Interface to access information and functionality of scans. More...

#include <lsscan.h>

Inheritance diagram for LSScan:

Public Types
enum	ExportFormat { DXF = 0, E57 = 1, FLS = 2, IGS = 3, POD = 4, PTS = 5, PTX = 6, WRL = 7, XYB = 8, XYZ = 9, CPE = 10, BMP = 11, JPG = 12, PNG = 13, TIF = 14, LAS = 15 }
	The different export formats that are supported. More...

enum	DataFormat { COLOR, REFLECTION, AUTO, COLOR_AND_REFLECTION }
	The different data formats that are supported by FARO scans. More...

Public Member Functions
bool	dataAvailable (DataFormat format=AUTO) const
	Determines whether data is available in the specified format. More...

bool	dataLoaded (DataFormat format=AUTO) const
	Determines whether data is loaded in the specified format. More...

LSResult::Result	loadData (DataFormat format=AUTO)
	Load the scan data in the specified format. More...

void	unloadData ()
	Unloads the scan data. More...

LSResult::Result	exportData (LSString filePath, ExportFormat format)
	Exports the scan data in the defined format. More...

LSScanIterator< LSPointXYZRGB >	getScanIterator ()
	Gets a scan iterator which allows to iterate over the available scan data. More...

LSScanIterator< LSPointXYZI >	getScanReflectionIterator ()
	Gets a scan iterator which allows to iterate over the available scan data. More...

bool	spatialDataAvailable () const
	Determines whether spatial scan data (scan point cloud) is available for this scan. More...

LSResult::Result	exportSpatialData (LSString filePath, ExportFormat format)
	Exports the spatial scan data in the defined format. More...

LSIterator< LSPointXYZRGB >	getSpatialScanIterator ()
	Gets an iterator which allows to iterate over the spatial scan data (scan point cloud). More...

LSSphericalIterator< LSPointSphericalRGB >	getSphericalCoordinatesIterator ()
	Gets an iterator which allows to iterate over the structured scan data (r, phi, theta). More...

ref_ptr< const LSAttributeContainer >	getScannerParameters ()
	Gets the scanner parameters which were used to take the scan. More...

ref_ptr< const LSAttributeContainer >	getScannerParameters () const
	Gets the scanner parameters which were used to take the scan. More...

int	getNumCols () const
	Gets the number of available columns. More...

int	getNumRows () const
	Gets the number of available rows. More...

void	setPointColor (int col, int row, uint8_t r, uint8_t g, uint8_t b)
	Sets the RGB color value of the point at the specified col/row position. More...

void	setPointReflection (int col, int row, float reflection)
	Sets the reflection value of the point at the specified col/row position. More...

void	deletePoint (int col, int row)
	Deletes the point at the specified its col/row position. More...

void	select2d (int colLeft, int colRight, int rowTop, int rowBottom)
	Creates a rectangular selection on the scan. More...

LSResult::Result	getOverlap (int &startColumn1, int &columns1, int &startColumn2, int &columns2) const
	Get overlap areas of the scan. More...

bool	isUnstructured () const
	Check if a scan contains unstructured data. More...

bool	getPointColor (int col, int row, uint8_t &r, uint8_t &g, uint8_t &b) const
	Gets the RGB color value of the point at the specified col/row position. More...

bool	getPointColor (int col, int row, uint8_t &r, uint8_t &g, uint8_t &b, bool &isRGB) const
	Overloaded method. More...

bool	getPointReflection (int col, int row, float &reflection) const
	Gets the reflection value of the point at the specified col/row position. More...

LSScanIterator< LSPointXYZN >	getScanNormalsIterator ()
	Gets a scan iterator which allows to iterate over the available scan data. More...

bool	getPointNormal (int col, int row, float &nX, float &nY, float &nZ) const
	Gets the normal vector components of the point at the specified col/row position. More...

LSIterator< LSPointXYZN >	getSpatialScanNormalsIterator ()
	Gets a scan iterator which allows to iterate over the available spatial scan data (scan point cloud) and extract its corresponding normals. More...

LSResult::Result	getNearestScanPoint (const uint64_t &time, int &row, int &col) const
	fills row/col with coordinates of nearest scan point to given atime. More...

LSResult::Result	getTimeOfScanPoint (int row, int col, uint64_t &time) const
	fills automation time with time of given scan point

LSResult::Result	getTimeOfSyncPulse (int col, uint64_t &time) const
	fills the automation time with time of sync pulse which was issued before given column was scanned. More...

