Aligns an EPointCloud or EZMap on and compares it with a reference EMesh, EPointCloud or EZMap. More...

#include <eVision/Easy3D/Easy3DMatch/E3DMatcher.h>

Inheritance diagram for eVision::Easy3D::E3DMatcher:

Collaboration diagram for eVision::Easy3D::E3DMatcher:

Public Member Functions
	E3DMatcher ()
	Constructs a 3D matching context.
	E3DMatcher (const eVision::Easy3D::E3DMatcher &other)
	Constructs a 3D matching context.
virtual	~E3DMatcher () throw ()
eVision::Easy3D::E3DMatcher &	operator= (const eVision::Easy3D::E3DMatcher &other)
	Assignment operator.
virtual void	Load (const std::string &path)
	Loads the E3DMatcher. The given ESerializer must have been created for reading.
virtual void	Load (eVision::ESerializer *serializer)
	Loads the E3DMatcher. The given ESerializer must have been created for reading.
virtual void	Save (const std::string &path)
	Saves the E3DMatcher. The given ESerializer must have been created for writing.
virtual void	Save (eVision::ESerializer *serializer)
	Saves the E3DMatcher. The given ESerializer must have been created for writing.
eVision::Easy3D::E3DMatch	Match (const eVision::Easy3D::EZMap &zmap)
	Matches the reference patterns against an EZMap or an EPointCloud.
eVision::Easy3D::E3DMatch	Match (const eVision::Easy3D::EPointCloud &cloud, const eVision::Easy3D::E3DPlane &projectionPlane)
	Matches the reference patterns against an EZMap or an EPointCloud.
eVision::Easy3D::E3DMatch	Match (const eVision::Easy3D::EPointCloud &cloud, float azimuth, float elevation)
	Matches the reference patterns against an EZMap or an EPointCloud.
void	SetComparisonROI (const eVision::ERegion *regionOfInterest)
	Sets/Gets the ERegion of the reference that should be compared. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
eVision::ERegion	GetComparisonROI (int offset) const
	Sets/Gets the ERegion of the reference that should be compared. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
void	SetAllComparisonROI (const std::vector< const eVision::ERegion * > &regionsOfInterest)
	Sets/Gets the ERegion that should be compared for all of the references. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projections. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
std::vector< eVision::ERegion >	GetAllComparisonROI () const
	Sets/Gets the ERegion that should be compared for all of the references. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projections. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
void	ClearComparisonROI ()
	Clears the ERegion that should be compared for all of the references. See also E3DMatcher::SetAllComparisonROI and E3DMatcher::SetComparisonROI.
void	SetComparisonNoExtraMaterial (const eVision::ERegion *noExtraMaterial)
	Sets/Gets the ERegion that should not have extra material in the scan. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
eVision::ERegion	GetComparisonNoExtraMaterial (int offset) const
	Sets/Gets the ERegion that should not have extra material in the scan. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.
void	SetAllComparisonNoExtraMaterial (const std::vector< const eVision::ERegion * > &noExtraMaterial)
	Sets/Gets the ERegion that should not have extra material in the scan. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projection. See E3DAligner::RetrieveReferencePosesProjections. By default, the points in the scan far from the reference are not considered as anomalies (except if there are missing points in the scan nearby).
std::vector< eVision::ERegion >	GetAllComparisonNoExtraMaterial () const
	Sets/Gets the ERegion that should not have extra material in the scan. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projection. See E3DAligner::RetrieveReferencePosesProjections. By default, the points in the scan far from the reference are not considered as anomalies (except if there are missing points in the scan nearby).
void	ClearComparisonNoExtraMaterial ()
	Clears the ERegion that should not have extra material in the scan. See also E3DMatcher::SetAllComparisonNoExtraMaterial and E3DMatcher::SetComparisonNoExtraMaterial.
void	SetComparisonDistanceMode (eVision::Easy3D::EComparisonDistanceMode mode)
	Sets/Gets the distance mode for the 3D comparison.
eVision::Easy3D::EComparisonDistanceMode	GetComparisonDistanceMode () const
	Sets/Gets the distance mode for the 3D comparison.
void	SetEnableMissingPointAsAnomaly (bool state)
	If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies. If False, only points that are present in the scan can be considered as anomalies.
bool	GetEnableMissingPointAsAnomaly () const
	If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies. If False, only points that are present in the scan can be considered as anomalies.
void	SetEnableAutomaticDecimation (bool state)
	If True, the given cloud or ZMap is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given cloud or ZMap are used to compute the distance.
bool	GetEnableAutomaticDecimation () const
	If True, the given cloud or ZMap is automatically decimated with a resolution depending on the distance threshold to speed-up processing. If False, all the points of the given cloud or ZMap are used to compute the distance.
void	SetAutomaticCropFactor (float factor)
	Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DMatcher::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 (E3DMatcher::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 E3DMatcher::Match.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &comparisonCloud, bool storeDistances, bool storeColors, bool pointFromReference, bool fullModel) const
	Gets the EPointCloud on which anomalies are detected.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &comparisonCloud, bool storeDistances, bool storeColors, bool pointFromReference) const
	Gets the EPointCloud on which anomalies are detected.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &comparisonCloud, bool storeDistances, bool storeColors) const
	Gets the EPointCloud on which anomalies are detected.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &comparisonCloud, bool storeDistances) const
	Gets the EPointCloud on which anomalies are detected.
void	GetComparisonPointCloud (eVision::Easy3D::EPointCloud &comparisonCloud) const
	Gets the EPointCloud on which anomalies are detected.
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.
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 E3DMatcher::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DMatcher::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 E3DMatcher::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DMatcher::SetEdgeCroppingParameters.
	E3DMatcher (CppWrapperInternal::InternalConstructor)
Public Member Functions inherited from eVision::Easy3D::E3DAligner
	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.
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)

