A EPlaneFinder object is used to search an E3DPlane in an EPointCloud. More...

#include <eVision/Easy3D/EPlaneFinder.h>

Collaboration diagram for eVision::Easy3D::EPlaneFinder:

Public Member Functions
	EPlaneFinder (float maxDeviation, float pcExpectedInCloud)
	Creates an EPlaneFinder object.
	EPlaneFinder (float maxDeviation)
	Creates an EPlaneFinder object.
	EPlaneFinder (float maxDeviation, const eVision::EFloatRange &pcExpectedInCloudRange)
	Creates an EPlaneFinder object.
	EPlaneFinder (const eVision::Easy3D::EPlaneFinder &other)
	Creates an EPlaneFinder object.
virtual	~EPlaneFinder () throw ()
eVision::Easy3D::EPlaneFinder &	operator= (const eVision::Easy3D::EPlaneFinder &other)
	Assignment operator.
void	SetMaxDeviation (float maxDeviation)
	Sets/gets the maximum distance of an inlier to the plane.
float	GetMaxDeviation () const
	Sets/gets the maximum distance of an inlier to the plane.
void	EnableDecimator ()
	Enables the default decimation which reduces the input point cloud by drawing points randomly.
void	DisableDecimator ()
	Disables the default decimation.
bool	IsDecimatorEnabled () const
	Returns true if the default decimator is enabled (enabled by default).
void	SetNumberOfPointsAfterDecimation (int numberOfPointsAfterDecimation)
	Sets/gets the number of points surviving the decimation. Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.
int	GetNumberOfPointsAfterDecimation () const
	Sets/gets the number of points surviving the decimation. Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.
void	SetExpectedCloudInliersRatio (float pcExpectedInCloud)
	Sets/gets the expected ratio of inliers in the EPointCloud.
float	GetExpectedCloudInliersRatio () const
	Sets/gets the expected ratio of inliers in the EPointCloud.
void	SetExpectedCloudInliersRatioRange (const eVision::EFloatRange &pcExpectedInCloudRange)
	Sets/gets the expected ratio of inliers in the EPointCloud.
eVision::EFloatRange	GetExpectedCloudInliersRatioRange () const
	Sets/gets the expected ratio of inliers in the EPointCloud.
void	UnsetNormal ()
	Unsets the normal vector definition.
void	SetNormal (const eVision::Easy3D::E3DPoint &normal)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
void	SetNormal (const eVision::Easy3D::E3DPoint &normal, float angleTolerance)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
void	SetNormal (float nx, float ny, float nz)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
void	SetNormal (float nx, float ny, float nz, float angleTolerance)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
void	SetNormal (const eVision::Easy3D::E3DPlane &referencePlane)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
void	SetNormal (const eVision::Easy3D::E3DPlane &referencePlane, float angleTolerance)
	Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.
eVision::Easy3D::E3DPoint	GetNormal () const
	Returns the expected normal direction (that has been set by EPlaneFinder::SetNormal).
float	GetNormalTolerance () const
	Returns the angle tolerance around the expected normal (that has been set by EPlaneFinder::SetNormal).
bool	IsNormalSet () const
	Returns true if the expected normal direction has been set (not set by default).
void	UnsetPoints ()
	Unsets the 1 or 2 points that the plane is constrained to contain.
void	SetOnePoint (const eVision::Easy3D::E3DPoint &point1)
	Sets one point that the plane will be constrained to contain.
void	SetTwoPoints (const eVision::Easy3D::E3DPoint &point1, const eVision::Easy3D::E3DPoint &point2)
	Sets two points that the plane will be constrained to contain.
eVision::Easy3D::E3DPoint	GetPoint (bool first) const
	Returns an E3DPoint the plane is constrained to contain (that has been set by EPlaneFinder::SetOnePoint or EPlaneFinder::SetTwoPoints).
int	GetNumberOfPointsSet () const
	Returns the number of points set (this will be either 0, 1 or 2).
float	Find (const eVision::Easy3D::EPointCloud &pointCloud, eVision::Easy3D::E3DPlane &foundPlane) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
float	Find (const eVision::Easy3D::EPointCloud &pointCloud, eVision::Easy3D::E3DPlane &foundPlane, eVision::Easy3D::EPointCloud &inliers) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
float	Find (const eVision::Easy3D::EPointCloud &pointCloud, eVision::Easy3D::E3DPlane &foundPlane, eVision::Easy3D::EPointCloud &inliers, eVision::Easy3D::EPointCloud &outliers) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
eVision::Easy3D::E3DPlane	Find (const eVision::Easy3D::EPointCloud &pointCloud) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
eVision::Easy3D::E3DPlane	Find (const eVision::Easy3D::EPointCloud &pointCloud, float &effectiveInliersRatio) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
eVision::Easy3D::E3DPlane	Find (const eVision::Easy3D::EPointCloud &pointCloud, float &effectiveInliersRatio, eVision::Easy3D::EPointCloud &inliers) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
eVision::Easy3D::E3DPlane	Find (const eVision::Easy3D::EPointCloud &pointCloud, float &effectiveInliersRatio, eVision::Easy3D::EPointCloud &inliers, eVision::Easy3D::EPointCloud &outliers) const
	Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.
void	Load (const std::string &path)
	Loads the plane finder configuration. The given ESerializer must have been created for reading.
void	Load (eVision::ESerializer *serializer)
	Loads the plane finder configuration. The given ESerializer must have been created for reading.
void	Save (const std::string &path)
	Saves the plane finder configuration. The given ESerializer must have been created for writing.
void	Save (eVision::ESerializer *serializer)
	Saves the plane finder configuration. The given ESerializer must have been created for writing.
void	SetSeed (unsigned int seed)
	Set seed to a custom value, by default, the random seed used is 0.
unsigned int	GetSeed () const
	Returns the seed (that has been set by EPlaneFinder::SetSeed).
bool	IsSeedSet () const
	Returns true if the seed was set to a custom value.
void	UnsetSeed ()
	Reset seed to its default state of being randomly initialized.
	EPlaneFinder (CppWrapperInternal::InternalConstructor)