Public Member Functions inherited from LSObject
Eigen::Matrix4d	getTransformationToGlobal () const
	Calculates the transformation matrix which transforms local object coordinates to global coordinates. More...

void	select ()
	Selects this object. More...

LSIterator< ref_ptr< LSObject > >	getChildIterator () const
	Gets an iterator which can be used for a breadth-first iteration over all objects below the object in the object hierarchy. More...

ref_ptr< LSObject >	getParent () const
	Returns the parent of this object. More...

unsigned int	getNumChildren () const
	Returns the number of children of this object. More...

ref_ptr< LSObject >	getChild (unsigned int n) const
	Returns the n-th child of this object. More...

ref_ptr< LSObject >	getChild (LSString name) const
	Returns the child of this object with a given name. More...

bool	rmChild (unsigned int n)
	Removes a child from this object. More...

bool	rmChild (LSString name)
	Removes a child from this object. More...

LSResult::Result	addChild (LSString name, LSString typeName, ref_ptr< LSObject > &childOut)
	Creates a new child of the given type. More...

LSResult::Result	generateUniqueChildName (const LSString &baseName, LSString &nameOut) const
	Generates a valid and unique name for a new child of this object based on the provided base name. More...

LSResult::Result	setParent (ref_ptr< LSObject > newParent)
	Changes the parent of this object. More...

Public Member Functions inherited from LSAttributeContainer
LSString	getTypeName () const
	Gets the type name of this instance. More...

LSString	getName () const
	Gets the name of the container. More...

LSResult::Result	setName (LSString name)
	Sets the name of the container. More...

LSString	getUuid () const
	Returns the unique id of the container. More...

LSString	assignUuid ()
	Assigns a unique id to the container if the container does not not yet have a unique id. More...

unsigned int	getNumAttributes () const
	Get the number of attributes in the container. More...

LSString	getAttributeName (unsigned int index) const
	Get the name of an attribute in the container. More...

unsigned int	getAttributeIndex (LSString name) const
	Get the index of an attribute in the container. More...

LSAttribute	getAttribute (unsigned int index) const
	Get an attribute based on its index. More...

LSAttribute	getAttribute (LSString name) const
	Get an attribute based on its name. More...

LSResult::Result	setAttribute (unsigned int index, const LSAttribute &attribute)
	Set an attribute based on its index. More...

LSResult::Result	setAttribute (LSString name, const LSAttribute &attribute)
	Set an attribute based on its name. More...

LSResult::Result	addCustomAttribute (LSString name, const LSAttribute &attribute)
	Add a new custom attribute to the container. More...

bool	removeCustomAttribute (LSString name)
	Remove a custom attribute from the container. More...

unsigned int	getNumFields () const
	Returns the number of fields in the container. More...

ref_ptr< LSAttributeContainer >	getField (unsigned int index) const
	Returns the field at position n in the container. More...

ref_ptr< LSAttributeContainer >	getField (const LSString &name) const
	Returns the field with the given name. More...

LSResult::Result	addField (const LSString &name, const LSString &typeName, ref_ptr< LSAttributeContainer > &fieldOut)
	Add a field to the container. More...

bool	rmField (const LSString &name)
	Removes the field with a given name from the container. More...

Additional Inherited Members
Protected Member Functions inherited from LSRefType
void	ref () const
	Increments the internal reference counter. More...

void	unref () const
	Decrements the internal reference counter. More...

Detailed Description

Interface to access information and functionality of scans.

Version: SCENE API version 2.0.0.

Member Enumeration Documentation

◆ ExportFormat

enum ExportFormat

The different export formats that are supported.

Version: SCENE API version 2.0.10

Enumerator
DXF	Drawing Interchange Format (.dxf)
E57	ASTM E57 3D File Format (.e57)
FLS	FARO Laser Scan Format (.fls)
IGS	Initial Graphics Exchange Specification Format (.iges)
POD	Pointools POD File Format (.pod)
PTS	Leica PTS File Format (.pts)
PTX	Leica PTX File Format (.ptx)
WRL	Virtual Reality Modeling Language File Format (.vrml)
XYB	Binary XYZ File Format (.xyb)
XYZ	ASCII XYZ File Format (.xyz)
CPE	CPE File Format (.cpe)
BMP	Bitmap Image File Format (.bmp)
JPG	JPEG Image File Format (.jpg)
PNG	PNG Image File Format (.png)
TIF	TIFF Image File Format (.tif)
LAS	LAS File Format (.las, .laz)

◆ DataFormat

enum DataFormat

The different data formats that are supported by FARO scans.