Additional Inherited Members
Static Public Member Functions inherited from eVision::Easy3D::E3DAligner
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 inherited from eVision::Easy3D::E3DAligner
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Aligns an EPointCloud or EZMap on and compares it with a reference EMesh, EPointCloud or EZMap.

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ E3DMatcher() [1/3]

eVision::Easy3D::E3DMatcher::E3DMatcher ( )

Constructs a 3D matching context.

◆ E3DMatcher() [2/3]

eVision::Easy3D::E3DMatcher::E3DMatcher ( const eVision::Easy3D::E3DMatcher & other )

Constructs a 3D matching context.

Parameters

other Another E3DMatcher object to be copied in the new E3DMatcher object.

◆ ~E3DMatcher()

eVision::Easy3D::E3DMatcher::~E3DMatcher	(		)
throw	(	)

virtual

◆ E3DMatcher() [3/3]

eVision::Easy3D::E3DMatcher::E3DMatcher ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ ClearComparisonNoExtraMaterial()

void eVision::Easy3D::E3DMatcher::ClearComparisonNoExtraMaterial ( )

Clears the ERegion that should not have extra material in the scan. See also E3DMatcher::SetAllComparisonNoExtraMaterial and E3DMatcher::SetComparisonNoExtraMaterial.

◆ ClearComparisonROI()

void eVision::Easy3D::E3DMatcher::ClearComparisonROI ( )

Clears the ERegion that should be compared for all of the references. See also E3DMatcher::SetAllComparisonROI and E3DMatcher::SetComparisonROI.

◆ GetAllComparisonNoExtraMaterial()

std::vector< eVision::ERegion > eVision::Easy3D::E3DMatcher::GetAllComparisonNoExtraMaterial ( ) const

Sets/Gets the ERegion that should not have extra material in the scan. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projection. See E3DAligner::RetrieveReferencePosesProjections. By default, the points in the scan far from the reference are not considered as anomalies (except if there are missing points in the scan nearby).

