Represents a 3D comparison context. More...

#include <eVision/Easy3D/Easy3DMatch/E3DComparer.h>

Collaboration diagram for eVision::Easy3D::E3DComparer:

Public Member Functions
	E3DComparer ()
	Constructs a 3D matching context.
	E3DComparer (const eVision::Easy3D::E3DComparer &other)
	Constructs a 3D matching context.
virtual	~E3DComparer () throw ()
eVision::Easy3D::E3DComparer &	operator= (const eVision::Easy3D::E3DComparer &other)
	Assignment operator.
void	Load (const std::string &path)
	Loads the E3DComparer. The given ESerializer must have been created for reading.
void	Load (eVision::ESerializer *serializer)
	Loads the E3DComparer. The given ESerializer must have been created for reading.
void	Save (const std::string &path)
	Saves the E3DComparer. The given ESerializer must have been created for writing.
void	Save (eVision::ESerializer *serializer)
	Saves the E3DComparer. The given ESerializer must have been created for writing.
void	SetMeshReference (const eVision::Easy3D::EMesh &mesh)
	Sets the 3D reference model. See also E3DComparer::SetPointCloudReference.
void	SetPointCloudReference (const eVision::Easy3D::EPointCloud &pointcloud)
	Sets the 3D reference model. See also E3DComparer::SetMeshReference.
void	Compare (const eVision::Easy3D::EPointCloud &scan)
	Compares the reference patterns against a scan.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &cloudOut, bool storeDistances, bool storeColors, bool fullModel) const
	Gets the EPointCloud that is used for the comparison.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &cloudOut, bool storeDistances, bool storeColors) const
	Gets the EPointCloud that is used for the comparison.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &cloudOut, bool storeDistances) const
	Gets the EPointCloud that is used for the comparison.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &cloudOut) const
	Gets the EPointCloud that is used for the comparison.
void	SetROI (const std::vector< eVision::Easy3D::E3DBox > &roi)
	Sets/Gets a vector of E3DBox that defines the regions that should be compared. By default, the entire reference is considered.
std::vector< eVision::Easy3D::E3DBox >	GetROI () const
	Sets/Gets a vector of E3DBox that defines the regions that should be compared. By default, the entire reference is considered.
void	SetDontCare (const std::vector< eVision::Easy3D::E3DBox > &dontCare)
	Sets/Gets a vector of E3DBox that defines the regions that should not be compared. By default, no point of the reference is ignored.
std::vector< eVision::Easy3D::E3DBox >	GetDontCare () const
	Sets/Gets a vector of E3DBox that defines the regions that should not be compared. By default, no point of the reference is ignored.
void	SetNoExtraMaterial (const std::vector< eVision::Easy3D::E3DBox > &noExtraMaterial)
	Sets/Gets a vector of E3DBox that defines the regions where there should not be points in the scan far from the reference. By default, the points far from the reference are not considered as anomalies (if there also are some other points closer to the reference).
std::vector< eVision::Easy3D::E3DBox >	GetNoExtraMaterial () const
	Sets/Gets a vector of E3DBox that defines the regions where there should not be points in the scan far from the reference. By default, the points far from the reference are not considered as anomalies (if there also are some other points closer to the reference).
void	SetEnableAutomaticDecimation (bool state)
	If True, the given reference is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given reference are used to compute the distance.
bool	GetEnableAutomaticDecimation () const
	If True, the given reference is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given reference are used to compute the distance.
void	SetAutomaticCropFactor (float factor)
	Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DComparer::SetAnomalyThresholds) to obtain the margin for the cropping. If the value is smaller than 0, then no crop is performed before computing the distance.
float	GetAutomaticCropFactor () const
	Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DComparer::SetAnomalyThresholds) to obtain the margin for the cropping. If the value is smaller than 0, then no crop is performed before computing the distance.
void	PrepareReference ()
	Prepare the reference internal structures. By default, this is done on the first call to E3DComparer::Compare.
void	SetAnomalyThresholds (eVision::Easy3D::EAnomalyThresholds thesholds)
	Gets/Sets the thresholds related to the anomalies detection.
eVision::Easy3D::EAnomalyThresholds	GetAnomalyThresholds () const
	Gets/Sets the thresholds related to the anomalies detection.
void	ResetAnomalyThresholds ()
	Sets the anomaly thresholds to their default values (computed automatically from the model size).
void	SetAnomalyThresholds (float distanceThreshold, float areaThreshold)
	Sets the thresholds related to the anomalies detection.
void	GetAnomalyThresholds (float &distanceThreshold, float &areaThreshold) const
	Gets the thresholds related to the anomalies detection.
void	SetAnomalyHysteresis (eVision::Easy3D::EAnomalyThresholds hysteresisThesholds)
	Gets/Sets the hysteresis related to the anomalies detection.
eVision::Easy3D::EAnomalyThresholds	GetAnomalyHysteresis () const
	Gets/Sets the hysteresis related to the anomalies detection.
void	SetAnomalyHysteresis (float distanceHysteresisThreshold, float areaHysteresisThreshold)
	Sets the hysteresis related to the anomalies detection.
void	GetAnomalyHysteresis (float &distanceHysteresisThreshold, float &areaHysteresisThreshold) const
	Gets the hysteresis related to the anomalies detection.
std::vector< eVision::Easy3D::E3DAnomaly >	ComputesAnomalies () const
	Computes the anomalies and returns them as a vector of E3DAnomaly.
void	SetComparisonDistanceMode (eVision::Easy3D::EComparisonDistanceMode mode)
	Sets/Gets the distance mode for the 3D comparison. All values of the enum are not allowed for E3DComparer.
eVision::Easy3D::EComparisonDistanceMode	GetComparisonDistanceMode () const
	Sets/Gets the distance mode for the 3D comparison. All values of the enum are not allowed for E3DComparer.
void	SetEdgeCroppingParameters (eVision::Easy3D::EEdgeCroppingParameters parameters)
	Gets/Sets the parameters driving the edge cropping.
eVision::Easy3D::EEdgeCroppingParameters	GetEdgeCroppingParameters () const
	Gets/Sets the parameters driving the edge cropping.
void	SetEdgeCroppingParameters (uint32_t numberNeighbors, float curvatureThreshold)
	Sets the parameters driving the edge cropping.
void	GetEdgeCroppingParameters (uint32_t &numberNeighbors, float &curvatureThreshold) const
	Gets the parameters driving the edge cropping.
void	SetEnableAutomaticEdgeCropping (bool state)
	If True, edges in the reference will be cropped automatically. This is useful to avoid false positives that could occur near the edges of the object, in particular when using normals (see E3DComparer::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DComparer::SetEdgeCroppingParameters.
bool	GetEnableAutomaticEdgeCropping () const
	If True, edges in the reference will be cropped automatically. This is useful to avoid false positives that could occur near the edges of the object, in particular when using normals (see E3DComparer::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DComparer::SetEdgeCroppingParameters.
	E3DComparer (CppWrapperInternal::InternalConstructor)