Version: SCENE API Version 2.0.0.

Enumerator
COLOR	Color (RGB) information.
REFLECTION	Reflection (Intensity) information.
AUTO	Automatic selection of the color format.
COLOR_AND_REFLECTION	Color (RGB) and Reflection (Intensity) information at the same time.

Member Function Documentation

◆ dataAvailable()

bool dataAvailable ( DataFormat format = AUTO ) const

Determines whether data is available in the specified format.

Parameters

format The data format to check the availability for.

Returns: true if the data is available in the specified format, false otherwise.

Version: SCENE API Version 2.0.0.

◆ dataLoaded()

bool dataLoaded ( DataFormat format = AUTO ) const

Determines whether data is loaded in the specified format.

Parameters

format The data format to check the load state for.

Returns: true if the data is loaded in the specified format, false otherwise.

Version: SCENE API Version 2.0.0.

◆ loadData()

LSResult::Result loadData ( DataFormat format = AUTO )

Load the scan data in the specified format.

Parameters

format The data format to load.

Returns: LSResult::Ok Loading was successful. LSResult::InvalidRequest The supplied parameters are wrong or the project needs to be saved first. LSResult::Unauthorized You do not have the API key required to load this scan.

Version: SCENE API Version 2.0.0.

◆ unloadData()

void unloadData ( )

Unloads the scan data.

Version: SCENE API Version 2.0.0.

◆ exportData()

LSResult::Result exportData	(	LSString	filePath,
		ExportFormat	format
	)

Exports the scan data in the defined format.

ATTENTION: Make sure that the data is available and loaded in any format before calling this method!

Parameters

filePath	The path to the export destination.
format	The format to be used for the export. Supported formats are DXF, E57, FLS, IGS, POD, PTS, PTX, WRL, XYB, XYZ, CPE, LAS, BMP, JPG, PNG and TIF.

Version: SCENE API Version 2.0.4.

◆ getScanIterator()

LSScanIterator<LSPointXYZRGB> getScanIterator ( )

Gets a scan iterator which allows to iterate over the available scan data.

The returned points are in global coordinates. ATTENTION: Make sure that the data is available and loaded in any format before calling this method! If this iterator is used to iterate over reflection data, the intensity values will be mapped to RGB values using a contrast enhancement algorithm.

Returns: The iterator instance.

Version: SCENE API Version 2.0.0.

◆ getScanReflectionIterator()

LSScanIterator<LSPointXYZI> getScanReflectionIterator ( )

Gets a scan iterator which allows to iterate over the available scan data.

The returned points are in global coordinates. ATTENTION: Make sure that reflection data is available and loaded before calling this method!

Returns: The iterator instance.

Version: SCENE API Version 2.0.0.

◆ spatialDataAvailable()

bool spatialDataAvailable ( ) const

Determines whether spatial scan data (scan point cloud) is available for this scan.

Returns: true if spatial data is available, false otherwise.

Version: SCENE API Version 2.0.0.

◆ exportSpatialData()

LSResult::Result exportSpatialData	(	LSString	filePath,
		ExportFormat	format
	)

Exports the spatial scan data in the defined format.

Parameters

filePath	The path to the export destination.
format	The format to be used for the export. Supported formats are DXF, E57, IGS, POD, PTS, WRL, XYB, XYZ, CPE and LAS.

Version: SCENE API Version 2.0.4.

◆ getSpatialScanIterator()

LSIterator<LSPointXYZRGB> getSpatialScanIterator ( )

Gets an iterator which allows to iterate over the spatial scan data (scan point cloud).

Call spatialDataAvailable() to check there is spatial data available for this scan. The returned points are in global coordinates.

Returns: The iterator instance.

Version: SCENE API Version 2.0.0.

◆ getSphericalCoordinatesIterator()

LSSphericalIterator<LSPointSphericalRGB> getSphericalCoordinatesIterator ( )

Gets an iterator which allows to iterate over the structured scan data (r, phi, theta).

This iterator will return points in the scans local coordidate system. All non-existing or deleted points will return with zero distance (r=0). ATTENTION: Call this method only on structured scans and loaded data! Make sure that the data is available and loaded in any format before calling this method! If this iterator is used to iterate over reflection data, the intensity values will be mapped to RGB values using a contrast enhancement algorithm.

Our polar coordinates are defined as follows:

x axis points equals to horizontal direction of 1. scan beam z axis is equal to the up direction phi is meant to be turned in clockwise direction theta == 0 in horizontal direction phi <– [0,2*PI], theta <– [0,PI[

(1) x = radius * cos(phi) * cos(theta) (2) y = -radius * sin(phi) * cos(theta) (3) z = radius * sin(theta)

Returns: The iterator instance.