◆ GetAllComparisonROI()

std::vector< eVision::ERegion > eVision::Easy3D::E3DMatcher::GetAllComparisonROI ( ) const

Sets/Gets the ERegion that should be compared for all of the references. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projections. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

◆ GetAnomalyHysteresis() [1/2]

eVision::Easy3D::EAnomalyThresholds eVision::Easy3D::E3DMatcher::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 E3DMatcher::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 E3DMatcher::SetAnomalyThresholds.

◆ GetAnomalyHysteresis() [2/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::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 E3DMatcher::SetAnomalyThresholds.

Deprecated

Use E3DMatcher::SetAnomalyHysteresis instead.

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

◆ GetAnomalyThresholds() [1/2]

eVision::Easy3D::EAnomalyThresholds eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DMatcher::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::E3DMatcher::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 E3DMatcher::SetAnomalyHysteresis to more advanced anomaly detection.

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

Deprecated

Use E3DMatcher::SetAnomalyThresholds instead.

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

◆ GetAutomaticCropFactor()

float eVision::Easy3D::E3DMatcher::GetAutomaticCropFactor ( ) const

Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DMatcher::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 E3DMatcher::GetComparisonPointCloud and the parameter pointFromReference = False). Moreover, if the E3DMatcher::SetEnableMissingPointAsAnomaly is set to False, the anomalies will not be detected.

◆ GetComparisonDistanceMode()

eVision::Easy3D::EComparisonDistanceMode eVision::Easy3D::E3DMatcher::GetComparisonDistanceMode ( ) const

Sets/Gets the distance mode for the 3D comparison.

Default: EComparisonDistanceMode::EComparisonDistanceMode_Euclidean.

◆ GetComparisonNoExtraMaterial()

eVision::ERegion eVision::Easy3D::E3DMatcher::GetComparisonNoExtraMaterial ( int offset ) const

Sets/Gets the ERegion that should not have extra material in the scan. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Parameters

offset offset of the ERegion to get back.

This method is a shortcut of E3DMatcher::SetAllComparisonNoExtraMaterial when you only want to set/get one reference pose.

◆ GetComparisonPointCloud() [1/5]

void eVision::Easy3D::E3DMatcher::GetComparisonPointCloud ( eVision::Easy3D::EPointCloud & comparisonCloud ) const

Gets the EPointCloud on which anomalies are detected.

Parameters

comparisonCloud The EPointCloud in which to copy the data.

◆ GetComparisonPointCloud() [2/5]

void eVision::Easy3D::E3DMatcher::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	comparisonCloud,
		bool	storeDistances ) const

Gets the EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud.

Default: True

◆ GetComparisonPointCloud() [3/5]

void eVision::Easy3D::E3DMatcher::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	comparisonCloud,
		bool	storeDistances,
		bool	storeColors ) const

Gets the EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the EPointCloud.

Default: True

◆ GetComparisonPointCloud() [4/5]

void eVision::Easy3D::E3DMatcher::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	comparisonCloud,
		bool	storeDistances,
		bool	storeColors,
		bool	pointFromReference ) const

Gets the EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the EPointCloud.

Default: True

Parameters

pointFromReference If set to True, the points from the reference will be stored in comparisonCloud. Otherwise, it will be the points from the scan. If E3DMatcher::SetComparisonDistanceMode is set to EComparisonDistanceMode::EComparisonDistanceMode_Normals_Advanced, result always contains points from the scan.

Default: False

◆ GetComparisonPointCloud() [5/5]

void eVision::Easy3D::E3DMatcher::GetComparisonPointCloud	(	eVision::Easy3D::EPointCloud &	comparisonCloud,
		bool	storeDistances,
		bool	storeColors,
		bool	pointFromReference,
		bool	fullModel ) const

Gets the EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the EPointCloud.

