_leaf_group_area are not considered in the reconstruction.
[in]	leaf_aspect_ratio	Ratio of length of leaf along midrib to with of leaf perpendicular to leaf midrib. This will generally be the length/width of leaf mask.
[in]	mask_file	Path to PNG image file to be used with Alpha Mask.

Definition at line 2797 of file LiDAR.cpp.

◆ leafReconstructionAlphaMask() [2/2]

void LiDARcloud::leafReconstructionAlphaMask	(	float	minimum_leaf_group_area,
		float	maximum_leaf_group_area,
		float	leaf_aspect_ratio,
		float	leaf_length_constant,
		const char *	mask_file
	)

Perform a leaf reconstruction based on texture-masked Patches within each gridcell. The reconstruction produces Patches for each reconstructed leaf surface, with leaf size set to a constant value.

Parameters

[in]	minimum_leaf_group_area	Minimum allowable area of leaf triangular fill groups. Leaf fill groups with total areas less than minimum_leaf_group_area are not considered in the reconstruction.
[in]	maximum_leaf_group_area	Maximum area of leaf triangular fill groups. Leaf fill groups with total areas greater than maximum_leaf_group_area are not considered in the reconstruction.
[in]	leaf_aspect_ratio	Ratio of length of leaf along midrib to with of leaf perpendicular to leaf midrib. This will generally be the length/width of leaf mask.
[in]	leaf_length_constant	Constant length of all reconstructed leaves.
[in]	mask_file	Path to PNG image file to be used with Alpha Mask.

Definition at line 2801 of file LiDAR.cpp.

◆ loadASCIIFile()

size_t LiDARcloud::loadASCIIFile	(	uint	scanID,
		const std::string &	ASCII_data_file
	)

Load point cloud data from a tabular ASCII text file into an existing scan.

Parameters

[in]	scanID	ID of the scan to which the point cloud data should be added.
[in]	ASCII_data_file	Metadata for point cloud data contained in the ASCII text file.

Returns: Number of points loaded from the file.

Definition at line 403 of file fileIO.cpp.

◆ loadTreeQSM()

std::vector< uint > LiDARcloud::loadTreeQSM	(	helios::Context *	context,
		const std::string &	filename,
		uint	radial_subdivisions,
		const std::string &	texture_file = `""`
	)

Read a TreeQSM cylinder file and add tube objects to the context for each branch.

Parameters

[in]	context	Pointer to the Helios context where tube objects will be added.
[in]	filename	Path to the TreeQSM cylinder text file.
[in]	radial_subdivisions	Number of radial subdivisions for the tube objects.
[in]	texture_file	Optional path to texture image file for the tube objects. If empty, tubes will be colored red.

Returns: Vector of tube object IDs that were created.

Definition at line 1003 of file fileIO.cpp.

◆ loadTreeQSMColormap()

std::vector< uint > LiDARcloud::loadTreeQSMColormap	(	helios::Context *	context,
		const std::string &	filename,
		uint	radial_subdivisions,
		const std::string &	colormap_name
	)

Read a TreeQSM cylinder file and add tube objects to the context for each branch with colormap-based coloring.

Parameters

[in]	context	Pointer to the Helios context where tube objects will be added.
[in]	filename	Path to the TreeQSM cylinder text file.
[in]	radial_subdivisions	Number of radial subdivisions for the tube objects.
[in]	colormap_name	Name of the Helios colormap to use for coloring branches (e.g., "hot", "cool", "rainbow").

Returns: Vector of tube object UUIDs that were created.

Note: Each branch will be colored with a color randomly sampled from the colormap based on the branch ID.

Definition at line 1007 of file fileIO.cpp.

◆ loadXML() [1/2]

void LiDARcloud::loadXML ( const char * filename )

Read an XML file containing scan information.

Parameters

[in] filename Path to XML file

Definition at line 35 of file fileIO.cpp.

◆ loadXML() [2/2]

void LiDARcloud::loadXML	(	const char *	filename,
		bool	load_grid_only
	)

Read an XML file containing scan information.