Version: SCENE API Version 2.0.31.

◆ getScannerParameters() [1/2]

ref_ptr<const LSAttributeContainer> getScannerParameters ( )

Gets the scanner parameters which were used to take the scan.

Will return a null pointer for non-FARO-scans, for example imported E57 files!

Returns: The attribute container containing the scanner parameters.

Version: SCENE API Version 2.0.0.

◆ getScannerParameters() [2/2]

ref_ptr<const LSAttributeContainer> getScannerParameters ( ) const

Gets the scanner parameters which were used to take the scan.

Will return a null pointer for non-FARO-scans, for example imported E57 files!

Returns: The attribute container containing the scanner parameters.

Version: SCENE API Version 2.0.22.

◆ getNumCols()

int getNumCols ( ) const

Gets the number of available columns.

Returns: The number of available columns.

Version: SCENE API Version 2.0.5

◆ getNumRows()

int getNumRows ( ) const

Gets the number of available rows.

Returns: The number of available rows.

Version: SCENE API Version 2.0.5

◆ setPointColor()

void setPointColor	(	int	col,
		int	row,
		uint8_t	r,
		uint8_t	g,
		uint8_t	b
	)

Sets the RGB color value of the point at the specified col/row position.

Make sure that the scan is loaded with color data before calling this method!

Parameters

col	The points column position.
row	The points row position.
r	The points red value will be set to this. Allowed range is [0,255].
g	The points green value will be set to this. Allowed range is [0,255].
b	The points blue value will be set to this. Allowed range is [0,255].

Version: SCENE API Version 2.0.0.

◆ setPointReflection()

void setPointReflection	(	int	col,
		int	row,
		float	reflection
	)

Sets the reflection value of the point at the specified col/row position.

Make sure that the scan is loaded with reflection data before calling this method!

Parameters

col	The points column position.
row	The points row position.
reflection	The points reflection will be set to this value; range [0,1].

Version: SCENE API Version 2.0.9.

◆ deletePoint()

void deletePoint	(	int	col,
		int	row
	)

Deletes the point at the specified its col/row position.

This will only mark the 3D and depth information for this point as deleted. The color and reflection values remain unchanged. Make sure that the scan data is loaded before calling this method!

Version: SCENE API Version 2.0.0.

◆ select2d()

void select2d	(	int	colLeft,
		int	colRight,
		int	rowTop,
		int	rowBottom
	)

Creates a rectangular selection on the scan.

Parameters

colLeft	The left points column position.
colRight	The right points column position.
rowTop	The top points row position.
rowBottom	The bottom points row position.

Version: SCENE API Version 2.0.9.

◆ getOverlap()

LSResult::Result getOverlap	(	int &	startColumn1,
		int &	columns1,
		int &	startColumn2,
		int &	columns2
	)		const

Get overlap areas of the scan.

This method requires the scan to be loaded. FARO scans can contain areas with overlap where the scanner recorded more than 180 degrees for a scan half. Scans without overlap, for example imported unstructured scans, return 0 for all output parameters.

Parameters

startColumn1	Output parameter with the starting column of the first overlap area.
columns1	Output parameter with size of the first overlap area in columns.
startColumn2	Output parameter with the starting column of the second overlap area.
columns2	Output parameter with size of the second overlap area in columns.

Returns: InvalidRequest if the scan was not loaded, Ok if the request was successful.

Version: SCENE API Version 2.0.20.

◆ isUnstructured()

bool isUnstructured ( ) const

Check if a scan contains unstructured data.

Structured data is organized in rows and columns. Unstructured scans are just a list of 3D points in no meaningful order. Do NOT use their row and column indices to determine the neighboring points! A typical example for structured data are Focus laser scans with proper rows and columns. A typical example for unstructured data are Freestyle scans or imported CPE files.

Returns: True, if the scan contains unstructured data.

Version: SCENE API Version 2.0.21.

◆ getPointColor() [1/2]

bool getPointColor	(	int	col,
		int	row,
		uint8_t &	r,
		uint8_t &	g,
		uint8_t &	b
	)		const

Gets the RGB color value of the point at the specified col/row position.

Make sure that the scan is loaded with color data before calling this method!

Parameters

col	The points column position.
row	The points row position.
r	Red output parameter, will be set to a value in the range [0,255].
g	Green output parameter, will be set to a value in the range [0,255].
b	Blue output parameter, will be set to a value in the range [0,255].