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

A EPlaneFinder object is used to search an E3DPlane in an EPointCloud.

The algorithm searches the largest plane in terms of number of "inliers". A point is an "inlier" when its distance to the plane is smaller than a specified threshold (parameter "maximum distance"). Another parameter specifies the expected ratio of inliers over the total number of points in the point cloud (by default, this is set to 0.3).

For more control, you can also set the expected ratio of inliers as a range, when a single number is given the behavior is equivalent to a range (number/2, number). The method Find throws an error if it cannot achieve a proportion of inliers better than the min of the range. It stops as soon as the max of the range is achieved.

Reducing the size of the range increases speed. A decimation is applied by default to accelerate the search. Furthermore, the expected normal to the plane and/or up to two points contained in the plane may be specified.

The method EPlaneFinder::Find processes an EPointCloud object and returns an E3DPlane object when a sufficiently good plane is found in the input point cloud. The returned plane is the result of fitting an EPlaneFitter on the inliers.

License(s): Easy3D

Constructor & Destructor Documentation

◆ EPlaneFinder() [1/5]

eVision::Easy3D::EPlaneFinder::EPlaneFinder	(	float	maxDeviation,
		float	pcExpectedInCloud )

Creates an EPlaneFinder object.

Parameters

maxDeviation	Maximum distance of an inlier to the plane. This value has to be strictly positive.
pcExpectedInCloud	This is an estimation of the ratio of inliers in the point cloud. The algorithm stops as soon as a pointCloud with at least pcExpectedInCloud inliers is found. It throws an error if the best plane has less than pcExpectedInCloud/2 inliers.

This optional parameter has a default value of 0.3.

◆ EPlaneFinder() [2/5]

eVision::Easy3D::EPlaneFinder::EPlaneFinder ( float maxDeviation )

Creates an EPlaneFinder object.

