ScanPoint¶

class ScanPoint(*args, **kwargs)¶

Bases: pybind11_object

Class that defines a single laser scanner point.

This class stores data of a single scan point as:

• cartesian coordinates in the 3D space that are available throw getX() , getY() and getZ() methods.

• polar coordinates that are the native data provided by a laser scanner. By polar coordinates we mean here the radial distance and the horizontal angle of a point in the scanner layer and an additional vertical angle that gives the orientation of the layer.

Overloaded function.

1. __init__(self: visp._visp.sensor.ScanPoint) -> None

Default constructor.

2. __init__(self: visp._visp.sensor.ScanPoint, scanpoint: visp._visp.sensor.ScanPoint) -> None

Copy constructor.

3. __init__(self: visp._visp.sensor.ScanPoint, r_dist: float, h_angle: float, v_angle: float) -> None

Set the polar point coordinates.

Parameters:

r_dist

Radial distance in meter.

h_angle

Horizontal angle in radian.

v_angle

Vertical angle in radian.

Methods

__init__	Overloaded function.
getHAngle	Returns the polar elevation (vertical) angle in radian.
getRadialDist	Return the radial distance in meter.
getVAngle	Returns the polar elevation (vertical) angle in radian.
getX	Returns the cartesian x coordinate.
getY	Returns the cartesian y coordinate.
getZ	Returns the cartesian z coordinate.
setPolar	Set the polar point coordinates.

Inherited Methods

Operators

__doc__
__init__	Overloaded function.
__module__
__repr__

Attributes

__annotations__

__init__(*args, **kwargs)¶

Overloaded function.

1. __init__(self: visp._visp.sensor.ScanPoint) -> None

Default constructor.

2. __init__(self: visp._visp.sensor.ScanPoint, scanpoint: visp._visp.sensor.ScanPoint) -> None

Copy constructor.

3. __init__(self: visp._visp.sensor.ScanPoint, r_dist: float, h_angle: float, v_angle: float) -> None

Set the polar point coordinates.

Parameters:

r_dist

Radial distance in meter.

h_angle

Horizontal angle in radian.

v_angle

Vertical angle in radian.

getHAngle(self) → float¶

Returns the polar elevation (vertical) angle in radian.

getRadialDist(self) → float¶

Return the radial distance in meter.

getVAngle(self) → float¶

Returns the polar elevation (vertical) angle in radian.

getX(self) → float¶

Returns the cartesian x coordinate.

The x and y axis define an horizontal plane, where x is oriented positive in front of the laser while y on the left side.

getY(self) → float¶

Returns the cartesian y coordinate.

The x and y axis define an horizontal plane, where x is oriented positive in front of the laser while y on the left side.

getZ(self) → float¶

Returns the cartesian z coordinate.

The z axis is vertical and oriented in direction of the sky.

setPolar(self, r_dist: float, h_angle: float, v_angle: float) → None¶

Set the polar point coordinates.

Parameters:

r_dist: float¶

Radial distance in meter.

h_angle: float¶

Horizontal angle in radian.

v_angle: float¶

Vertical angle in radian.