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Represents a 3D comparison context.

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ E3DComparer() [1/3]

eVision::Easy3D::E3DComparer::E3DComparer ( )

Constructs a 3D matching context.

◆ E3DComparer() [2/3]

eVision::Easy3D::E3DComparer::E3DComparer ( const eVision::Easy3D::E3DComparer & other )

Constructs a 3D matching context.

Parameters

other Another E3DComparer object to be copied in the new E3DComparer object.

◆ ~E3DComparer()

eVision::Easy3D::E3DComparer::~E3DComparer	(		)
throw	(	)

virtual

◆ E3DComparer() [3/3]

eVision::Easy3D::E3DComparer::E3DComparer ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ Compare()

void eVision::Easy3D::E3DComparer::Compare ( const eVision::Easy3D::EPointCloud & scan )

Compares the reference patterns against a scan.

Parameters

scan	An EPointCloud that represents the scan to compare to the reference.

◆ ComputesAnomalies()

std::vector< eVision::Easy3D::E3DAnomaly > eVision::Easy3D::E3DComparer::ComputesAnomalies ( ) const

Computes the anomalies and returns them as a vector of E3DAnomaly.

◆ GetAnomalyHysteresis() [1/2]

eVision::Easy3D::EAnomalyThresholds eVision::Easy3D::E3DComparer::GetAnomalyHysteresis ( ) const

Gets/Sets the hysteresis related to the anomalies detection.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See E3DComparer::SetAnomalyThresholds. In addition, an hysteresis can be specified, such that the cluster will also have to contain a subset of points whose distance is greater than distanceHysteresisThreshold * distanceThreshold and area greater than areaHysteresisThreshold * areaThreshold. See also E3DComparer::SetAnomalyThresholds.

