High-level interface for LiDAR point cloud operations. More...

Detailed Description

High-level interface for LiDAR point cloud operations.

Supports synthetic scanning, point cloud filtering, triangulation, and leaf area density calculations.

Example: >>> from pyhelios import LiDARCloud >>> from pyhelios.types import vec3 >>> >>> with LiDARCloud() as lidar: ... # Add a scan ... scan_id = lidar.addScan( ... origin=vec3(0, 0, 1), ... Ntheta=100, theta_range=(0, 1.57), ... Nphi=100, phi_range=(-3.14, 3.14), ... exit_diameter=0.01, beam_divergence=0.001 ... ) ... ... # Add hit points ... lidar.addHitPoint(scan_id, vec3(1, 0, 0), vec3(1, 0, 0)) ... ... # Export point cloud ... lidar.exportPointCloud("output.xyz")

Definition at line 51 of file LiDARCloud.py.

Public Member Functions
	__init__ (self)
	Initialize LiDARCloud.

	__enter__ (self)
	Context manager entry.

	__exit__ (self, exc_type, exc_val, exc_tb)
	Context manager exit - cleanup resources.

	__del__ (self)
	Fallback destructor for cleanup without context manage.

int	addScan (self, Union[vec3, List[float], Tuple[float, float, float]] origin, int Ntheta, Tuple[float, float] theta_range, int Nphi, Tuple[float, float] phi_range, float exit_diameter, float beam_divergence)
	Add a LiDAR scan to the point cloud.

int	getScanCount (self)
	Get total number of scans in the cloud.

vec3	getScanOrigin (self, int scanID)
	Get origin of a specific scan.

int	getScanSizeTheta (self, int scanID)
	Get number of zenith scan points for a scan.

int	getScanSizePhi (self, int scanID)
	Get number of azimuthal scan points for a scan.

	addHitPoint (self, int scanID, Union[vec3, List[float], Tuple[float, float, float]] xyz, Union[vec3, SphericalCoord, List[float], Tuple[float, float]] direction, Optional[Union[RGBcolor, List[float], Tuple[float, float, float]]] color=None)
	Add a hit point to the point cloud.

int	getHitCount (self)
	Get total number of hit points in cloud.

vec3	getHitXYZ (self, int index)
	Get coordinates of a hit point.

SphericalCoord	getHitRaydir (self, int index)
	Get ray direction of a hit point.

RGBcolor	getHitColor (self, int index)
	Get color of a hit point.

	deleteHitPoint (self, int index)
	Delete a hit point from the cloud.

	coordinateShift (self, Union[vec3, List[float], Tuple[float, float, float]] shift)
	Translate all hit points by a shift vector.

	coordinateRotation (self, Union[SphericalCoord, List[float], Tuple[float, float]] rotation)
	Rotate all hit points by spherical rotation angles.

	triangulateHitPoints (self, float Lmax, float max_aspect_ratio=4.0)
	Generate triangle mesh from hit points using Delaunay triangulation.

int	getTriangleCount (self)
	Get number of triangles in the mesh.

	distanceFilter (self, float maxdistance)
	Filter hit points by maximum distance from scanne.

	reflectanceFilter (self, float minreflectance)
	Filter hit points by minimum reflectance value.

	firstHitFilter (self)
	Keep only first return hit points.

	lastHitFilter (self)
	Keep only last return hit points.

	exportPointCloud (self, str filename)
	Export point cloud to ASCII file.

	loadXML (self, str filename)
	Load scan metadata from XML file.

	disableMessages (self)
	Disable console output messages.

	enableMessages (self)
	Enable console output messages.

	addGrid (self, Union[vec3, List[float], Tuple[float, float, float]] center, Union[vec3, List[float], Tuple[float, float, float]] size, Union[List[int], Tuple[int, int, int]] ndiv, float rotation=0.0)
	Add a rectangular grid of voxel cells.

	addGridCell (self, Union[vec3, List[float], Tuple[float, float, float]] center, Union[vec3, List[float], Tuple[float, float, float]] size, float rotation=0.0)
	Add a single grid cell.

int	getGridCellCount (self)
	Get total number of grid cells.

vec3	getCellCenter (self, int index)
	Get center position of a grid cell.

vec3	getCellSize (self, int index)
	Get size of a grid cell.