Parameters

[in]	filename	Path to XML file
[in]	load_grid_only	if true only the voxel grid defined in the xml file will be loaded, the scans themselves will not be loaded.

Definition at line 39 of file fileIO.cpp.

◆ maxPulseFilter()

void LiDARcloud::maxPulseFilter ( const char * scalar )

Filter full-waveform data according to the maximum scalar value along each pulse. Any scalar value can be used, provided it is a field in the hit point data file. The resulting point cloud will have only one hit point per laser pulse.

Parameters

[in] scalar Name of hit point scalar data in the hit data file.

Note: This function is only applicable for full-waveform data and requires that the scalar field "timestamp" is provided in the ASCII hit point data file.

Definition at line 1153 of file LiDAR.cpp.

◆ minPulseFilter()

void LiDARcloud::minPulseFilter ( const char * scalar )

Filter full-waveform data according to the minimum scalar value along each pulse. Any scalar value can be used, provided it is a field in the hit point data file. The resulting point cloud will have only one hit point per laser pulse.

Parameters

[in] scalar Name of hit point scalar data in the ASCII hit data file.

Note: This function is only applicable for full-waveform data and requires that the scalar field "timestamp" is provided in the hit point data file.

Definition at line 1224 of file LiDAR.cpp.

◆ peakFinder()

std::vector< uint > LiDARcloud::peakFinder ( std::vector< float > signal )

find the indices of the peaks of a vector of floats

Parameters

[in] signal the signal we want to detect peaks in

◆ performUnifiedRayTracing()

void LiDARcloud::performUnifiedRayTracing	(	helios::Context *	context,
		size_t	N,
		int	Npulse,
		helios::vec3 *	ray_origins,
		helios::vec3 *	direction,
		float *	hit_t,
		float *	hit_fnorm,
		int *	hit_ID
	)

Perform unified ray-tracing using collision detection plugin (replaces CUDA kernels)

Definition at line 108 of file LiDAR.cpp.

◆ reflectanceFilter()

void LiDARcloud::reflectanceFilter ( float minreflectance )

Filter scan by imposing a minimum reflectance value.

Parameters

[in] minreflectance Miniimum hit point reflectance value

Note: If ‘reflectance’ data was not provided for a hit point when calling LiDARcloud::addHitPoint(), the point will not be filtered.

Definition at line 1050 of file LiDAR.cpp.

◆ scalarFilter()

void LiDARcloud::scalarFilter	(	const char *	scalar_field,
		float	threshold,
		const char *	comparator
	)

Filter hit points based on a scalar field given by a column in the ASCII data.

Parameters

[in]	scalar_field	Name of a scalar field defined in the ASCII point cloud data (e.g., "reflectance")
[in]	threshold	Value for filter threshold
[in]	comparator	Points will be filtered if "scalar (comparator) threshold", where (comparator) is one of ">", "<", or "="

Note: As an example, imagine we wanted to remove all hit points where the reflectance is less than -10. In this case we would call scalarFilter( "reflectance", -10, "<" );

Definition at line 1068 of file LiDAR.cpp.

◆ selfTest()

int LiDARcloud::selfTest	(	int	argc = `0`,
		char **	argv = `nullptr`
	)

static

Self-test (unit test) function.

Definition at line 12 of file selfTest.cpp.

◆ setCellGtheta()

void LiDARcloud::setCellGtheta	(	float	Gtheta,
		uint	index
	)

Set the average G(theta) value of a grid cell.

Parameters

[in]	Gtheta	G(theta) in cell.
[in]	index	Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2686 of file LiDAR.cpp.

◆ setCellLeafArea()

void LiDARcloud::setCellLeafArea	(	float	area,
		uint	index
	)

Set the leaf area of a grid cell in m^2.

Parameters

[in]	area	Leaf area in cell in m^2.
[in]	index	Index of a grid cell. Note: the index of a grid cell is given by the order in which it was added to the grid. E.g., the first cell's index is 0, and the last cell's index is Ncells-1.

Definition at line 2657 of file LiDAR.cpp.

◆ setHitData()

void LiDARcloud::setHitData	(	uint	index,
		const char *	label,
		double	value
	)

Set floating point data value associated with a hit point.

