Aligns an EPointCloud or EZMap on a reference EMesh, EPointCloud or EZMap. More...

#include <eVision/Easy3D/Easy3DMatch/E3DAligner.h>

Inheritance diagram for eVision::Easy3D::E3DAligner:

Collaboration diagram for eVision::Easy3D::E3DAligner:

Public Member Functions
	E3DAligner ()
	Constructs a 3D Aligner.
	E3DAligner (const eVision::Easy3D::E3DAligner &other)
	Constructs a 3D Aligner.
virtual	~E3DAligner () throw ()
eVision::Easy3D::E3DAligner &	operator= (const eVision::Easy3D::E3DAligner &other)
	Assignment operator.
virtual void	Load (const std::string &path)
	Loads the E3DAligner. The given ESerializer must have been created for reading.
virtual void	Load (eVision::ESerializer *serializer)
	Loads the E3DAligner. The given ESerializer must have been created for reading.
virtual void	Save (const std::string &path)
	Saves the E3DAligner. The given ESerializer must have been created for writing.
virtual void	Save (eVision::ESerializer *serializer)
	Saves the E3DAligner. The given ESerializer must have been created for writing.
void	SetReference (const eVision::Easy3D::EMesh &mesh, const eVision::Easy3D::E3DPlane &plane)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EMesh &mesh, float azimuth, float elevation)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EMesh &mesh, const std::vector< eVision::Easy3D::E3DPlane > &planes)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EMesh &mesh, const std::vector< float > &azimuths, const std::vector< float > &elevations)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EZMap &zmap)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EPointCloud &cloud, const eVision::Easy3D::E3DPlane &plane)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetReference (const eVision::Easy3D::EPointCloud &cloud, float azimuth, float elevation)
	Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
void	SetScanReprojectionPlane (const eVision::Easy3D::E3DPlane &plane)
	Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.
eVision::Easy3D::E3DPlane	GetScanReprojectionPlane () const
	Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.
void	SetFlatScan (const eVision::Easy3D::EZMap &scan)
	Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
void	SetFlatScan (const eVision::Easy3D::EZMap &scan, bool objectAbovePlane)
	Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
void	SetFlatScan (const eVision::Easy3D::EPointCloud &cloud)
	Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
void	SetFlatScan (const eVision::Easy3D::EPointCloud &cloud, bool objectAbovePlane)
	Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
void	ClearReprojectionPlane ()
	Clears re-projection plane set with E3DAligner::SetScanReprojectionPlane or E3DAligner::SetFlatScan.
bool	IsReprojectionPlaneSet () const
	Returns whether a re-projection plane was set with E3DAligner::SetScanReprojectionPlane or E3DAligner::SetFlatScan or not.
void	RetrieveReferencePosesProjections (std::vector< eVision::Easy3D::EZMap8 > &referencePosesProjections) const
	Retrieves the reference patterns of the E3DAligner in the form of a vector of EZMap8. The corresponding reference poses vector can be retrieved with E3DAligner::RetrieveReferencePoses.
void	RetrieveReferencePoses (std::vector< eVision::Easy3D::E3DPlane > &referencePoses) const
	Retrieves the reference poses of the E3DAligner in the form of a vector of E3DPlane. The corresponding reference patterns vector can be retrieved with E3DAligner::RetrieveReferencePosesProjections.
eVision::Easy3D::E3DAlignment	Align (const eVision::Easy3D::EZMap &zmap) const
	Aligns an EZMap or EPointCloud on the reference model.
eVision::Easy3D::E3DAlignment	Align (const eVision::Easy3D::EPointCloud &cloud, const eVision::Easy3D::E3DPlane &projectionPlane) const
	Aligns an EZMap or EPointCloud on the reference model.
eVision::Easy3D::E3DAlignment	Align (const eVision::Easy3D::EPointCloud &cloud, float azimuth, float elevation) const
	Aligns an EZMap or EPointCloud on the reference model.
	E3DAligner (CppWrapperInternal::InternalConstructor)

Static Public Member Functions
static void	compute3DPositionFrom2DAligning (const eVision::Easy3D::EZMap8 &refZMap, const eVision::Easy3D::EZMap8 &scanZmap, eVision::Easy3D::E3DTransformMatrix &modelToScanTransform, float angle, const eVision::EPoint &modelCenter, const eVision::EPoint &scanCenter)
	computes transformation between the point clouds from the alignment on the ZMaps

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Aligns an EPointCloud or EZMap on a reference EMesh, EPointCloud or EZMap.