Parameters

maxDeviation Maximum distance of an inlier to the plane. This value has to be strictly positive.

◆ EPlaneFinder() [3/5]

eVision::Easy3D::EPlaneFinder::EPlaneFinder	(	float	maxDeviation,
		const eVision::EFloatRange &	pcExpectedInCloudRange )

Creates an EPlaneFinder object.

Parameters

maxDeviation	Maximum distance of an inlier to the plane. This value has to be strictly positive.
pcExpectedInCloudRange	This is an estimation of the ratio of inliers in the point cloud as a range within ]0, 1[. The algorithm throws an error if the best plane has less than inliersProportion.min inliers. The algorithm stops as soon as a model with inliersProportion.max is found.

Increasing inliersProportion.min can increase speed but at the risk of missing the plane. Decreasing the max of the range can increase speed but at the risk of finding a bad plane.

◆ EPlaneFinder() [4/5]

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

Creates an EPlaneFinder object.

Parameters

other The EPlaneFinder object that should be copied.

◆ ~EPlaneFinder()

eVision::Easy3D::EPlaneFinder::~EPlaneFinder	(		)
throw	(	)

virtual

◆ EPlaneFinder() [5/5]

eVision::Easy3D::EPlaneFinder::EPlaneFinder ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ DisableDecimator()

void eVision::Easy3D::EPlaneFinder::DisableDecimator ( )

Disables the default decimation.

The decimation should be disabled when the input point cloud is already decimated.

◆ EnableDecimator()

void eVision::Easy3D::EPlaneFinder::EnableDecimator ( )

Enables the default decimation which reduces the input point cloud by drawing points randomly.

This decimation is enabled by default. The decimation accelerates the search.

◆ Find() [1/7]

eVision::Easy3D::E3DPlane eVision::Easy3D::EPlaneFinder::Find ( const eVision::Easy3D::EPointCloud & pointCloud ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud The input point cloud in which the plane should be searched (need at least 3 points)

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

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

◆ Find() [2/7]

float eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		eVision::Easy3D::E3DPlane &	foundPlane ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
foundPlane	An E3DPlane that will contain the plane found

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

◆ Find() [3/7]

float eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		eVision::Easy3D::E3DPlane &	foundPlane,
		eVision::Easy3D::EPointCloud &	inliers ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
foundPlane	An E3DPlane that will contain the plane found
inliers	A pointcloud that will contain the inliers of the plane

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

◆ Find() [4/7]

float eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		eVision::Easy3D::E3DPlane &	foundPlane,
		eVision::Easy3D::EPointCloud &	inliers,
		eVision::Easy3D::EPointCloud &	outliers ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
foundPlane	An E3DPlane that will contain the plane found
inliers	A pointcloud that will contain the inliers of the plane
outliers	A pointcloud that will contain the outliers of the plane

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

◆ Find() [5/7]

eVision::Easy3D::E3DPlane eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		float &	effectiveInliersRatio ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
effectiveInliersRatio	This passed by reference float will contain the effective ratio of inliers

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

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

◆ Find() [6/7]

eVision::Easy3D::E3DPlane eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		float &	effectiveInliersRatio,
		eVision::Easy3D::EPointCloud &	inliers ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
effectiveInliersRatio	This passed by reference float will contain the effective ratio of inliers
inliers	A pointcloud that will contain the inliers of the plane

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

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

◆ Find() [7/7]

eVision::Easy3D::E3DPlane eVision::Easy3D::EPlaneFinder::Find	(	const eVision::Easy3D::EPointCloud &	pointCloud,
		float &	effectiveInliersRatio,
		eVision::Easy3D::EPointCloud &	inliers,
		eVision::Easy3D::EPointCloud &	outliers ) const

Searches the biggest plane in the supplied EPointCloud. If a sufficiently good plane is not found, an exception is thrown.