Parameters

[in]	index	Hit number.
[in]	label	Label of the data value (e.g., "reflectance").
[in]	value	Value of scalar data.

Definition at line 366 of file LiDAR.cpp.

◆ setHitGridCell()

void LiDARcloud::setHitGridCell	(	uint	index,
		int	cell
	)

Set the grid cell in which the hit point resides.

Parameters

[in]	index	Hit number
[in]	cell	Cell number

Definition at line 451 of file LiDAR.cpp.

◆ syntheticScan() [1/8]

void LiDARcloud::syntheticScan ( helios::Context * context )

Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

Parameters

[in] context Pointer to the Helios context

Definition at line 4305 of file LiDAR.cpp.

◆ syntheticScan() [2/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		bool	append
	)

Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

Parameters

[in]	context	Pointer to the Helios context
[in]	append	If true, new hit points are appended to existing data. If false, existing hit points are cleared before adding new ones.

Definition at line 4309 of file LiDAR.cpp.

◆ syntheticScan() [3/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		bool	scan_grid_only,
		bool	record_misses
	)

Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	scan_grid_only	If true, only record hit points for rays that intersect the voxel grid.
[in]	record_misses	If true, "miss" points (i.e., beam did not hit any primitives) are recorded in the scan.

Note: Calling syntheticScan() with scan_grid_only=true can save substantial memory for contexts with large domains.

Definition at line 4313 of file LiDAR.cpp.

◆ syntheticScan() [4/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		bool	scan_grid_only,
		bool	record_misses,
		bool	append
	)

Run a discrete return synthetic LiDAR scan based on scan parameters given in an XML file (returns only one laser hit per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	scan_grid_only	If true, only record hit points for rays that intersect the voxel grid.
[in]	record_misses	If true, "miss" points (i.e., beam did not hit any primitives) are recorded in the scan.
[in]	append	If true, new hit points are appended to existing data. If false, existing hit points are cleared before adding new ones.

Note: Calling syntheticScan() with scan_grid_only=true can save substantial memory for contexts with large domains.

Definition at line 4317 of file LiDAR.cpp.

◆ syntheticScan() [5/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		int	rays_per_pulse,
		float	pulse_distance_threshold
	)

Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	rays_per_pulse	Number of ray launches per laser pulse direction.
[in]	pulse_distance_threshold	Threshold distance for determining laser hit locations. Hits within pulse_distance_threshold of each other will be grouped into a single hit.

Note: Calling syntheticScan() with rays_per_pulse=1 will effectively run a discrete return synthetic scan.

Definition at line 4321 of file LiDAR.cpp.

◆ syntheticScan() [6/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		int	rays_per_pulse,
		float	pulse_distance_threshold,
		bool	append
	)

Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	rays_per_pulse	Number of ray launches per laser pulse direction.
[in]	pulse_distance_threshold	Threshold distance for determining laser hit locations. Hits within pulse_distance_threshold of each other will be grouped into a single hit.
[in]	append	If true, new hit points are appended to existing data. If false, existing hit points are cleared before adding new ones.

Note: Calling syntheticScan() with rays_per_pulse=1 will effectively run a discrete return synthetic scan.

Definition at line 4325 of file LiDAR.cpp.

◆ syntheticScan() [7/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		int	rays_per_pulse,
		float	pulse_distance_threshold,
		bool	scan_grid_only,
		bool	record_misses
	)

Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	rays_per_pulse	Number of ray launches per laser pulse direction.
[in]	pulse_distance_threshold	Threshold distance for determining laser hit locations. Hits within pulse_distance_threshold of each other will be grouped into a single hit.
[in]	scan_grid_only	If true, only considers context geometry within the scan grid. scan_grid_only=true can save substantial memory for contexts with large domains.
[in]	record_misses	If true, "miss" points (i.e., beam did not hit any primitives) are recorded in the scan.

Note: Calling syntheticScan() with rays_per_pulse=1 will effectively run a discrete return synthetic scan.

Definition at line 4329 of file LiDAR.cpp.