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ E3DAligner() [1/3]

eVision::Easy3D::E3DAligner::E3DAligner ( )

Constructs a 3D Aligner.

◆ E3DAligner() [2/3]

eVision::Easy3D::E3DAligner::E3DAligner ( const eVision::Easy3D::E3DAligner & other )

Constructs a 3D Aligner.

Parameters

other Another E3DAligner object to be copied in the new E3DAligner object.

◆ ~E3DAligner()

eVision::Easy3D::E3DAligner::~E3DAligner	(		)
throw	(	)

virtual

◆ E3DAligner() [3/3]

eVision::Easy3D::E3DAligner::E3DAligner ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ Align() [1/3]

eVision::Easy3D::E3DAlignment eVision::Easy3D::E3DAligner::Align	(	const eVision::Easy3D::EPointCloud &	cloud,
		const eVision::Easy3D::E3DPlane &	projectionPlane ) const

Aligns an EZMap or EPointCloud on the reference model.

Parameters

cloud	The EPointCloud to align on the reference
projectionPlane	The E3DPlane on which the cloud is orthographically projected.

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the E3DPlane will be computed from the points cloud, so that all points of the cloud are visible. This might not be wanted if there are points in the cloud that are useless for the process (e.g. if we see other objects far below the model). This is also a bit slower as the plane's distance is recomputed on each scan.

◆ Align() [2/3]

eVision::Easy3D::E3DAlignment eVision::Easy3D::E3DAligner::Align	(	const eVision::Easy3D::EPointCloud &	cloud,
		float	azimuth,
		float	elevation ) const

Aligns an EZMap or EPointCloud on the reference model.

Parameters

cloud	The EPointCloud to align on the reference
azimuth	The azimuth angle of the normal of the projection plane in Easy::SetAngleUnit. Azimuth angles are oriented trigonometrically around the z axis. The x axis corresponds to an azimuth of 0 degrees.
elevation	The elevation angle of the normal of the projection plane in Easy::SetAngleUnit. Elevation angles represent how close the normal is to the z = 0 plane.

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the E3DPlane will be computed from the points cloud, so that all points of the cloud are visible. This might not be wanted if there are points in the cloud that are useless for the process (e.g. if we see other objects far below the model). This is also a bit slower as the plane's distance is recomputed on each scan.

◆ Align() [3/3]

eVision::Easy3D::E3DAlignment eVision::Easy3D::E3DAligner::Align ( const eVision::Easy3D::EZMap & zmap ) const

Aligns an EZMap or EPointCloud on the reference model.

Parameters

zmap	The EZMap to align

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the E3DPlane will be computed from the points cloud, so that all points of the cloud are visible. This might not be wanted if there are points in the cloud that are useless for the process (e.g. if we see other objects far below the model). This is also a bit slower as the plane's distance is recomputed on each scan.

◆ ClearReprojectionPlane()

void eVision::Easy3D::E3DAligner::ClearReprojectionPlane ( )

Clears re-projection plane set with E3DAligner::SetScanReprojectionPlane or E3DAligner::SetFlatScan.

◆ compute3DPositionFrom2DAligning()

void eVision::Easy3D::E3DAligner::compute3DPositionFrom2DAligning	(	const eVision::Easy3D::EZMap8 &	refZMap,
		const eVision::Easy3D::EZMap8 &	scanZmap,
		eVision::Easy3D::E3DTransformMatrix &	modelToScanTransform,
		float	angle,
		const eVision::EPoint &	modelCenter,
		const eVision::EPoint &	scanCenter )

static

computes transformation between the point clouds from the alignment on the ZMaps

◆ GetScanReprojectionPlane()

eVision::Easy3D::E3DPlane eVision::Easy3D::E3DAligner::GetScanReprojectionPlane ( ) const

Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.

When the sensor is not directly on top of the object, setting the re-projection plane will improve results, you can also give a flat scan on which the normal of the plane is identified automatically, see E3DAligner::SetFlatScan. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

◆ IsReprojectionPlaneSet()

bool eVision::Easy3D::E3DAligner::IsReprojectionPlaneSet ( ) const

Returns whether a re-projection plane was set with E3DAligner::SetScanReprojectionPlane or E3DAligner::SetFlatScan or not.