◆ GetAnomalyHysteresis() [2/2]

void eVision::Easy3D::E3DComparer::GetAnomalyHysteresis	(	float &	distanceHysteresisThreshold,
		float &	areaHysteresisThreshold ) const

Gets the hysteresis related to the anomalies detection.

Parameters

distanceHysteresisThreshold	The distance hysteresis threshold. Must be greater than or equal to 1. Default: 1
areaHysteresisThreshold	The area hysteresis threshold. Must be smaller than or equal to 1. Default: 1.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See E3DComparer::SetAnomalyThresholds. In addition, an hysteresis can be specified, such that the cluster will also have to contain a subset of points whose distance is greater than distanceHysteresisThreshold * distanceThreshold and area greater than areaHysteresisThreshold * areaThreshold. See also E3DComparer::SetAnomalyThresholds.

Deprecated

Use E3DComparer::SetAnomalyHysteresis instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ GetAnomalyThresholds() [1/2]

eVision::Easy3D::EAnomalyThresholds eVision::Easy3D::E3DComparer::GetAnomalyThresholds ( ) const

Gets/Sets the thresholds related to the anomalies detection.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See also E3DComparer::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DComparer::PrepareReference is called. Trying to get the anomaly thresholds before they are set or automatically computed will throw an exception.

◆ GetAnomalyThresholds() [2/2]

void eVision::Easy3D::E3DComparer::GetAnomalyThresholds	(	float &	distanceThreshold,
		float &	areaThreshold ) const

Gets the thresholds related to the anomalies detection.

Parameters

distanceThreshold	The distance threshold.
areaThreshold	The area threshold.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See also E3DComparer::SetAnomalyHysteresis to more advanced anomaly detection.

Trying to get the anomaly thresholds before they are set or automatically computed will throw an exception.

Deprecated

Use E3DComparer::SetAnomalyThresholds instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ GetAutomaticCropFactor()

float eVision::Easy3D::E3DComparer::GetAutomaticCropFactor ( ) const

Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DComparer::SetAnomalyThresholds) to obtain the margin for the cropping. If the value is smaller than 0, then no crop is performed before computing the distance.

Default: 1

Note that if the cropping margin is too small, the E3DPoint of the anomalies will not be visible (with the function E3DComparer::GetComparisonPointCloud and the parameter pointFromReference = False).

◆ GetComparisonDistanceMode()

eVision::Easy3D::EComparisonDistanceMode eVision::Easy3D::E3DComparer::GetComparisonDistanceMode ( ) const

Sets/Gets the distance mode for the 3D comparison. All values of the enum are not allowed for E3DComparer.

Default: EComparisonDistanceMode::EComparisonDistanceMode_Euclidean.

◆ GetComparisonPointCloud() [1/4]

void eVision::Easy3D::E3DComparer::GetComparisonPointCloud ( eVision::Easy3D::EPointCloud & cloudOut ) const

Gets the EPointCloud that is used for the comparison.

Parameters

cloudOut Where to store the EPointCloud.

◆ GetComparisonPointCloud() [2/4]

void eVision::Easy3D::E3DComparer::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	cloudOut,
		bool	storeDistances ) const

Gets the EPointCloud that is used for the comparison.

Parameters

cloudOut	Where to store the EPointCloud.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud. The function EPointCloud::GetAttributeBuffer can be used with E3DAttribute::E3DAttribute_Distance to retrieve the distances.

Default: True

◆ GetComparisonPointCloud() [3/4]

void eVision::Easy3D::E3DComparer::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	cloudOut,
		bool	storeDistances,
		bool	storeColors ) const

Gets the EPointCloud that is used for the comparison.

Parameters

cloudOut	Where to store the EPointCloud.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud. The function EPointCloud::GetAttributeBuffer can be used with E3DAttribute::E3DAttribute_Distance to retrieve the distances.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the EPointCloud. The functions EPointCloud::GetAttributeBuffer can be used with E3DAttribute::E3DAttribute_Color to retrieve the distances.

The colors can also be used in the E3DViewer.

Default: True

◆ GetComparisonPointCloud() [4/4]

void eVision::Easy3D::E3DComparer::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	cloudOut,
		bool	storeDistances,
		bool	storeColors,
		bool	fullModel ) const

Gets the EPointCloud that is used for the comparison.

Parameters

cloudOut	Where to store the EPointCloud.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud. The function EPointCloud::GetAttributeBuffer can be used with E3DAttribute::E3DAttribute_Distance to retrieve the distances.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the EPointCloud. The functions EPointCloud::GetAttributeBuffer can be used with E3DAttribute::E3DAttribute_Color to retrieve the distances.