float	getCellLeafArea (self, int index)
	Get leaf area of a grid cell (mÂ²)

float	getCellLeafAreaDensity (self, int index)
	Get leaf area density of a grid cell (mÂ²/mÂ³)

float	getCellGtheta (self, int index)
	Get G(theta) value for a grid cell.

	setCellGtheta (self, float Gtheta, int index)
	Set G(theta) value for a grid cell.

	calculateHitGridCell (self)
	Calculate hit point grid cell assignments.

	gapfillMisses (self)
	Gapfill sky/miss points where rays didn't hit geometry.

	syntheticScan (self, Context context, Optional[int] rays_per_pulse=None, Optional[float] pulse_distance_threshold=None, bool scan_grid_only=False, bool record_misses=True, bool append=False)
	Perform synthetic LiDAR scan of geometry in Context.

	calculateLeafArea (self, Context context, Optional[int] min_voxel_hits=None)
	Calculate leaf area for each grid cell.

	calculateSyntheticLeafArea (self, Context context)
	Calculate synthetic leaf area (for validation of synthetic scans).

	calculateSyntheticGtheta (self, Context context)
	Calculate synthetic G(theta) (for validation of synthetic scans).

	exportTriangleNormals (self, str filename)
	Export triangle normal vectors to file.

	exportTriangleAreas (self, str filename)
	Export triangle areas to file.

	exportLeafAreas (self, str filename)
	Export leaf areas for each grid cell to file.

	exportLeafAreaDensities (self, str filename)
	Export leaf area densities for each grid cell to file.

	exportGtheta (self, str filename)
	Export G(theta) values for each grid cell to file.

	addTrianglesToContext (self, Context context)
	Add triangulated mesh to Context as triangle primitives.

	initializeCollisionDetection (self, Context context)
	Initialize CollisionDetection plugin for ray tracing.

	enableCDGPUAcceleration (self)
	Enable GPU acceleration for collision detection ray tracing.

	disableCDGPUAcceleration (self)
	Disable GPU acceleration (use CPU ray tracing)

bool	is_available (self)
	Check if LiDAR is available in current build.

Protected Attributes
	_cloud_ptr = lidar_wrapper.createLiDARcloud()

Constructor & Destructor Documentation

◆ init()

pyhelios.LiDARCloud.LiDARCloud.__init__ ( self )

Initialize LiDARCloud.

Exceptions

LiDARError	If plugin not available in current build
RuntimeError	If cloud initialization fails

Definition at line 60 of file LiDARCloud.py.

◆ del()

pyhelios.LiDARCloud.LiDARCloud.__del__ ( self )

Fallback destructor for cleanup without context manage.

Definition at line 88 of file LiDARCloud.py.

Member Function Documentation

◆ enter()

pyhelios.LiDARCloud.LiDARCloud.__enter__ ( self )

Context manager entry.

Definition at line 78 of file LiDARCloud.py.

◆ exit()

pyhelios.LiDARCloud.LiDARCloud.__exit__	(	self,
		exc_type,
		exc_val,
		exc_tb )

Context manager exit - cleanup resources.

Definition at line 82 of file LiDARCloud.py.

◆ addGrid()

pyhelios.LiDARCloud.LiDARCloud.addGrid	(		self,
		Union[vec3, List[float], Tuple[float, float, float]]	center,
		Union[vec3, List[float], Tuple[float, float, float]]	size,
		Union[List[int], Tuple[int, int, int]]	ndiv,
		float	rotation = 0.0 )

Add a rectangular grid of voxel cells.

Parameters

center	Grid center position (vec3 or 3-element list)
size	Grid dimensions [x, y, z] (vec3 or 3-element list)
ndiv	Number of divisions [nx, ny, nz] (3-element list)
rotation	Azimuthal rotation angle (radians, default 0.0)

Example: >>> lidar.addGrid( ... center=vec3(0, 0, 0.5), ... size=vec3(10, 10, 1), ... ndiv=[10, 10, 5], ... rotation=0.0 ... )

Definition at line 358 of file LiDARCloud.py.

◆ addGridCell()

pyhelios.LiDARCloud.LiDARCloud.addGridCell	(		self,
		Union[vec3, List[float], Tuple[float, float, float]]	center,
		Union[vec3, List[float], Tuple[float, float, float]]	size,
		float	rotation = 0.0 )

Add a single grid cell.

Parameters

center	Cell center position (vec3 or 3-element list)
size	Cell dimensions [x, y, z] (vec3 or 3-element list)
rotation	Azimuthal rotation angle (radians, default 0.0)

Definition at line 396 of file LiDARCloud.py.

