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Added data dir
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Added style.groovy
Added pom.xml
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Sebastian Bechtold committed Oct 16, 2016
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44 changes: 44 additions & 0 deletions data/platforms.xml
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<?xml version="1.0"?>

<document>
<!-- ###################### BEGIN ALS Platforms ###################### -->
<platform id="quadcopter" model="platforms/quadcopter/quadcopter.obj" name="Quadrocopter UAV" type="multicopter" drag="0.01">
<scannerMount x="0" y="0" z="0.2">
<rot axis="roll" angle_deg="180" />
<rot axis="yaw" angle_deg="180" />
</scannerMount>
</platform>

<platform id="sr22" model="platforms/cirrus-sr22/sr22.obj" name="Cirrus SR-22 (15 deg. forward mount)" type="linearpath">
<scannerMount z="0.7">
<rot axis="roll" angle_deg="0" />
<rot axis="pitch" angle_deg="195" />
</scannerMount>
</platform>
<!-- ###################### END ALS Platforms ###################### -->


<!-- ###################### BEGIN MLS Platforms ###################### -->
<platform id="tractor" model="platforms/tractor/tractor.j3o" name="Tractor" type="groundvehicle" drag="0.005">
<scannerMount x="0" y="1" z="4">
<rot axis="yaw" angle_deg="90" />
<rot axis="roll" angle_deg="-30" />
</scannerMount>
</platform>

<platform id="tractor_leftside" model="platforms/tractor/tractor.obj" name="Tractor" type="groundvehicle" drag="0.01">
<scannerMount x="0" y="0.8" z="4">
<rot axis="roll" angle_deg="-35" />
</scannerMount>
</platform>
<!-- ###################### END MLS Platforms ###################### -->


<!-- ###################### BEGIN TLS Platforms ###################### -->
<platform id="tripod" model="platforms/tripod/tripod.obj" name="TLS Tripod" type="dummy" drag="0">
<scannerMount x="0" y="0" z="1.5">
</scannerMount>
</platform>
<!-- ###################### END TLS Platforms ###################### -->

</document>
186 changes: 186 additions & 0 deletions data/scanners_als.xml
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<?xml version="1.0"?>

<document>

<!-- ############### BEGIN Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->

<!-- ##### BEGIN Leica ALS50 ##### -->
<scanner id = "leica_als50"
accuracy_m = "0.005"
beamDivergence_rad = "0.00033"
deflectAngle_deg = "45"
name = "Leica ALS50"
optics = "oscillating"
pulseFreqs_Hz = "83000"
pulseLength_ns = "10"
rangeMin_m = "200"
scanAngleMax_deg = "37.5"
scanFreqMin_Hz = "25"
scanFreqMax_Hz = "70"
/>
<!-- ##### END Leica ALS50 ##### -->

<!-- ##### BEGIN Leica ALS50-II ##### -->
<scanner id = "leica_als50-ii"
accuracy_m = "0.005"
beamDivergence_rad = "0.00022"
deflectAngle_deg = "45"
name = "Leica ALS50-II"
optics = "oscillating"
pulseFreqs_Hz = "150000"
pulseLength_ns = "4"
rangeMin_m = "200"
scanAngleMax_deg = "37.5"
scanFreqMin_Hz = "35"
scanFreqMax_Hz = "90"
/>
<!-- ##### END Leica ALS50-II ##### -->


<!-- ##### BEGIN Optech ALTM 2033 ##### -->
<scanner id = "optech_2033"
accuracy_m = "0.01"
beamDivergence_rad = "0.0003"
name = "Optech ALTM 2033"
optics = "oscillating"
pulseFreqs_Hz = "33000"
pulseLength_ns = "8"
rangeMin_m = "1"
scanAngleMax_deg = "20"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "30"
scanProduct = "590"
>
<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="roll" angle_deg="0" />
<rot axis="pitch" angle_deg="0" />

</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END Optech ALTM 2033 ##### -->

<!-- ##### BEGIN Optech ALTM 3100 ##### -->
<scanner id = "optech_3100"
accuracy_m = "0.015"
beamDivergence_rad = "0.0003"
name = "Optech ALTM 3100"
optics = "oscillating"
pulseFreqs_Hz = "33000, 100000"
pulseLength_ns = "8"
rangeMin_m = "80"
scanAngleMax_deg = "25"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "70"
scanProduct = "1000"
/>
<!-- ##### END Optech ALTM 2033 ##### -->


