ScanMetadata Struct Reference

Structure containing metadata for a terrestrial scan. More...

#include <LiDAR.h>

Public Member Functions
	ScanMetadata ()
	Default LiDAR scan data structure.
	ScanMetadata (const helios::vec3 &origin, uint Ntheta, float thetaMin, float thetaMax, uint Nphi, float phiMin, float phiMax, float exitDiameter, float beamDivergence, const std::vector< std::string > &columnFormat)
	Create a LiDAR scan data structure.
helios::SphericalCoord	rc2direction (uint row, uint column) const
	Convert the (row,column) of hit point in a scan to a direction vector.
helios::int2	direction2rc (const helios::SphericalCoord &direction) const
	Convert the scan ray direction into (row,column) table index.

Data Fields
std::string	data_file
	File containing hit point data.
uint	Ntheta
	Number of zenithal angles in scan (rows)
float	thetaMin
	Minimum zenithal angle of scan in radians.
float	thetaMax
	Maximum zenithal angle of scan in radians.
uint	Nphi
	Number of azimuthal angles in scan (columns)
float	phiMin
	Minimum azimuthal angle of scan in radians.
float	phiMax
	Maximum azimuthal angle of scan in radians.
helios::vec3	origin
	(x,y,z) coordinate of scanner location
float	exitDiameter
	Diameter of laser pulse at exit from the scanner.
float	beamDivergence
	Divergence angle of the laser beam in radians.
std::vector< std::string >	columnFormat
	Vector of strings specifying the columns of the scan ASCII file for input/output.

Detailed Description

Structure containing metadata for a terrestrial scan.

A scan is initialized by providing 1) the origin of the scan (see origin), 2) the number of zenithal scan directions (see Ntheta), 3) the range of zenithal scan angles (see thetaMin, thetaMax), 4) the number of azimuthal scan directions (see Nphi), 5) the range of azimuthal scan angles (see phiMin, phiMax). This creates a grid of Ntheta x Nphi scan points which are all initialized as misses. Points are set as hits using the addHitPoint() function. There are various functions to query the scan data.

Definition at line 187 of file LiDAR.h.

Constructor & Destructor Documentation

ScanMetadata() [1/2]

ScanMetadata::ScanMetadata

(

)

Default LiDAR scan data structure.

Definition at line 21 of file LiDAR.cpp.

ScanMetadata() [2/2]

ScanMetadata::ScanMetadata	(	const helios::vec3 &	origin,
		uint	Ntheta,
		float	thetaMin,
		float	thetaMax,
		uint	Nphi,
		float	phiMin,
		float	phiMax,
		float	exitDiameter,
		float	beamDivergence,
		const std::vector< std::string > &	columnFormat
	)

Create a LiDAR scan data structure.

Parameters

[in]	origin	(x,y,z) position of the scanner
[in]	Ntheta	Number of scan points in the theta (zenithal) direction
[in]	thetaMin	Minimum scan angle in the theta (zenithal) direction in radians
[in]	thetaMax	Maximum scan angle in the theta (zenithal) direction in radians
[in]	Nphi	Number of scan points in the phi (azimuthal) direction
[in]	phiMin	Minimum scan angle in the phi (azimuthal) direction in radians
[in]	phiMax	Maximum scan angle in the phi (azimuthal) direction in radians

Member Function Documentation

direction2rc()

helios::int2 ScanMetadata::direction2rc

(

const helios::SphericalCoord &

direction

)

const

Convert the scan ray direction into (row,column) table index.

Parameters

[in]

direction

Spherical vector corresponding to the ray direction for the given hit point.

Returns

(row,column) table index for the given hit point

Definition at line 62 of file LiDAR.cpp.

rc2direction()

helios::SphericalCoord ScanMetadata::rc2direction	(	uint	row,
		uint	column
	)		const

Convert the (row,column) of hit point in a scan to a direction vector.

Parameters

[in]	row	Index of hit point in the theta (zenithal) direction.
[in]	column	Index of hit point in the phi (azimuthal) direction.

Returns

Spherical vector corresponding to the ray direction for the given hit point.

Definition at line 54 of file LiDAR.cpp.

Field Documentation

beamDivergence

float ScanMetadata::beamDivergence

Divergence angle of the laser beam in radians.

Note

This is not needed for discrete return instruments, and is only used for synthetic scan generation.

Definition at line 246 of file LiDAR.h.

columnFormat

std::vector<std::string> ScanMetadata::columnFormat

Vector of strings specifying the columns of the scan ASCII file for input/output.

Definition at line 249 of file LiDAR.h.

data_file

std::string ScanMetadata::data_file

File containing hit point data.

Definition at line 205 of file LiDAR.h.

exitDiameter

float ScanMetadata::exitDiameter

Diameter of laser pulse at exit from the scanner.

Note

This is not needed for discrete return instruments, and is only used for synthetic scan generation.

Definition at line 240 of file LiDAR.h.

Nphi

uint ScanMetadata::Nphi

Number of azimuthal angles in scan (columns)

Definition at line 221 of file LiDAR.h.

Ntheta

uint ScanMetadata::Ntheta

Number of zenithal angles in scan (rows)

Definition at line 208 of file LiDAR.h.

origin

helios::vec3 ScanMetadata::origin

(x,y,z) coordinate of scanner location

Definition at line 234 of file LiDAR.h.

phiMax

float ScanMetadata::phiMax

Maximum azimuthal angle of scan in radians.

Note

Azimuthal angles start at 0 (x=+,y=0) to 2pi (x=0,y=+) through 2pi.

Definition at line 231 of file LiDAR.h.

phiMin

float ScanMetadata::phiMin

Minimum azimuthal angle of scan in radians.

Note

Azimuthal angles start at 0 (x=+,y=0) to 2pi (x=0,y=+) through 2pi.

Definition at line 226 of file LiDAR.h.

thetaMax

float ScanMetadata::thetaMax

Maximum zenithal angle of scan in radians.

Note

Zenithal angles range from 0 (upward) to pi (downward).

Definition at line 218 of file LiDAR.h.

thetaMin

float ScanMetadata::thetaMin

Minimum zenithal angle of scan in radians.

Note

Zenithal angles range from -pi/2 (downward) to +pi/2 (upward).

Definition at line 213 of file LiDAR.h.

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

• plugins/lidar/include/LiDAR.h
• plugins/lidar/src/LiDAR.cpp