The colors can also be used in the E3DViewer.

Default: True

Parameters

fullModel If set to True, the points that are not inside the ROI (see E3DComparer::SetROI) will also be in the EPointCloud.

Default: False

◆ GetDontCare()

std::vector< eVision::Easy3D::E3DBox > eVision::Easy3D::E3DComparer::GetDontCare ( ) const

Sets/Gets a vector of E3DBox that defines the regions that should not be compared. By default, no point of the reference is ignored.

◆ GetEdgeCroppingParameters() [1/2]

eVision::Easy3D::EEdgeCroppingParameters eVision::Easy3D::E3DComparer::GetEdgeCroppingParameters ( ) const

Gets/Sets the parameters driving the edge cropping.

Edge cropping is disabled by default, enable it using E3DComparer::SetEnableAutomaticEdgeCropping.

◆ GetEdgeCroppingParameters() [2/2]

void eVision::Easy3D::E3DComparer::GetEdgeCroppingParameters	(	uint32_t &	numberNeighbors,
		float &	curvatureThreshold ) const

Gets the parameters driving the edge cropping.

Parameters

numberNeighbors	The number of neighbors that we will use to compute the local curvature. The bigger this parameter, the thicker the cropping will be. This number must be bigger than 10. Default: 100
curvatureThreshold	The curvature value above which a point is cropped (must be between 0 and 1). Default: 0.15

Edge cropping is disabled by default, enable it using E3DComparer::SetEnableAutomaticEdgeCropping.

Deprecated

Use E3DComparer::SetEdgeCroppingParameters instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ GetEnableAutomaticDecimation()

bool eVision::Easy3D::E3DComparer::GetEnableAutomaticDecimation ( ) const

If True, the given reference is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given reference are used to compute the distance.

Default: True

◆ GetEnableAutomaticEdgeCropping()

bool eVision::Easy3D::E3DComparer::GetEnableAutomaticEdgeCropping ( ) const

If True, edges in the reference will be cropped automatically. This is useful to avoid false positives that could occur near the edges of the object, in particular when using normals (see E3DComparer::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DComparer::SetEdgeCroppingParameters.

Default: False

◆ GetNoExtraMaterial()

std::vector< eVision::Easy3D::E3DBox > eVision::Easy3D::E3DComparer::GetNoExtraMaterial ( ) const

Sets/Gets a vector of E3DBox that defines the regions where there should not be points in the scan far from the reference. By default, the points far from the reference are not considered as anomalies (if there also are some other points closer to the reference).

◆ GetROI()

std::vector< eVision::Easy3D::E3DBox > eVision::Easy3D::E3DComparer::GetROI ( ) const

Sets/Gets a vector of E3DBox that defines the regions that should be compared. By default, the entire reference is considered.

◆ Load() [1/2]

void eVision::Easy3D::E3DComparer::Load ( const std::string & path )

Loads the E3DComparer. The given ESerializer must have been created for reading.

Parameters

path	The file path.

◆ Load() [2/2]

void eVision::Easy3D::E3DComparer::Load ( eVision::ESerializer * serializer )

Loads the E3DComparer. The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

◆ operator=()

eVision::Easy3D::E3DComparer & eVision::Easy3D::E3DComparer::operator= ( const eVision::Easy3D::E3DComparer & other )

Assignment operator.

Parameters

other The E3DComparer object that should be copied.

◆ PrepareReference()

void eVision::Easy3D::E3DComparer::PrepareReference ( )

Prepare the reference internal structures. By default, this is done on the first call to E3DComparer::Compare.

◆ ResetAnomalyThresholds()

void eVision::Easy3D::E3DComparer::ResetAnomalyThresholds ( )

Sets the anomaly thresholds to their default values (computed automatically from the model size).

◆ Save() [1/2]

void eVision::Easy3D::E3DComparer::Save ( const std::string & path )

Saves the E3DComparer. The given ESerializer must have been created for writing.

Parameters

path	The file path.

◆ Save() [2/2]

void eVision::Easy3D::E3DComparer::Save ( eVision::ESerializer * serializer )

Saves the E3DComparer. The given ESerializer must have been created for writing.

Parameters

serializer The serializer.

◆ SetAnomalyHysteresis() [1/2]

void eVision::Easy3D::E3DComparer::SetAnomalyHysteresis ( eVision::Easy3D::EAnomalyThresholds hysteresisThesholds )

Gets/Sets the hysteresis related to the anomalies detection.