◆ addHitPoint()

pyhelios.LiDARCloud.LiDARCloud.addHitPoint	(		self,
		int	scanID,
		Union[vec3, List[float], Tuple[float, float, float]]	xyz,
		Union[vec3, SphericalCoord, List[float], Tuple[float, float]]	direction,
		Optional[Union[RGBcolor, List[float], Tuple[float, float, float]]]	color = None )

Add a hit point to the point cloud.

Parameters

scanID	Scan ID this hit belongs to
xyz	Hit point coordinates (vec3 or 3-element list)
direction	Ray direction (vec3/SphericalCoord or 2-3 element list)
color	Optional RGB color (RGBcolor or 3-element list)

Definition at line 180 of file LiDARCloud.py.

◆ addScan()

int pyhelios.LiDARCloud.LiDARCloud.addScan	(		self,
		Union[vec3, List[float], Tuple[float, float, float]]	origin,
		int	Ntheta,
		Tuple[float, float]	theta_range,
		int	Nphi,
		Tuple[float, float]	phi_range,
		float	exit_diameter,
		float	beam_divergence )

Add a LiDAR scan to the point cloud.

Parameters

origin	Scanner position (vec3 or 3-element list/tuple)
Ntheta	Number of scan points in zenith direction
theta_range	Zenith angle range (min, max) in radians
Nphi	Number of scan points in azimuthal direction
phi_range	Azimuthal angle range (min, max) in radians
exit_diameter	Laser beam exit diameter (meters)
beam_divergence	Beam divergence angle (radians)

Returns: Scan ID for referencing this scan

Example: >>> scan_id = lidar.addScan( ... origin=vec3(0, 0, 1), ... Ntheta=100, theta_range=(0, 1.57), ... Nphi=100, phi_range=(-3.14, 3.14), ... exit_diameter=0.01, beam_divergence=0.001 ... )

Definition at line 120 of file LiDARCloud.py.

◆ addTrianglesToContext()

pyhelios.LiDARCloud.LiDARCloud.addTrianglesToContext	(		self,
		Context	context )

Add triangulated mesh to Context as triangle primitives.

   Converts the triangulated point cloud mesh into Context triangle
   primitives that can be used for further analysis or visualization.

Parameters

context Helios Context instance

Example: >>> with Context() as context: ... with LiDARCloud() as lidar: ... lidar.loadXML("scan.xml") ... lidar.triangulateHitPoints(Lmax=0.5, max_aspect_ratio=5) ... lidar.addTrianglesToContext(context) ... print(f"Added {context.getPrimitiveCount()} triangles to context")

Definition at line 649 of file LiDARCloud.py.

◆ calculateHitGridCell()

pyhelios.LiDARCloud.LiDARCloud.calculateHitGridCell ( self )

Calculate hit point grid cell assignments.

Definition at line 464 of file LiDARCloud.py.

◆ calculateLeafArea()

pyhelios.LiDARCloud.LiDARCloud.calculateLeafArea	(		self,
		Context	context,
		Optional[int]	min_voxel_hits = None )

Calculate leaf area for each grid cell.

   Requires triangulation to have been performed first.

Parameters

context	Helios Context instance
min_voxel_hits	Optional minimum number of hits required per voxel

Example: >>> from pyhelios import Context, LiDARCloud >>> with Context() as context: ... with LiDARCloud() as lidar: ... # ... load data, add grid, triangulate ... ... lidar.calculateLeafArea(context)

Definition at line 562 of file LiDARCloud.py.

◆ calculateSyntheticGtheta()

pyhelios.LiDARCloud.LiDARCloud.calculateSyntheticGtheta	(		self,
		Context	context )

Calculate synthetic G(theta) (for validation of synthetic scans).

   Uses exact primitive geometry to calculate G(theta), useful for
   validating synthetic scan accuracy.

Parameters

context Helios Context instance containing primitive geometry

Definition at line 596 of file LiDARCloud.py.

◆ calculateSyntheticLeafArea()

pyhelios.LiDARCloud.LiDARCloud.calculateSyntheticLeafArea	(		self,
		Context	context )

Calculate synthetic leaf area (for validation of synthetic scans).

   Uses exact primitive geometry to calculate leaf area, useful for
   validating synthetic scan accuracy.