Default: True

Parameters

pointFromReference If set to True, the points from the reference will be stored in comparisonCloud. Otherwise, it will be the points from the scan. If E3DMatcher::SetComparisonDistanceMode is set to EComparisonDistanceMode::EComparisonDistanceMode_Normals_Advanced, result always contains points from the scan.

Default: False

Parameters

fullModel If set to True, the points that are not inside the ROI will also be in the EPointCloud. Default: False

◆ GetComparisonROI()

eVision::ERegion eVision::Easy3D::E3DMatcher::GetComparisonROI ( int offset ) const

Sets/Gets the ERegion of the reference that should be compared. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Parameters

offset offset of the ERegion to get back.

This method is a shortcut of E3DMatcher::SetAllComparisonROI when you only want to set/get one reference pose.

◆ GetEdgeCroppingParameters() [1/2]

eVision::Easy3D::EEdgeCroppingParameters eVision::Easy3D::E3DMatcher::GetEdgeCroppingParameters ( ) const

Gets/Sets the parameters driving the edge cropping.

Edge cropping is disabled by default, enable it using E3DMatcher::SetEnableAutomaticEdgeCropping.

◆ GetEdgeCroppingParameters() [2/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetEnableAutomaticEdgeCropping.

Deprecated

Use E3DMatcher::SetEdgeCroppingParameters instead.

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

◆ GetEnableAutomaticDecimation()

bool eVision::Easy3D::E3DMatcher::GetEnableAutomaticDecimation ( ) const

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

Default: True

◆ GetEnableAutomaticEdgeCropping()

bool eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DMatcher::SetEdgeCroppingParameters.

Default: False

◆ GetEnableMissingPointAsAnomaly()

bool eVision::Easy3D::E3DMatcher::GetEnableMissingPointAsAnomaly ( ) const

If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies. If False, only points that are present in the scan can be considered as anomalies.

Default: True

Setting the value to False can be interesting when for example there are different shadow effects on the reference and on the scan or if there are illumination issues in the scan.

◆ Load() [1/2]

void eVision::Easy3D::E3DMatcher::Load ( const std::string & path )

virtual

Loads the E3DMatcher. The given ESerializer must have been created for reading.

Parameters

path	The file path.

Reimplemented from eVision::Easy3D::E3DAligner.

◆ Load() [2/2]

void eVision::Easy3D::E3DMatcher::Load ( eVision::ESerializer * serializer )

virtual

Loads the E3DMatcher. The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

Reimplemented from eVision::Easy3D::E3DAligner.

◆ Match() [1/3]

eVision::Easy3D::E3DMatch eVision::Easy3D::E3DMatcher::Match	(	const eVision::Easy3D::EPointCloud &	cloud,
		const eVision::Easy3D::E3DPlane &	projectionPlane )

Matches the reference patterns against an EZMap or an EPointCloud.

Parameters

cloud	The EPointCloud that will be aligned and compared with the reference.
projectionPlane	The plane on which the cloud is orthographically projected for alignment.

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.

◆ Match() [2/3]

eVision::Easy3D::E3DMatch eVision::Easy3D::E3DMatcher::Match	(	const eVision::Easy3D::EPointCloud &	cloud,
		float	azimuth,
		float	elevation )

Matches the reference patterns against an EZMap or an EPointCloud.

Parameters

cloud	The EPointCloud that will be aligned and compared with 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.

◆ Match() [3/3]

eVision::Easy3D::E3DMatch eVision::Easy3D::E3DMatcher::Match ( const eVision::Easy3D::EZMap & zmap )

Matches the reference patterns against an EZMap or an EPointCloud.

Parameters

zmap	The EZMap that will be aligned and compared with the reference.

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.

◆ operator=()

eVision::Easy3D::E3DMatcher & eVision::Easy3D::E3DMatcher::operator= ( const eVision::Easy3D::E3DMatcher & other )

Assignment operator.

