Helios++
Helios software for LiDAR simulations
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Raycaster interface declaring raycasting operations. More...
#include <Raycaster.h>
Public Member Functions | |
virtual std::map< double, Primitive * > | searchAll (glm::dvec3 rayOrigin, glm::dvec3 rayDir, double tmin, double tmax, bool groundOnly)=0 |
Search all intersections for specified ray. More... | |
virtual RaySceneIntersection * | search (glm::dvec3 rayOrigin, glm::dvec3 rayDir, double tmin, double tmax, bool groundOnly)=0 |
Search first intersection for specified ray. More... | |
Raycaster interface declaring raycasting operations.
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pure virtual |
Search first intersection for specified ray.
rayOrigin | Ray origin 3D coordinates |
rayDir | Ray 3D director vector |
tmin | Minimum time to intersection. It is used to prevent considering intersections (capturing points) before this time during the recursive search process |
tmax | Maximum time to intersection. It is used to prevent considering intersections (capturing points) after this time during the recursive search process |
groundOnly | Flag to specify if only ground primitives must be considered (true) or not (false) |
Implemented in KDGroveRaycaster, GroveKDTreeRaycaster, and KDTreeRaycaster.
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pure virtual |
Search all intersections for specified ray.
rayOrigin | Ray origin 3D coordinates |
rayDir | Ray 3D director vector |
tmin | Minimum time to intersection. It is used to prevent considering intersections (capturing points) before this time during the recursive search process |
tmax | Maximum time to intersection. It is used to prevent considering intersections (capturing points) after this time during the recursive search process |
groundOnly | Flag to specify if only ground primitives must be considered (true) or not (false) |
Implemented in KDGroveRaycaster, GroveKDTreeRaycaster, and KDTreeRaycaster.