CloudCompare forum

Hello,

for a plugin i'm trying to figure out how to extract the sensor position (pose) of lidar point clouds.
Is it correct, that it's a member of Grid struct (ccGLMatrixd sensorPosition)? Doc: https://www.cloudcompare.org/doc/qCC_db ... 39a492038c

For my approach i'm thinking about iterating through the selected entities (point clouds in this case):
Does anyone have an idea how to get to the sensor position of the point clouds in the container?
Thank you!

The most robust way is to loop through the selected entities, and check if it's a sensor object (ccSensor) or a point cloud (ccPointCloud).

If it's a sensor, you can retrieve its position directly. If it's a cloud, you'll have to look at its children (entities) and look for a ccSensor among them. You can look in the code base for either 'ccSensor' or 'ccGBLSensor' and you'll find many examples.

First of all thank you for the help!

Do you know a way to access the children? My entities are ccPointCloud objects. I tried a lot and looked for functions, somehow i didn't find a solution, unfortunately.

With the 'getChild()' method? (and the number of children can be retrieved with getChildrenNumber:
https://github.com/CloudCompare/CloudCo ... ect.h#L131