Returns: True, if the color was extracted and copied to the output parameters.

Version: SCENE API Version 2.0.22.

◆ getPointColor() [2/2]

bool getPointColor	(	int	col,
		int	row,
		uint8_t &	r,
		uint8_t &	g,
		uint8_t &	b,
		bool &	isRGB
	)		const

Overloaded method.

Gets the RGB color value of the point at the specified col/row position. Make sure that the scan is loaded with color data before calling this method!

Parameters

col	The points column position.
row	The points row position.
r	Red output parameter, will be set to a value in the range [0,255].
g	Green output parameter, will be set to a value in the range [0,255].
b	Blue output parameter, will be set to a value in the range [0,255].
isRGB	Flag that states wheather the color is a ScanPt RGB value. False, if the RGB value derived from encoded laser intensity/reflection values.

Returns: True, if the color was extracted and copied to the output parameters.

Version: SCENE API Version 2.0.31.

◆ getPointReflection()

bool getPointReflection	(	int	col,
		int	row,
		float &	reflection
	)		const

Gets the reflection value of the point at the specified col/row position.

Make sure that the scan is loaded with reflection data before calling this method!

Parameters

col	The points column position.
row	The points row position.
reflection	This output parameter will be set to a value in the range [0,1].

Returns: True, if the reflection was extracted and copied to the output parameter.

Version: SCENE API Version 2.0.22.

◆ getScanNormalsIterator()

LSScanIterator<LSPointXYZN> getScanNormalsIterator ( )

Gets a scan iterator which allows to iterate over the available scan data.

The returned points and normal vectors are in global coordinates. ATTENTION: Make sure that the data is available and loaded in any format before calling this method! Further, this method should be called on the processed data for getting accurate values of the components of the normal vector.

Returns: The iterator instance.

Version: SCENE API Version 2.0.25.

◆ getPointNormal()

bool getPointNormal	(	int	col,
		int	row,
		float &	nX,
		float &	nY,
		float &	nZ
	)		const

Gets the normal vector components of the point at the specified col/row position.

Make sure that the scan is loaded with any data format before calling this method! Further, this method should be called on the scan which is processed for getting accurate values of the components of the normal vector

Parameters

col	The points column position.
row	The points row position.
nX	X component of the normal vector.
nY	Y component of the normal vector.
nZ	Z component of the normal vector.

Returns: True, if the components of the normal vector were extracted and copied to the output parameters.

Version: SCENE API Version 2.0.25.

◆ getSpatialScanNormalsIterator()

LSIterator<LSPointXYZN> getSpatialScanNormalsIterator ( )

Gets a scan iterator which allows to iterate over the available spatial scan data (scan point cloud) and extract its corresponding normals.

The returned points are in global coordinates. See also getSpatialScanIterator() and spatialDataAvailable(). ATTENTION: Make sure that the spatial data is available before calling this method! Further, this method should be called on the processed data for getting accurate values of the components of the normal vector.

Returns: The iterator instance.

Version: SCENE API Version 2.0.26.

◆ getNearestScanPoint()

LSResult::Result getNearestScanPoint	(	const uint64_t &	time,
		int &	row,
		int &	col
	)		const

fills row/col with coordinates of nearest scan point to given atime.

returns true on success

◆ getTimeOfSyncPulse()

LSResult::Result getTimeOfSyncPulse	(	int	col,
		uint64_t &	time
	)		const

fills the automation time with time of sync pulse which was issued before given column was scanned.

the automation time of sync for column at (180 degree+x) is the same as at (x).

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ExportFormat

◆ DataFormat

Member Function Documentation

◆ dataAvailable()

◆ dataLoaded()

◆ loadData()

◆ unloadData()

◆ exportData()

◆ getScanIterator()

◆ getScanReflectionIterator()

◆ spatialDataAvailable()

◆ exportSpatialData()

◆ getSpatialScanIterator()

◆ getSphericalCoordinatesIterator()

◆ getScannerParameters() [1/2]

◆ getScannerParameters() [2/2]

◆ getNumCols()

◆ getNumRows()

◆ setPointColor()

◆ setPointReflection()

◆ deletePoint()

◆ select2d()

◆ getOverlap()

◆ isUnstructured()

◆ getPointColor() [1/2]

◆ getPointColor() [2/2]

◆ getPointReflection()

◆ getScanNormalsIterator()

◆ getPointNormal()

◆ getSpatialScanNormalsIterator()

◆ getNearestScanPoint()

◆ getTimeOfSyncPulse()