<!-- ##### BEGIN Optech Galaxy ##### -->
<scanner id = "optech_galaxy"
accuracy_m = "0.005"
beamDivergence_rad = "0.00025"
name = "Optech Galaxy"
optics = "oscillating"
pulseFreqs_Hz = "35000, 550000"
pulseLength_ns = "8"
rangeMin_m = "150"
scanAngleMax_deg = "30"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "100"
scanProduct = "1400"
/>
<!-- ##### END Optech Galaxy ##### -->


<!-- ##### BEGIN RIEGL LMS-Q560 ##### -->
<scanner id = "riegl_lms-q560"
accuracy_m = "0.005"
beamDivergence_rad = "0.0005"
name = "RIEGL LMS-Q560"
optics = "rotating"
pulseFreqs_Hz = "50000,100000,180000,200000,240000"
pulseLength_ns = "4"
rangeMin_m = "30"
scanAngleMax_deg = "45"
scanAngleEffectiveMax_deg = "22.5"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "160"
/>
<!-- ##### END RIEGL LMS-Q560 ##### -->


<!-- ##### BEGIN RIEGL LMS-Q780 ##### -->
<scanner id = "riegl_lms-q780"
accuracy_m = "0.005"
beamDivergence_rad = "0.00025"
name = "RIEGL LMS-Q780"
optics = "rotating"
pulseFreqs_Hz = "100000,400000"
pulseLength_ns = "4"
rangeMin_m = "50"
scanAngleMax_deg = "30"
scanAngleEffectiveMax_deg = "30"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "200"
/>
<!-- ##### END RIEGL LMS-Q780 ##### -->

<!-- ##### BEGIN RIEGL VUX-1UAV ##### -->
<scanner id = "riegl_vux-1uav"
accuracy_m = "0.01"
beamDivergence_rad = "0.0005"
name = "RIEGL VUX-1UAV"
optics = "oscillating"
pulseFreqs_Hz = "50000,100000,200000,300000,380000,550000"
pulseLength_ns = "4"
rangeMin_m = "3"
scanAngleMax_deg = "195"
scanAngleEffectiveMax_deg = "195"
scanFreqMin_Hz = "10"
scanFreqMax_Hz = "200"
visModel = "scanners/vux-1uav/vux-1uav.obj">

<beamOrigin x="0" y="0.085" z="0.06">
<rot axis="pitch" angle_deg="90" />
<rot axis="yaw" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>

<!-- ##### END RIEGL LMS-Q780 ##### -->


<!-- ############### END Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->


<!-- ############### BEGIN "Fantasy" Scanners ############### -->

<!-- ##### BEGIN Copterscanner ##### -->
<scanner id = "copterscanner"
accuracy_m = "0.01"
beamDivergence_rad = "0.0003"
name = "Copter Scanner"
optics = "conic"
pulseFreqs_Hz = "10000,50000,100000,200000"
pulseLength_ns = "8"
rangeMin_m = "1"
scanAngleMax_deg = "20"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "100"
scanProduct = "590"
>
<beamOrigin x="0" y="0" z="0">
<rot axis="roll" angle_deg="0" />

<rot axis="pitch" angle_deg="90" />
<rot axis="yaw" angle_deg="90" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>
</scanner>
<!-- ##### END Copterscanner ##### -->

<!-- ############### END "Fantasy" Scanners ############### -->

</document>
159 changes: 159 additions & 0 deletions data/scanners_tls.xml
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<?xml version="1.0"?>

<document>

<!-- ############### BEGIN Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->

<!-- ##### BEGIN RIEGL VZ-400 ##### -->
<scanner id = "riegl_vz400"
name = "RIEGL VZ-400"
visModel = "scanners/vz400/vz400.obj"

accuracy_m = "0.005"
beamDivergence_rad = "0.00035"
headRotatePerSecMax_deg = "60"

optics = "rotating"
pulseFreqs_Hz = "100000,300000"
pulseLength_ns = "5"
rangeMin_m = "1.5"
scanAngleMax_deg = "123"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "3"
scanFreqMax_Hz = "120">

<beamOrigin x="0" y="0" z="0.2">
<rot axis="roll" angle_deg="0" />
<rot axis="yaw" angle_deg="0" />
<rot axis="pitch" angle_deg="10" />
</beamOrigin>
<headRotateAxis x="0" y="0" z="1"/>