Parameters

other The E3DMatcher object that should be copied.

◆ PrepareReference()

void eVision::Easy3D::E3DMatcher::PrepareReference ( )

Prepare the reference internal structures. By default, this is done on the first call to E3DMatcher::Match.

◆ ResetAnomalyThresholds()

void eVision::Easy3D::E3DMatcher::ResetAnomalyThresholds ( )

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

◆ Save() [1/2]

void eVision::Easy3D::E3DMatcher::Save ( const std::string & path )

virtual

Saves the E3DMatcher. The given ESerializer must have been created for writing.

Parameters

path	The file path.

Reimplemented from eVision::Easy3D::E3DAligner.

◆ Save() [2/2]

void eVision::Easy3D::E3DMatcher::Save ( eVision::ESerializer * serializer )

virtual

Saves the E3DMatcher. The given ESerializer must have been created for writing.

Parameters

serializer The serializer.

Reimplemented from eVision::Easy3D::E3DAligner.

◆ SetAllComparisonNoExtraMaterial()

void eVision::Easy3D::E3DMatcher::SetAllComparisonNoExtraMaterial ( const std::vector< const eVision::ERegion * > & noExtraMaterial )

Sets/Gets the ERegion that should not have extra material in the scan. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projection. See E3DAligner::RetrieveReferencePosesProjections. By default, the points in the scan far from the reference are not considered as anomalies (except if there are missing points in the scan nearby).

Parameters

noExtraMaterial vector of ERegion defining the areas on which we will check no data is missing in the scan with every reference pose.

◆ SetAllComparisonROI()

void eVision::Easy3D::E3DMatcher::SetAllComparisonROI ( const std::vector< const eVision::ERegion * > & regionsOfInterest )

Sets/Gets the ERegion that should be compared for all of the references. A pointer to ERegion per reference pose is needed and they should be given in the corresponding order and should be of the same size than their corresponding reference poses projections. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Parameters

regionsOfInterest vector of ERegion defining the areas that will be used for comparison with every reference pose.

◆ SetAnomalyHysteresis() [1/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::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 E3DMatcher::SetAnomalyThresholds.

◆ SetAnomalyHysteresis() [2/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::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 E3DMatcher::SetAnomalyThresholds.

Deprecated

Use E3DMatcher::SetAnomalyHysteresis instead.

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

◆ SetAnomalyThresholds() [1/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DMatcher::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::E3DMatcher::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 E3DMatcher::SetAnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once E3DMatcher::PrepareReference is called.

Deprecated

Use E3DMatcher::SetAnomalyThresholds instead.

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

◆ SetAutomaticCropFactor()

void eVision::Easy3D::E3DMatcher::SetAutomaticCropFactor ( float factor )

Sets/Gets the automatic cropping factor. The factor multiplies the anomaly distance threshold (E3DMatcher::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 E3DMatcher::GetComparisonPointCloud and the parameter pointFromReference = False). Moreover, if the E3DMatcher::SetEnableMissingPointAsAnomaly is set to False, the anomalies will not be detected.

◆ SetComparisonDistanceMode()

void eVision::Easy3D::E3DMatcher::SetComparisonDistanceMode ( eVision::Easy3D::EComparisonDistanceMode mode )

Sets/Gets the distance mode for the 3D comparison.

Default: EComparisonDistanceMode::EComparisonDistanceMode_Euclidean.

◆ SetComparisonNoExtraMaterial()

void eVision::Easy3D::E3DMatcher::SetComparisonNoExtraMaterial ( const eVision::ERegion * noExtraMaterial )

Sets/Gets the ERegion that should not have extra material in the scan. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Parameters

noExtraMaterial A pointer to ERegion defining the area on which we will check no data is missing in the scan. This param is a shortcut to avoid building a vector of size 1.

This method is a shortcut of E3DMatcher::SetAllComparisonNoExtraMaterial when you only want to set/get one reference pose.