Parameters

context Helios Context instance containing primitive geometry

Definition at line 581 of file LiDARCloud.py.

◆ coordinateRotation()

pyhelios.LiDARCloud.LiDARCloud.coordinateRotation	(		self,
		Union[SphericalCoord, List[float], Tuple[float, float]]	rotation )

Rotate all hit points by spherical rotation angles.

Parameters

rotation Rotation angles (SphericalCoord or 2-3 element list)

Definition at line 276 of file LiDARCloud.py.

◆ coordinateShift()

pyhelios.LiDARCloud.LiDARCloud.coordinateShift	(		self,
		Union[vec3, List[float], Tuple[float, float, float]]	shift )

Translate all hit points by a shift vector.

Parameters

shift Translation vector (vec3 or 3-element list)

Definition at line 258 of file LiDARCloud.py.

◆ deleteHitPoint()

pyhelios.LiDARCloud.LiDARCloud.deleteHitPoint	(		self,
		int	index )

Delete a hit point from the cloud.

Definition at line 247 of file LiDARCloud.py.

◆ disableCDGPUAcceleration()

pyhelios.LiDARCloud.LiDARCloud.disableCDGPUAcceleration ( self )

Disable GPU acceleration (use CPU ray tracing)

Definition at line 672 of file LiDARCloud.py.

◆ disableMessages()

pyhelios.LiDARCloud.LiDARCloud.disableMessages ( self )

Disable console output messages.

Definition at line 334 of file LiDARCloud.py.

◆ distanceFilter()

pyhelios.LiDARCloud.LiDARCloud.distanceFilter	(		self,
		float	maxdistance )

Filter hit points by maximum distance from scanne.

Definition at line 305 of file LiDARCloud.py.

◆ enableCDGPUAcceleration()

pyhelios.LiDARCloud.LiDARCloud.enableCDGPUAcceleration ( self )

Enable GPU acceleration for collision detection ray tracing.

Definition at line 668 of file LiDARCloud.py.

◆ enableMessages()

pyhelios.LiDARCloud.LiDARCloud.enableMessages ( self )

Enable console output messages.

Definition at line 338 of file LiDARCloud.py.

◆ exportGtheta()

pyhelios.LiDARCloud.LiDARCloud.exportGtheta	(		self,
		str	filename )

Export G(theta) values for each grid cell to file.

Definition at line 627 of file LiDARCloud.py.

◆ exportLeafAreaDensities()

pyhelios.LiDARCloud.LiDARCloud.exportLeafAreaDensities	(		self,
		str	filename )

Export leaf area densities for each grid cell to file.

Definition at line 621 of file LiDARCloud.py.

◆ exportLeafAreas()

pyhelios.LiDARCloud.LiDARCloud.exportLeafAreas	(		self,
		str	filename )

Export leaf areas for each grid cell to file.

Definition at line 615 of file LiDARCloud.py.

◆ exportPointCloud()

pyhelios.LiDARCloud.LiDARCloud.exportPointCloud	(		self,
		str	filename )

Export point cloud to ASCII file.

Definition at line 322 of file LiDARCloud.py.

◆ exportTriangleAreas()

pyhelios.LiDARCloud.LiDARCloud.exportTriangleAreas	(		self,
		str	filename )

Export triangle areas to file.

Definition at line 609 of file LiDARCloud.py.

◆ exportTriangleNormals()

pyhelios.LiDARCloud.LiDARCloud.exportTriangleNormals	(		self,
		str	filename )

Export triangle normal vectors to file.

Definition at line 603 of file LiDARCloud.py.

◆ firstHitFilter()

pyhelios.LiDARCloud.LiDARCloud.firstHitFilter ( self )

Keep only first return hit points.

Definition at line 314 of file LiDARCloud.py.

◆ gapfillMisses()

pyhelios.LiDARCloud.LiDARCloud.gapfillMisses ( self )

Gapfill sky/miss points where rays didn't hit geometry.

   Important for accurate leaf area calculations with real LiDAR data.
   Should be called before triangulation when processing real data.

Definition at line 473 of file LiDARCloud.py.

◆ getCellCenter()

vec3 pyhelios.LiDARCloud.LiDARCloud.getCellCenter	(		self,
		int	index )

Get center position of a grid cell.

Definition at line 426 of file LiDARCloud.py.

◆ getCellGtheta()

float pyhelios.LiDARCloud.LiDARCloud.getCellGtheta	(		self,
		int	index )

Get G(theta) value for a grid cell.