◆ syntheticScan() [8/8]

void LiDARcloud::syntheticScan	(	helios::Context *	context,
		int	rays_per_pulse,
		float	pulse_distance_threshold,
		bool	scan_grid_only,
		bool	record_misses,
		bool	append
	)

Run a full-waveform synthetic LiDAR scan based on scan parameters given in an XML file (returns multiple laser hits per pulse)

Parameters

[in]	context	Pointer to the Helios context.
[in]	rays_per_pulse	Number of ray launches per laser pulse direction.
[in]	pulse_distance_threshold	Threshold distance for determining laser hit locations. Hits within pulse_distance_threshold of each other will be grouped into a single hit.
[in]	scan_grid_only	If true, only considers context geometry within the scan grid. scan_grid_only=true can save substantial memory for contexts with large domains.
[in]	record_misses	If true, "miss" points (i.e., beam did not hit any primitives) are recorded in the scan.
[in]	append	If true, new hit points are appended to existing data. If false, existing hit points are cleared before adding new ones.

Note: Calling syntheticScan() with rays_per_pulse=1 will effectively run a discrete return synthetic scan.

Definition at line 4333 of file LiDAR.cpp.

◆ triangulateHitPoints() [1/2]

void LiDARcloud::triangulateHitPoints	(	float	Lmax,
		float	max_aspect_ratio
	)

Perform triangulation on all hit points in point cloud.

Parameters

[in]	Lmax	Maximum allowable length of triangle sides.
[in]	max_aspect_ratio	Maximum allowable aspect ratio of triangles.

Definition at line 1832 of file LiDAR.cpp.

◆ triangulateHitPoints() [2/2]

void LiDARcloud::triangulateHitPoints	(	float	Lmax,
		float	max_aspect_ratio,
		const char *	scalar_field,
		float	threshold,
		const char *	comparator
	)

Perform triangulation on hit points in point cloud that meet some filtering criteria based on scalar data.

Parameters

[in]	Lmax	Maximum allowable length of triangle sides.
[in]	max_aspect_ratio	Maximum allowable aspect ratio of triangles.
[in]	scalar_field	Name of a scalar field defined in the ASCII point cloud data (e.g., "deviation")
[in]	threshold	Value for filter threshold
[in]	comparator	Points will not be used in triangulation if "scalar (comparator) threshold", where (comparator) is one of ">", "<", or "="

Note: As an example, imagine we wanted to remove all hit points where the deviation is greater than 15 for the purposes of the triangulation. In this case we would call triangulateHitPoints(Lmax, max_aspect_ratio, "deviation", 15, ">" );

Definition at line 2167 of file LiDAR.cpp.

◆ trunkReconstruction()

void LiDARcloud::trunkReconstruction	(	const helios::vec3 &	box_center,
		const helios::vec3 &	box_size,
		float	Lmax,
		float	max_aspect_ratio
	)

Reconstruct the trunk of the tree. In order to do this, you must specify the center and size of a rectangular box that encompasses the tree trunk. This routine will then try to find the largest continuous triangle group, which is assumed to correspond to the trunk.

Parameters

[in]	box_center	(x,y,z) coordinates of the center of a rectangular box that encompasses the tree trunk.
[in]	box_size	Dimension of the trunk box in the x-, y-, and z- directions.
[in]	Lmax	maximum dimension of triangles (see also triangulateHitPoints()).
[in]	max_aspect_ratio	Maximum allowable aspect ratio of triangles (see also triangulateHitPoints())

◆ validateRayDirections()

void LiDARcloud::validateRayDirections ( )

Definition at line 158 of file LiDAR.cpp.

◆ xyzFilter() [1/2]

void LiDARcloud::xyzFilter	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax,
		float	zmin,
		float	zmax
	)

overloaded version of xyzFilter that defaults to deleting points outside the provided bounding box

Parameters

[in]	xmin	minimum x coordinate of bounding box
[in]	xmax	maximum x coordinate of bounding box
[in]	ymin	minimum y coordinate of bounding box
[in]	ymax	maximum y coordinate of bounding box
[in]	zmin	minimum z coordinate of bounding box
[in]	zmax	maximum z coordinate of bounding box

Note: points outside the provided bounding box are deleted by default

Definition at line 1098 of file LiDAR.cpp.