Parameters

pointCloud	The input point cloud in which the plane should be searched (need at least 3 points)
effectiveInliersRatio	This passed by reference float will contain the effective ratio of inliers
inliers	A pointcloud that will contain the inliers of the plane
outliers	A pointcloud that will contain the outliers of the plane

The normal vector of the fitted plane is always oriented towards the positive Z axis, see E3DPlaneNormalOrientation::E3DPlaneNormalOrientation_PosZ.

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

◆ GetExpectedCloudInliersRatio()

float eVision::Easy3D::EPlaneFinder::GetExpectedCloudInliersRatio ( ) const

Sets/gets the expected ratio of inliers in the EPointCloud.

This setter/getter is used to access the max of the range, its behavior is the same as SetExpectedCloudInliersRatioRange(EFloatRange(pcExpectedInCloud/2, pcExpectedInCloud)) and GetExpectedCloudInliersRatioRange().GetUpperBound()

◆ GetExpectedCloudInliersRatioRange()

eVision::EFloatRange eVision::Easy3D::EPlaneFinder::GetExpectedCloudInliersRatioRange ( ) const

Sets/gets the expected ratio of inliers in the EPointCloud.

This is an estimation of the ratio of inliers in the point cloud as a range within ]0, 1[.

If pcExpectedInCloudRange.min is too small, we risk missing the plane. The algorithm throws an error if the best plane has less than pcExpectedInCloudRange.min inliers. The algorithm stops as soon as a model with pcExpectedInCloudRange.max is found.

Increasing pcExpectedInCloudRange.min can increase speed. Decreasing pcExpectedInCloudRange.max can increase speed.

◆ GetMaxDeviation()

float eVision::Easy3D::EPlaneFinder::GetMaxDeviation ( ) const

Sets/gets the maximum distance of an inlier to the plane.

◆ GetNormal()

eVision::Easy3D::E3DPoint eVision::Easy3D::EPlaneFinder::GetNormal ( ) const

Returns the expected normal direction (that has been set by EPlaneFinder::SetNormal).

◆ GetNormalTolerance()

float eVision::Easy3D::EPlaneFinder::GetNormalTolerance ( ) const

Returns the angle tolerance around the expected normal (that has been set by EPlaneFinder::SetNormal).

◆ GetNumberOfPointsAfterDecimation()

int eVision::Easy3D::EPlaneFinder::GetNumberOfPointsAfterDecimation ( ) const

Sets/gets the number of points surviving the decimation. Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.

◆ GetNumberOfPointsSet()

int eVision::Easy3D::EPlaneFinder::GetNumberOfPointsSet ( ) const

Returns the number of points set (this will be either 0, 1 or 2).

◆ GetPoint()

eVision::Easy3D::E3DPoint eVision::Easy3D::EPlaneFinder::GetPoint ( bool first ) const

Returns an E3DPoint the plane is constrained to contain (that has been set by EPlaneFinder::SetOnePoint or EPlaneFinder::SetTwoPoints).

Parameters

first True if you want to get the first point and false if you want the second instead.

◆ GetSeed()

unsigned int eVision::Easy3D::EPlaneFinder::GetSeed ( ) const

Returns the seed (that has been set by EPlaneFinder::SetSeed).

Deprecated

Users shouldn't have to get the seed.

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

◆ IsDecimatorEnabled()

bool eVision::Easy3D::EPlaneFinder::IsDecimatorEnabled ( ) const

Returns true if the default decimator is enabled (enabled by default).

◆ IsNormalSet()

bool eVision::Easy3D::EPlaneFinder::IsNormalSet ( ) const

Returns true if the expected normal direction has been set (not set by default).

◆ IsSeedSet()

bool eVision::Easy3D::EPlaneFinder::IsSeedSet ( ) const

Returns true if the seed was set to a custom value.

Deprecated

Always returns true.

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

◆ Load() [1/2]

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

Loads the plane finder configuration. The given ESerializer must have been created for reading.

Parameters

path	The file path.

◆ Load() [2/2]

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

Loads the plane finder configuration. The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

◆ operator=()

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

Assignment operator.