◆ Load() [1/2]

void eVision::Easy3D::E3DAligner::Load ( const std::string & path )

virtual

Loads the E3DAligner. The given ESerializer must have been created for reading.

Parameters

path	The file path.

Reimplemented in eVision::Easy3D::E3DMatcher.

◆ Load() [2/2]

void eVision::Easy3D::E3DAligner::Load ( eVision::ESerializer * serializer )

virtual

Loads the E3DAligner. The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

Reimplemented in eVision::Easy3D::E3DMatcher.

◆ operator=()

eVision::Easy3D::E3DAligner & eVision::Easy3D::E3DAligner::operator= ( const eVision::Easy3D::E3DAligner & other )

Assignment operator.

Parameters

other The E3DAligner object that should be assigned.

◆ RetrieveReferencePoses()

void eVision::Easy3D::E3DAligner::RetrieveReferencePoses ( std::vector< eVision::Easy3D::E3DPlane > & referencePoses ) const

Retrieves the reference poses of the E3DAligner in the form of a vector of E3DPlane. The corresponding reference patterns vector can be retrieved with E3DAligner::RetrieveReferencePosesProjections.

Parameters

referencePoses The vector that will be filled with copies of the reference poses

◆ RetrieveReferencePosesProjections()

void eVision::Easy3D::E3DAligner::RetrieveReferencePosesProjections ( std::vector< eVision::Easy3D::EZMap8 > & referencePosesProjections ) const

Retrieves the reference patterns of the E3DAligner in the form of a vector of EZMap8. The corresponding reference poses vector can be retrieved with E3DAligner::RetrieveReferencePoses.

Parameters

referencePosesProjections The vector that will be filled with copies of the reference poses projections

◆ Save() [1/2]

void eVision::Easy3D::E3DAligner::Save ( const std::string & path )

virtual

Saves the E3DAligner. The given ESerializer must have been created for writing.

Parameters

path	The file path.

Reimplemented in eVision::Easy3D::E3DMatcher.

◆ Save() [2/2]

void eVision::Easy3D::E3DAligner::Save ( eVision::ESerializer * serializer )

virtual

Saves the E3DAligner. The given ESerializer must have been created for writing.

Parameters

serializer The serializer.

Reimplemented in eVision::Easy3D::E3DMatcher.

◆ SetFlatScan() [1/4]

void eVision::Easy3D::E3DAligner::SetFlatScan ( const eVision::Easy3D::EPointCloud & cloud )

Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.

Parameters

cloud The EPointCloud representing a scan of the setup when no object lays on it.

When the sensor is not directly on top of the object, setting the plane improves the results, you can also give the plane coordinates directly, see E3DAligner::SetScanReprojectionPlane. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

◆ SetFlatScan() [2/4]

void eVision::Easy3D::E3DAligner::SetFlatScan	(	const eVision::Easy3D::EPointCloud &	cloud,
		bool	objectAbovePlane )

Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.

Parameters

cloud	The EPointCloud representing a scan of the setup when no object lays on it.
objectAbovePlane	Whether the object to align lays above or below the plane of the scan. To project the object, we must not only know the plane but also if we must project the points above or below it. The object is said to lay above the plane, if, for a given (x, y), z(object) > z(plane).

Default: true

When the sensor is not directly on top of the object, setting the plane improves the results, you can also give the plane coordinates directly, see E3DAligner::SetScanReprojectionPlane. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

◆ SetFlatScan() [3/4]

void eVision::Easy3D::E3DAligner::SetFlatScan ( const eVision::Easy3D::EZMap & scan )

Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.

Parameters

scan	The EZMap representing a scan of the setup when no object lays on it.

When the sensor is not directly on top of the object, setting the plane improves the results, you can also give the plane coordinates directly, see E3DAligner::SetScanReprojectionPlane. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

◆ SetFlatScan() [4/4]

void eVision::Easy3D::E3DAligner::SetFlatScan	(	const eVision::Easy3D::EZMap &	scan,
		bool	objectAbovePlane )

Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.

Parameters

scan	The EZMap representing a scan of the setup when no object lays on it.
objectAbovePlane	Whether the object to align lays above or below the plane of the scan. To project the object, we must not only know the plane but also if we must project the points above or below it. The object is said to lay above the plane, if, for a given (x, y), z(object) > z(plane).