◆ SetComparisonROI()

void eVision::Easy3D::E3DMatcher::SetComparisonROI ( const eVision::ERegion * regionOfInterest )

Sets/Gets the ERegion of the reference that should be compared. See E3DAligner::RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Parameters

regionOfInterest A pointer to ERegion defining the area that will be used for comparison with the reference pose. This param is a shortcut to avoid building a vector of size 1.

This method is a shortcut of E3DMatcher::SetAllComparisonROI when you only want to set/get one reference pose.

◆ SetEdgeCroppingParameters() [1/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetEnableAutomaticEdgeCropping.

◆ SetEdgeCroppingParameters() [2/2]

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetEnableAutomaticEdgeCropping.

Deprecated

Use E3DMatcher::SetEdgeCroppingParameters instead.

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

◆ SetEnableAutomaticDecimation()

void eVision::Easy3D::E3DMatcher::SetEnableAutomaticDecimation ( bool state )

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

Default: True

◆ SetEnableAutomaticEdgeCropping()

void eVision::Easy3D::E3DMatcher::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 E3DMatcher::SetComparisonDistanceMode and EComparisonDistanceMode). To modify the parameters of the cropping, see E3DMatcher::SetEdgeCroppingParameters.

Default: False

◆ SetEnableMissingPointAsAnomaly()

void eVision::Easy3D::E3DMatcher::SetEnableMissingPointAsAnomaly ( bool state )

If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies. If False, only points that are present in the scan can be considered as anomalies.

Default: True

Setting the value to False can be interesting when for example there are different shadow effects on the reference and on the scan or if there are illumination issues in the scan.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ E3DMatcher() [1/3]

◆ E3DMatcher() [2/3]

◆ ~E3DMatcher()

◆ E3DMatcher() [3/3]

Member Function Documentation

◆ ClearComparisonNoExtraMaterial()

◆ ClearComparisonROI()

◆ GetAllComparisonNoExtraMaterial()

◆ GetAllComparisonROI()

◆ GetAnomalyHysteresis() [1/2]

◆ GetAnomalyHysteresis() [2/2]

◆ GetAnomalyThresholds() [1/2]

◆ GetAnomalyThresholds() [2/2]

◆ GetAutomaticCropFactor()

◆ GetComparisonDistanceMode()

◆ GetComparisonNoExtraMaterial()

◆ GetComparisonPointCloud() [1/5]

◆ GetComparisonPointCloud() [2/5]

◆ GetComparisonPointCloud() [3/5]

◆ GetComparisonPointCloud() [4/5]

◆ GetComparisonPointCloud() [5/5]

◆ GetComparisonROI()

◆ GetEdgeCroppingParameters() [1/2]

◆ GetEdgeCroppingParameters() [2/2]

◆ GetEnableAutomaticDecimation()

◆ GetEnableAutomaticEdgeCropping()

◆ GetEnableMissingPointAsAnomaly()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Match() [1/3]

◆ Match() [2/3]

◆ Match() [3/3]

◆ operator=()

◆ PrepareReference()

◆ ResetAnomalyThresholds()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetAllComparisonNoExtraMaterial()

◆ SetAllComparisonROI()

◆ SetAnomalyHysteresis() [1/2]

◆ SetAnomalyHysteresis() [2/2]

◆ SetAnomalyThresholds() [1/2]

◆ SetAnomalyThresholds() [2/2]

◆ SetAutomaticCropFactor()

◆ SetComparisonDistanceMode()

◆ SetComparisonNoExtraMaterial()

◆ SetComparisonROI()

◆ SetEdgeCroppingParameters() [1/2]

◆ SetEdgeCroppingParameters() [2/2]

◆ SetEnableAutomaticDecimation()

◆ SetEnableAutomaticEdgeCropping()

◆ SetEnableMissingPointAsAnomaly()