Definition at line 452 of file LiDARCloud.py.

◆ getCellLeafArea()

float pyhelios.LiDARCloud.LiDARCloud.getCellLeafArea	(		self,
		int	index )

Get leaf area of a grid cell (mÂ²)

Definition at line 440 of file LiDARCloud.py.

◆ getCellLeafAreaDensity()

float pyhelios.LiDARCloud.LiDARCloud.getCellLeafAreaDensity	(		self,
		int	index )

Get leaf area density of a grid cell (mÂ²/mÂ³)

Definition at line 446 of file LiDARCloud.py.

◆ getCellSize()

vec3 pyhelios.LiDARCloud.LiDARCloud.getCellSize	(		self,
		int	index )

Get size of a grid cell.

Definition at line 433 of file LiDARCloud.py.

◆ getGridCellCount()

int pyhelios.LiDARCloud.LiDARCloud.getGridCellCount ( self )

Get total number of grid cells.

Definition at line 422 of file LiDARCloud.py.

◆ getHitColor()

RGBcolor pyhelios.LiDARCloud.LiDARCloud.getHitColor	(		self,
		int	index )

Get color of a hit point.

Definition at line 240 of file LiDARCloud.py.

◆ getHitCount()

int pyhelios.LiDARCloud.LiDARCloud.getHitCount ( self )

Get total number of hit points in cloud.

Definition at line 222 of file LiDARCloud.py.

◆ getHitRaydir()

SphericalCoord pyhelios.LiDARCloud.LiDARCloud.getHitRaydir	(		self,
		int	index )

Get ray direction of a hit point.

Definition at line 233 of file LiDARCloud.py.

◆ getHitXYZ()

vec3 pyhelios.LiDARCloud.LiDARCloud.getHitXYZ	(		self,
		int	index )

Get coordinates of a hit point.

Definition at line 226 of file LiDARCloud.py.

◆ getScanCount()

int pyhelios.LiDARCloud.LiDARCloud.getScanCount ( self )

Get total number of scans in the cloud.

Definition at line 149 of file LiDARCloud.py.

◆ getScanOrigin()

vec3 pyhelios.LiDARCloud.LiDARCloud.getScanOrigin	(		self,
		int	scanID )

Get origin of a specific scan.

Definition at line 153 of file LiDARCloud.py.

◆ getScanSizePhi()

int pyhelios.LiDARCloud.LiDARCloud.getScanSizePhi	(		self,
		int	scanID )

Get number of azimuthal scan points for a scan.

Definition at line 166 of file LiDARCloud.py.

◆ getScanSizeTheta()

int pyhelios.LiDARCloud.LiDARCloud.getScanSizeTheta	(		self,
		int	scanID )

Get number of zenith scan points for a scan.

Definition at line 160 of file LiDARCloud.py.

◆ getTriangleCount()

int pyhelios.LiDARCloud.LiDARCloud.getTriangleCount ( self )

Get number of triangles in the mesh.

Definition at line 301 of file LiDARCloud.py.

◆ initializeCollisionDetection()

pyhelios.LiDARCloud.LiDARCloud.initializeCollisionDetection	(		self,
		Context	context )

Initialize CollisionDetection plugin for ray tracing.

   Required before performing synthetic scans.

Parameters

context Helios Context instance containing geometry

Definition at line 662 of file LiDARCloud.py.

◆ is_available()

bool pyhelios.LiDARCloud.LiDARCloud.is_available ( self )

Check if LiDAR is available in current build.

Returns: True if plugin is available, False otherwise

Definition at line 681 of file LiDARCloud.py.

◆ lastHitFilter()

pyhelios.LiDARCloud.LiDARCloud.lastHitFilter ( self )

Keep only last return hit points.

Definition at line 318 of file LiDARCloud.py.

◆ loadXML()

pyhelios.LiDARCloud.LiDARCloud.loadXML	(		self,
		str	filename )

Load scan metadata from XML file.

Definition at line 328 of file LiDARCloud.py.

◆ reflectanceFilter()

pyhelios.LiDARCloud.LiDARCloud.reflectanceFilter	(		self,
		float	minreflectance )

Filter hit points by minimum reflectance value.

Definition at line 310 of file LiDARCloud.py.

◆ setCellGtheta()

pyhelios.LiDARCloud.LiDARCloud.setCellGtheta	(		self,
		float	Gtheta,
		int	index )

Set G(theta) value for a grid cell.