Default: true

When the sensor is not directly on top of the object, setting the plane improves the results, you can also give the plane coordinates directly, see E3DAligner::SetScanReprojectionPlane. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

◆ SetReference() [1/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EMesh &	mesh,
		const eVision::Easy3D::E3DPlane &	plane )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

mesh	The EMesh object that represents the 3D reference model.
plane	The plane onto which the model is projected orthographically (all points below the plane are discarded).

◆ SetReference() [2/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EMesh &	mesh,
		const std::vector< eVision::Easy3D::E3DPlane > &	planes )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

mesh	The EMesh object that represents the 3D reference model.
planes	vector of planes

◆ SetReference() [3/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EMesh &	mesh,
		const std::vector< float > &	azimuths,
		const std::vector< float > &	elevations )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

mesh	The EMesh object that represents the 3D reference model.
azimuths	vector of azimuths
elevations	vector of elevations

◆ SetReference() [4/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EMesh &	mesh,
		float	azimuth,
		float	elevation )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

mesh	The EMesh object that represents the 3D reference model.
azimuth	The azimuth angle of the normal of the reference plane in Easy::SetAngleUnit. Azimuth angles are oriented trigonometrically around the z axis. The x axis corresponds to an azimuth of 0 degrees.
elevation	The elevation angle of the normal of the reference plane in Easy::SetAngleUnit. Elevation angles represent how close the normal is to the z = 0 plane.

◆ SetReference() [5/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EPointCloud &	cloud,
		const eVision::Easy3D::E3DPlane &	plane )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

cloud	The EPointCloud object that represents a reference golden scan. The scan should only contain the object to align (the plane on which the points lay should be removed).
plane	The plane onto which the model is projected orthographically (all points below the plane are discarded).

◆ SetReference() [6/7]

void eVision::Easy3D::E3DAligner::SetReference	(	const eVision::Easy3D::EPointCloud &	cloud,
		float	azimuth,
		float	elevation )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

cloud	The EPointCloud object that represents a reference golden scan. The scan should only contain the object to align (the plane on which the points lay should be removed).
azimuth	The azimuth angle of the normal of the reference plane in Easy::SetAngleUnit. Azimuth angles are oriented trigonometrically around the z axis. The x axis corresponds to an azimuth of 0 degrees.
elevation	The elevation angle of the normal of the reference plane in Easy::SetAngleUnit. Elevation angles represent how close the normal is to the z = 0 plane.

◆ SetReference() [7/7]

void eVision::Easy3D::E3DAligner::SetReference ( const eVision::Easy3D::EZMap & zmap )

Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::SetScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.

Parameters

zmap	The EZMap object that represents a reference golden scan. The scan should only contain the object to align (the plane on which the points lay should be removed).

◆ SetScanReprojectionPlane()

void eVision::Easy3D::E3DAligner::SetScanReprojectionPlane ( const eVision::Easy3D::E3DPlane & plane )

Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.

When the sensor is not directly on top of the object, setting the re-projection plane will improve results, you can also give a flat scan on which the normal of the plane is identified automatically, see E3DAligner::SetFlatScan. When the reference is a EMesh, the corresponding reference plane should match the re-projection plane.

Member Data Documentation

◆ wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::E3DAligner::wrappedClass_

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ E3DAligner() [1/3]

◆ E3DAligner() [2/3]

◆ ~E3DAligner()

◆ E3DAligner() [3/3]

Member Function Documentation

◆ Align() [1/3]

◆ Align() [2/3]

◆ Align() [3/3]

◆ ClearReprojectionPlane()

◆ compute3DPositionFrom2DAligning()

◆ GetScanReprojectionPlane()

◆ IsReprojectionPlaneSet()

◆ Load() [1/2]

◆ Load() [2/2]

◆ operator=()

◆ RetrieveReferencePoses()

◆ RetrieveReferencePosesProjections()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetFlatScan() [1/4]

◆ SetFlatScan() [2/4]

◆ SetFlatScan() [3/4]

◆ SetFlatScan() [4/4]

◆ SetReference() [1/7]

◆ SetReference() [2/7]

◆ SetReference() [3/7]

◆ SetReference() [4/7]

◆ SetReference() [5/7]

◆ SetReference() [6/7]

◆ SetReference() [7/7]

◆ SetScanReprojectionPlane()

Member Data Documentation

◆ wrappedClass_