Parameters

hysteresisThesholds The distance and area hysteresis thresholds. Distance threshold must be greater than or equal to 1 and defaults to 1. Area threshold must be smaller than or equal to 1 and defaults to 1.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See E3DComparer::SetAnomalyThresholds. In addition, an hysteresis can be specified, such that the cluster will also have to contain a subset of points whose distance is greater than distanceHysteresisThreshold * distanceThreshold and area greater than areaHysteresisThreshold * areaThreshold. See also E3DComparer::SetAnomalyThresholds.

◆ SetAnomalyHysteresis() [2/2]

void eVision::Easy3D::E3DComparer::SetAnomalyHysteresis	(	float	distanceHysteresisThreshold,
		float	areaHysteresisThreshold )

Sets the hysteresis related to the anomalies detection.

Parameters

distanceHysteresisThreshold	The distance hysteresis threshold. Must be greater than or equal to 1. Default: 1
areaHysteresisThreshold	The area hysteresis threshold. Must be smaller than or equal to 1. Default: 1.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See E3DComparer::SetAnomalyThresholds. In addition, an hysteresis can be specified, such that the cluster will also have to contain a subset of points whose distance is greater than distanceHysteresisThreshold * distanceThreshold and area greater than areaHysteresisThreshold * areaThreshold. See also E3DComparer::SetAnomalyThresholds.

Deprecated

Use E3DComparer::SetAnomalyHysteresis instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ SetAnomalyThresholds() [1/2]

void eVision::Easy3D::E3DComparer::SetAnomalyThresholds ( eVision::Easy3D::EAnomalyThresholds thesholds )

Gets/Sets the thresholds related to the anomalies detection.

Parameters

thesholds The distance and area thresholds. Both must be > 0.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See also E3DComparer::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DComparer::PrepareReference is called. Trying to get the anomaly thresholds before they are set or automatically computed will throw an exception.

◆ SetAnomalyThresholds() [2/2]

void eVision::Easy3D::E3DComparer::SetAnomalyThresholds	(	float	distanceThreshold,
		float	areaThreshold )

Sets the thresholds related to the anomalies detection.

Parameters

distanceThreshold	The distance threshold. Must be > 0.
areaThreshold	The area threshold. Must be > 0.

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See also E3DComparer::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DComparer::PrepareReference is called.

Deprecated

Use E3DComparer::SetAnomalyThresholds instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ SetAutomaticCropFactor()

void eVision::Easy3D::E3DComparer::SetAutomaticCropFactor ( float factor )

Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DComparer::SetAnomalyThresholds) to obtain the margin for the cropping. If the value is smaller than 0, then no crop is performed before computing the distance.

Default: 1

Note that if the cropping margin is too small, the E3DPoint of the anomalies will not be visible (with the function E3DComparer::GetComparisonPointCloud and the parameter pointFromReference = False).

◆ SetComparisonDistanceMode()

void eVision::Easy3D::E3DComparer::SetComparisonDistanceMode ( eVision::Easy3D::EComparisonDistanceMode mode )

Sets/Gets the distance mode for the 3D comparison. All values of the enum are not allowed for E3DComparer.

Default: EComparisonDistanceMode::EComparisonDistanceMode_Euclidean.

◆ SetDontCare()

void eVision::Easy3D::E3DComparer::SetDontCare ( const std::vector< eVision::Easy3D::E3DBox > & dontCare )

Sets/Gets a vector of E3DBox that defines the regions that should not be compared. By default, no point of the reference is ignored.

◆ SetEdgeCroppingParameters() [1/2]

void eVision::Easy3D::E3DComparer::SetEdgeCroppingParameters ( eVision::Easy3D::EEdgeCroppingParameters parameters )

Gets/Sets the parameters driving the edge cropping.

Parameters

parameters The number of neighbors that we will use to compute the local curvature and a threshold on that curvature. The bigger the number of neighbors, the thicker the cropping will be. This number must be bigger than 10 and defaults to 100. A point whose curvature is above the threshold is cropped. The threshold must be between 0 and 1 and defaults to 0.15

Edge cropping is disabled by default, enable it using E3DComparer::SetEnableAutomaticEdgeCropping.

◆ SetEdgeCroppingParameters() [2/2]

void eVision::Easy3D::E3DComparer::SetEdgeCroppingParameters	(	uint32_t	numberNeighbors,
		float	curvatureThreshold )

Sets the parameters driving the edge cropping.