◆ xyzFilter() [2/2]

void LiDARcloud::xyzFilter	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax,
		float	zmin,
		float	zmax,
		bool	deleteOutside
	)

Filter scan with a bounding box.

Parameters

[in]	xmin	minimum x coordinate of bounding box
[in]	xmax	maximum x coordinate of bounding box
[in]	ymin	minimum y coordinate of bounding box
[in]	ymax	maximum y coordinate of bounding box
[in]	zmin	minimum z coordinate of bounding box
[in]	zmax	maximum z coordinate of bounding box
[in]	deleteOutside	if true, deletes points outside the bounding box, if false deletes points inside the bounding box

Note: points outside the provided bounding box are deleted

Definition at line 1103 of file LiDAR.cpp.

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

plugins/lidar/include/LiDAR.h
plugins/lidar/src/fileIO.cpp
plugins/lidar/src/LiDAR.cpp
plugins/lidar/tests/selfTest.cpp

	1.3.64

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ LiDARcloud()

◆ ~LiDARcloud()

Member Function Documentation

◆ addGrid()

◆ addGridCell() [1/2]

◆ addGridCell() [2/2]

◆ addGridToVisualizer()

◆ addGridWireFrametoVisualizer()

◆ addHitPoint() [1/5]

◆ addHitPoint() [2/5]

◆ addHitPoint() [3/5]

◆ addHitPoint() [4/5]

◆ addHitPoint() [5/5]

◆ addHitsToVisualizer() [1/3]

◆ addHitsToVisualizer() [2/3]

◆ addHitsToVisualizer() [3/3]

◆ addLeafReconstructionToContext() [1/2]

◆ addLeafReconstructionToContext() [2/2]

◆ addLeafReconstructionToVisualizer()

◆ addReconstructedTriangleGroupsToContext()

◆ addScan()

◆ addTrianglesToContext()

◆ addTrianglesToVisualizer() [1/2]

◆ addTrianglesToVisualizer() [2/2]

◆ addTrunkReconstructionToContext()

◆ addTrunkReconstructionToVisualizer() [1/2]

◆ addTrunkReconstructionToVisualizer() [2/2]

◆ calculateHitGridCell()

◆ calculateLeafArea() [1/2]

◆ calculateLeafArea() [2/2]

◆ calculateLeafAreaGPU() [1/2]

◆ calculateLeafAreaGPU() [2/2]

◆ calculateSyntheticGtheta()

◆ calculateSyntheticLeafArea()

◆ coordinateRotation() [1/3]

◆ coordinateRotation() [2/3]

◆ coordinateRotation() [3/3]

◆ coordinateShift() [1/2]

◆ coordinateShift() [2/2]

◆ cropBeamsToGridAngleRange()

◆ deleteHitPoint()

◆ disableGPUAcceleration()

◆ disableMessages()

◆ distanceFilter()

◆ doesHitDataExist()

◆ enableGPUAcceleration()

◆ enableMessages()

◆ exportGtheta()

◆ exportLeafAreaDensities()

◆ exportLeafAreas()

◆ exportPointCloud() [1/2]

◆ exportPointCloud() [2/2]

◆ exportPointCloudPTX()

◆ exportTriangleAreas() [1/2]

◆ exportTriangleAreas() [2/2]

◆ exportTriangleAzimuthDistribution()

◆ exportTriangleInclinationDistribution()

◆ exportTriangleNormals() [1/2]

◆ exportTriangleNormals() [2/2]

◆ firstHitFilter()

◆ gapfillMisses() [1/3]

◆ gapfillMisses() [2/3]

◆ gapfillMisses() [3/3]

◆ getCellCenter()

◆ getCellGlobalAnchor()

◆ getCellGtheta()

◆ getCellLeafArea()

◆ getCellLeafAreaDensity()

◆ getCellRotation()

◆ getCellSize()

◆ getGridBoundingBox()

◆ getGridCellCount()

◆ getHitBoundingBox()

◆ getHitColor()

◆ getHitCount()

◆ getHitData()