Parameters

other The EPlaneFinder object that should be copied.

◆ Save() [1/2]

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

Saves the plane finder configuration. The given ESerializer must have been created for writing.

Parameters

path	The file path.

◆ Save() [2/2]

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

Saves the plane finder configuration. The given ESerializer must have been created for writing.

Parameters

serializer The ESerializer object that is written to.

◆ SetExpectedCloudInliersRatio()

void eVision::Easy3D::EPlaneFinder::SetExpectedCloudInliersRatio ( float pcExpectedInCloud )

Sets/gets the expected ratio of inliers in the EPointCloud.

Parameters

pcExpectedInCloud The upper bound on the ratio of inliers we expect to find in our point cloud

This setter/getter is used to access the max of the range, its behavior is the same as SetExpectedCloudInliersRatioRange(EFloatRange(pcExpectedInCloud/2, pcExpectedInCloud)) and GetExpectedCloudInliersRatioRange().GetUpperBound()

◆ SetExpectedCloudInliersRatioRange()

void eVision::Easy3D::EPlaneFinder::SetExpectedCloudInliersRatioRange ( const eVision::EFloatRange & pcExpectedInCloudRange )

Sets/gets the expected ratio of inliers in the EPointCloud.

Parameters

pcExpectedInCloudRange The range of inliers we expect in the point cloud

This is an estimation of the ratio of inliers in the point cloud as a range within ]0, 1[.

If pcExpectedInCloudRange.min is too small, we risk missing the plane. The algorithm throws an error if the best plane has less than pcExpectedInCloudRange.min inliers. The algorithm stops as soon as a model with pcExpectedInCloudRange.max is found.

Increasing pcExpectedInCloudRange.min can increase speed. Decreasing pcExpectedInCloudRange.max can increase speed.

◆ SetMaxDeviation()

void eVision::Easy3D::EPlaneFinder::SetMaxDeviation ( float maxDeviation )

Sets/gets the maximum distance of an inlier to the plane.

Parameters

maxDeviation The maximum distance between an inlier and the plane

◆ SetNormal() [1/6]

void eVision::Easy3D::EPlaneFinder::SetNormal ( const eVision::Easy3D::E3DPlane & referencePlane )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

referencePlane The reference plane specifies the expected perpendicular direction.

◆ SetNormal() [2/6]

void eVision::Easy3D::EPlaneFinder::SetNormal	(	const eVision::Easy3D::E3DPlane &	referencePlane,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

referencePlane	The reference plane specifies the expected perpendicular direction.
angleTolerance	The angle tolerance is the maximum angular deviation around the expected normal (strictly positive and smaller than 90 degrees). It's set to 5 degrees by default.

◆ SetNormal() [3/6]

void eVision::Easy3D::EPlaneFinder::SetNormal ( const eVision::Easy3D::E3DPoint & normal )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

normal The normal vector specifies the expected perpendicular direction of the plane.

◆ SetNormal() [4/6]

void eVision::Easy3D::EPlaneFinder::SetNormal	(	const eVision::Easy3D::E3DPoint &	normal,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

normal	The normal vector specifies the expected perpendicular direction of the plane.
angleTolerance	The angle tolerance is the maximum angular deviation around the expected normal (strictly positive and smaller than 90 degrees). It's set to 5 degrees by default.

◆ SetNormal() [5/6]

void eVision::Easy3D::EPlaneFinder::SetNormal	(	float	nx,
		float	ny,
		float	nz )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

nx	The x component of the normal vector.
ny	The y component of the normal vector.
nz	The z component of the normal vector.

◆ SetNormal() [6/6]

void eVision::Easy3D::EPlaneFinder::SetNormal	(	float	nx,
		float	ny,
		float	nz,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it. These values are used to limit the scope of the plane search.

If the angular tolerance is not specified, a default value of 5 degrees is assumed. If the tolerance is specified, the value should be strictly positive and correspond to less than 90 degrees.