Definition at line 458 of file LiDARCloud.py.

◆ syntheticScan()

pyhelios.LiDARCloud.LiDARCloud.syntheticScan	(		self,
		Context	context,
		Optional[int]	rays_per_pulse = None,
		Optional[float]	pulse_distance_threshold = None,
		bool	scan_grid_only = False,
		bool	record_misses = True,
		bool	append = False )

Perform synthetic LiDAR scan of geometry in Context.

   Requires scan metadata to be defined first via addScan() or loadXML().
   Uses ray tracing to simulate LiDAR instrument measurements.

Parameters

context	Helios Context containing geometry to scan
rays_per_pulse	Number of rays per pulse (None=discrete-return, typical: 100)
pulse_distance_threshold	Distance threshold for aggregating hits (meters, required for waveform)
scan_grid_only	If True, only scan within defined grid cells
record_misses	If True, record miss/sky points where rays don't hit geometry
append	If True, append to existing hits; if False, clear existing hits Example (Discrete-return): >>> from pyhelios import Context, LiDARCloud >>> from pyhelios.types import vec3 >>> with Context() as context: ... # Add geometry ... context.addPatch(center=vec3(0, 0, 0.5), size=vec2(1, 1))
...	... with LiDARCloud() as lidar: ... # Define scan parameters ... scan_id = lidar.addScan( ... origin=vec3(0, 0, 2), ... Ntheta=100, theta_range=(0, 1.57), ... Nphi=100, phi_range=(0, 6.28), ... exit_diameter=0, beam_divergence=0 ... )
...	... # Perform discrete-return scan ... lidar.syntheticScan(context)

Example (Full-waveform): >>> lidar.syntheticScan( ... context, ... rays_per_pulse=100, ... pulse_distance_threshold=0.02, ... record_misses=True ... )

Definition at line 517 of file LiDARCloud.py.

◆ triangulateHitPoints()

pyhelios.LiDARCloud.LiDARCloud.triangulateHitPoints	(		self,
		float	Lmax,
		float	max_aspect_ratio = 4.0 )

Generate triangle mesh from hit points using Delaunay triangulation.

Parameters

Lmax	Maximum triangle edge length
max_aspect_ratio	Maximum triangle aspect ratio (default 4.0)

Definition at line 295 of file LiDARCloud.py.

Member Data Documentation

◆ _cloud_ptr

pyhelios.LiDARCloud.LiDARCloud._cloud_ptr = lidar_wrapper.createLiDARcloud()

protected

Definition at line 73 of file LiDARCloud.py.

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

pyhelios/LiDARCloud.py

Detailed Description

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ __init__()

◆ __del__()

Member Function Documentation

◆ __enter__()

◆ __exit__()

◆ addGrid()

◆ addGridCell()

◆ addHitPoint()

◆ addScan()

◆ addTrianglesToContext()

◆ calculateHitGridCell()

◆ calculateLeafArea()

◆ calculateSyntheticGtheta()

◆ calculateSyntheticLeafArea()

◆ coordinateRotation()

◆ coordinateShift()

◆ deleteHitPoint()

◆ disableCDGPUAcceleration()

◆ disableMessages()

◆ distanceFilter()

◆ enableCDGPUAcceleration()

◆ enableMessages()

◆ exportGtheta()

◆ exportLeafAreaDensities()

◆ exportLeafAreas()

◆ exportPointCloud()

◆ exportTriangleAreas()

◆ exportTriangleNormals()

◆ firstHitFilter()

◆ gapfillMisses()

◆ getCellCenter()

◆ getCellGtheta()

◆ getCellLeafArea()

◆ getCellLeafAreaDensity()

◆ getCellSize()

◆ getGridCellCount()

◆ getHitColor()

◆ getHitCount()

◆ getHitRaydir()

◆ getHitXYZ()

◆ getScanCount()

◆ getScanOrigin()

◆ getScanSizePhi()

◆ getScanSizeTheta()

◆ getTriangleCount()

◆ initializeCollisionDetection()

◆ is_available()

◆ lastHitFilter()

◆ loadXML()

◆ reflectanceFilter()

◆ setCellGtheta()

◆ syntheticScan()

◆ triangulateHitPoints()

Member Data Documentation

◆ _cloud_ptr

◆ init()

◆ del()

◆ enter()

◆ exit()