Parameters

numberNeighbors	The number of neighbors that we will use to compute the local curvature. The bigger this parameter, the thicker the cropping will be. This number must be bigger than 10. Default: 100
curvatureThreshold	The curvature value above which a point is cropped (must be between 0 and 1). Default: 0.15

Edge cropping is disabled by default, enable it using E3DComparer::SetEnableAutomaticEdgeCropping.

Deprecated

Use E3DComparer::SetEdgeCroppingParameters instead.

Deprecated in version 24.6. Scheduled to be removed in version 27.6.

◆ SetEnableAutomaticDecimation()

void eVision::Easy3D::E3DComparer::SetEnableAutomaticDecimation ( bool state )

If True, the given reference is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given reference are used to compute the distance.

Default: True

◆ SetEnableAutomaticEdgeCropping()

void eVision::Easy3D::E3DComparer::SetEnableAutomaticEdgeCropping ( bool state )

If True, edges in the reference will be cropped automatically. This is useful to avoid false positives that could occur near the edges of the object, in particular when using normals (see E3DComparer::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DComparer::SetEdgeCroppingParameters.

Default: False

◆ SetMeshReference()

void eVision::Easy3D::E3DComparer::SetMeshReference ( const eVision::Easy3D::EMesh & mesh )

Sets the 3D reference model. See also E3DComparer::SetPointCloudReference.

Parameters

mesh	An EMesh that represents the 3D reference model.

◆ SetNoExtraMaterial()

void eVision::Easy3D::E3DComparer::SetNoExtraMaterial ( const std::vector< eVision::Easy3D::E3DBox > & noExtraMaterial )

Sets/Gets a vector of E3DBox that defines the regions where there should not be points in the scan far from the reference. By default, the points far from the reference are not considered as anomalies (if there also are some other points closer to the reference).

◆ SetPointCloudReference()

void eVision::Easy3D::E3DComparer::SetPointCloudReference ( const eVision::Easy3D::EPointCloud & pointcloud )

Sets the 3D reference model. See also E3DComparer::SetMeshReference.

Parameters

pointcloud An EPointCloud that represents the 3D reference model.

◆ SetROI()

void eVision::Easy3D::E3DComparer::SetROI ( const std::vector< eVision::Easy3D::E3DBox > & roi )

Sets/Gets a vector of E3DBox that defines the regions that should be compared. By default, the entire reference is considered.

Member Data Documentation

◆ wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::E3DComparer::wrappedClass_

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ E3DComparer() [1/3]

◆ E3DComparer() [2/3]

◆ ~E3DComparer()

◆ E3DComparer() [3/3]

Member Function Documentation

◆ Compare()

◆ ComputesAnomalies()

◆ GetAnomalyHysteresis() [1/2]

◆ GetAnomalyHysteresis() [2/2]

◆ GetAnomalyThresholds() [1/2]

◆ GetAnomalyThresholds() [2/2]

◆ GetAutomaticCropFactor()

◆ GetComparisonDistanceMode()

◆ GetComparisonPointCloud() [1/4]

◆ GetComparisonPointCloud() [2/4]

◆ GetComparisonPointCloud() [3/4]

◆ GetComparisonPointCloud() [4/4]

◆ GetDontCare()

◆ GetEdgeCroppingParameters() [1/2]

◆ GetEdgeCroppingParameters() [2/2]

◆ GetEnableAutomaticDecimation()

◆ GetEnableAutomaticEdgeCropping()

◆ GetNoExtraMaterial()

◆ GetROI()

◆ Load() [1/2]

◆ Load() [2/2]

◆ operator=()

◆ PrepareReference()

◆ ResetAnomalyThresholds()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetAnomalyHysteresis() [1/2]

◆ SetAnomalyHysteresis() [2/2]

◆ SetAnomalyThresholds() [1/2]

◆ SetAnomalyThresholds() [2/2]

◆ SetAutomaticCropFactor()

◆ SetComparisonDistanceMode()

◆ SetDontCare()

◆ SetEdgeCroppingParameters() [1/2]

◆ SetEdgeCroppingParameters() [2/2]

◆ SetEnableAutomaticDecimation()

◆ SetEnableAutomaticEdgeCropping()

◆ SetMeshReference()

◆ SetNoExtraMaterial()

◆ SetPointCloudReference()

◆ SetROI()

Member Data Documentation

◆ wrappedClass_