<!--####### BEGIN New stuff ####### -->
<head type="default"
rotatePerSecMax_rad="60">
rotAxis_x="0"
rotAxis_y="0"
rotAxis_z="1"/>
</head>

<emitter type = "default"
beamDivergence_rad = "0.00035"
pulseFreqs_Hz = "100000,300000"
pulseLength_ns = "5">

<beamOrigin x="0" y="0" z="0.2">
<rot axis="roll" angle_deg="0" />
<rot axis="yaw" angle_deg="0" />
<rot axis="pitch" angle_deg="10" />
</beamOrigin>
</emitter>

<deflector type = "rotating"
scanAngleMax_deg = "123"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "3"
scanFreqMax_Hz = "120"/>

<detector accuracy_m = "0.005"
rangeMin_m = "1.5"/>

<!--####### END New stuff ####### -->

<emitter type="default"></emitter>

</scanner>
<!-- ##### END RIEGL VZ-400 ##### -->


<!-- ##### BEGIN RIEGL VZ-1000 ##### -->
<scanner id = "riegl_vz1000"
accuracy_m = "0.005"
beamDivergence_rad = "0.0003"
headRotatePerSecMax_deg = "60"
name = "RIEGL VZ-1000"
optics = "rotating"
pulseFreqs_Hz = "70000,300000"
pulseLength_ns = "4"
rangeMin_m = "2.5"
scanAngleMax_deg = "123"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "3"
scanFreqMax_Hz = "120"
visModel = "scanners/vz400/vz400.obj"
/>
<!-- ##### END RIEGL VZ-1000 ##### -->

<!-- ##### BEGIN FARO Focus X130 ##### -->
<!-- NOTE: FARO Focus X30 appears to have the same specs -->
<!-- All faro x130 pulse frequencies: 122, 244,488, 976 -->
<scanner id = "faro_focus_x130"
accuracy_m = "0.002"
beamDivergence_rad = "0.00019"
headRotatePerSecMax_deg = "60"
name = "FARO Focus X130"
optics = "rotating"
pulseFreqs_Hz = "122000,976000"
pulseLength_ns = "4"
rangeMin_m = "0.6"
scanAngleMax_deg = "150"
scanAngleEffectiveMax_deg = "150"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "97"
visModel = "scanners/vz400/vz400.obj"
wavelength_nm = "1550"
/>

<!-- ##### END FARO Focus X130 ##### -->


<!-- ##### BEGIN FARO Photon 120 ##### -->
<!-- NOTE: This scanner works with phase shift, not time-of-flight! -->
<!-- All faro photon 120 pulse frequencies: 122, 244,488, 976 -->
<scanner id = "faro_photon_120"
accuracy_m = "0.002"
beamDivergence_rad = "0.00016"
headRotatePerSecMax_deg = "60"
name = "FARO Focus X130"
optics = "rotating"
pulseFreqs_Hz = "122000,976000"
pulseLength_ns = "4"
rangeMin_m = "0.6"
scanAngleMax_deg = "160"
scanAngleEffectiveMax_deg = "160"
scanFreqMin_Hz = "0"
scanFreqMax_Hz = "48"
visModel = "scanners/vz400/vz400.obj"
wavelength_nm = "785"
/>

<!-- ##### END FARO Focus X130 ##### -->


<!-- ############### END Realistic Scanners (Do NOT MODIFY unless data is really wrong!!!) ############### -->


<!-- ############### BEGIN "Fantasy" Scanners ############### -->



<!-- ##### BEGIN Tractor scanner ##### -->
<scanner id = "tractorscanner"
accuracy_m = "0"
beamDivergence_rad = "0.00035"
name = "Tractor Scanner"
optics = "oscillating"
pulseFreqs_Hz = "1000,50000,100000,200000"
pulseLength_ns = "4"
rangeMin_m = "0"
scanAngleMax_deg = "30"
scanAngleEffectiveMax_deg = "50"
scanFreqMin_Hz = "100"
scanFreqMax_Hz = "50"
visModel = "scanners/vz400/vz400.obj"
/>
<!-- ##### END Tractor scanner ##### -->

<!-- ############### END "Fantasy" Scanners ############### -->

</document>

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