Parameters

nx	The x component of the normal vector.
ny	The y component of the normal vector.
nz	The z component of the normal vector.
angleTolerance	The angle tolerance is the maximum angular deviation around the expected normal (strictly positive and smaller than 90 degrees). It's set to 5 degrees by default.

◆ SetNumberOfPointsAfterDecimation()

void eVision::Easy3D::EPlaneFinder::SetNumberOfPointsAfterDecimation ( int numberOfPointsAfterDecimation )

Sets/gets the number of points surviving the decimation. Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.

Parameters

numberOfPointsAfterDecimation The number of point the decimated pointCloud will contain after decimation

◆ SetOnePoint()

void eVision::Easy3D::EPlaneFinder::SetOnePoint ( const eVision::Easy3D::E3DPoint & point1 )

Sets one point that the plane will be constrained to contain.

Parameters

point1 The point that the plane will be constrained to contain.

To set 2 points, use the function SetTwoPoints. If two points were previously set, the second one will be removed by this function.

◆ SetSeed()

void eVision::Easy3D::EPlaneFinder::SetSeed ( unsigned int seed )

Set seed to a custom value, by default, the random seed used is 0.

Parameters

seed	The seed used to initialize all random number generators.

Deprecated

Users shouldn't have to set the seed to a specific value.

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

◆ SetTwoPoints()

void eVision::Easy3D::EPlaneFinder::SetTwoPoints	(	const eVision::Easy3D::E3DPoint &	point1,
		const eVision::Easy3D::E3DPoint &	point2 )

Sets two points that the plane will be constrained to contain.

Parameters

point1	The first point.
point2	The second point.

To set 1 point, use the function SetOnePoint

◆ UnsetNormal()

void eVision::Easy3D::EPlaneFinder::UnsetNormal ( )

Unsets the normal vector definition.

◆ UnsetPoints()

void eVision::Easy3D::EPlaneFinder::UnsetPoints ( )

Unsets the 1 or 2 points that the plane is constrained to contain.

◆ UnsetSeed()

void eVision::Easy3D::EPlaneFinder::UnsetSeed ( )

Reset seed to its default state of being randomly initialized.

Deprecated

This function doesn't have any effect.

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

Member Data Documentation

◆ wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::EPlaneFinder::wrappedClass_

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EPlaneFinder() [1/5]

◆ EPlaneFinder() [2/5]

◆ EPlaneFinder() [3/5]

◆ EPlaneFinder() [4/5]

◆ ~EPlaneFinder()

◆ EPlaneFinder() [5/5]

Member Function Documentation

◆ DisableDecimator()

◆ EnableDecimator()

◆ Find() [1/7]

◆ Find() [2/7]

◆ Find() [3/7]

◆ Find() [4/7]

◆ Find() [5/7]

◆ Find() [6/7]

◆ Find() [7/7]

◆ GetExpectedCloudInliersRatio()

◆ GetExpectedCloudInliersRatioRange()

◆ GetMaxDeviation()

◆ GetNormal()

◆ GetNormalTolerance()

◆ GetNumberOfPointsAfterDecimation()

◆ GetNumberOfPointsSet()

◆ GetPoint()

◆ GetSeed()

◆ IsDecimatorEnabled()

◆ IsNormalSet()

◆ IsSeedSet()

◆ Load() [1/2]

◆ Load() [2/2]

◆ operator=()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetExpectedCloudInliersRatio()

◆ SetExpectedCloudInliersRatioRange()

◆ SetMaxDeviation()

◆ SetNormal() [1/6]

◆ SetNormal() [2/6]

◆ SetNormal() [3/6]

◆ SetNormal() [4/6]

◆ SetNormal() [5/6]

◆ SetNormal() [6/6]

◆ SetNumberOfPointsAfterDecimation()

◆ SetOnePoint()

◆ SetSeed()

◆ SetTwoPoints()

◆ UnsetNormal()

◆ UnsetPoints()

◆ UnsetSeed()

Member Data Documentation

◆ wrappedClass_