Merges several EPointCloud of the same scene from different sensors after having performed a calibration. More...

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

Collaboration diagram for eVision::Easy3D::EPointCloudMerger:

Public Member Functions
	EPointCloudMerger ()
	Constructs an EPointCloudMerger.
	EPointCloudMerger (const eVision::Easy3D::EPointCloudMerger &other)
	Constructs an EPointCloudMerger.
	EPointCloudMerger (bool enableDecimation, float mergedCloudResolution, const std::vector< eVision::Easy3D::E3DTransformMatrix > &transforms)
	Constructs an EPointCloudMerger.
virtual	~EPointCloudMerger () throw ()
eVision::Easy3D::EPointCloudMerger &	operator= (const eVision::Easy3D::EPointCloudMerger &other)
	Assignment operator.
void	Load (const std::string &path)
	Loads the EPointCloudMerger. The given ESerializer must have been created for reading.
void	Load (eVision::ESerializer *serializer)
	Loads the EPointCloudMerger. The given ESerializer must have been created for reading.
void	Save (const std::string &path)
	Saves the EPointCloudMerger. The given ESerializer must have been created for writing.
void	Save (eVision::ESerializer *serializer)
	Saves the EPointCloudMerger. The given ESerializer must have been created for writing.
void	SetMergedCloudResolution (float mergedCloudResolution)
	Sets/Gets the resolution of the merged point clouds.
float	GetMergedCloudResolution () const
	Sets/Gets the resolution of the merged point clouds.
void	SetTransformations (const std::vector< eVision::Easy3D::E3DTransformMatrix > &transforms)
	Sets/Gets the transformations to apply to all of the clouds to merge.
std::vector< eVision::Easy3D::E3DTransformMatrix >	GetTransformations () const
	Sets/Gets the transformations to apply to all of the clouds to merge.
void	SetEnableDecimation (bool enableDecimation)
	Sets/Gets whether the filtering of the merged cloud is enabled. If set to true, an EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.
bool	GetEnableDecimation () const
	Sets/Gets whether the filtering of the merged cloud is enabled. If set to true, an EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.
float	Calibrate (const std::vector< eVision::Easy3D::EPointCloud * > &calibrationClouds, float calibrationObjectSize, bool computeMergedCloudResolution)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
float	Calibrate (const std::vector< eVision::Easy3D::EPointCloud * > &calibrationClouds, float calibrationObjectSize)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
float	Calibrate (const std::vector< eVision::Easy3D::EPointCloud > &calibrationClouds, float calibrationObjectSize, bool computeMergedCloudResolution)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
float	Calibrate (const std::vector< eVision::Easy3D::EPointCloud > &calibrationClouds, float calibrationObjectSize)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
void	Merge (const std::vector< eVision::Easy3D::EPointCloud * > &clouds, eVision::Easy3D::EPointCloud &mergedCloud) const
	Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.
void	Merge (const std::vector< eVision::Easy3D::EPointCloud > &clouds, eVision::Easy3D::EPointCloud &mergedCloud) const
	Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.
	EPointCloudMerger (CppWrapperInternal::InternalConstructor)

Public Attributes
CppWrapperInternal::WrappedClass	wrappedClass_

Detailed Description

Merges several EPointCloud of the same scene from different sensors after having performed a calibration.

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ EPointCloudMerger() [1/4]

eVision::Easy3D::EPointCloudMerger::EPointCloudMerger ( )

Constructs an EPointCloudMerger.

◆ EPointCloudMerger() [2/4]

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

Constructs an EPointCloudMerger.

Parameters

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

◆ EPointCloudMerger() [3/4]

eVision::Easy3D::EPointCloudMerger::EPointCloudMerger	(	bool	enableDecimation,
		float	mergedCloudResolution,
		const std::vector< eVision::Easy3D::E3DTransformMatrix > &	transforms )

Constructs an EPointCloudMerger.

Parameters

enableDecimation	Whether we want to filter the merged cloud to remove point duplicates coming from different clouds by using an EGridDecimator or not. Set to true by default.
mergedCloudResolution	The size of a cubic cell of EGridDecimator applied to the merged EPointCloud. Set to 1 by default.
transforms	A vector of E3DTransformMatrix that will be applied to each EPointCloud before merging them together.

◆ ~EPointCloudMerger()

eVision::Easy3D::EPointCloudMerger::~EPointCloudMerger	(		)
throw	(	)

virtual

◆ EPointCloudMerger() [4/4]

eVision::Easy3D::EPointCloudMerger::EPointCloudMerger ( CppWrapperInternal::InternalConstructor )

Member Function Documentation

◆ Calibrate() [1/4]

float eVision::Easy3D::EPointCloudMerger::Calibrate	(	const std::vector< eVision::Easy3D::EPointCloud * > &	calibrationClouds,
		float	calibrationObjectSize )

Calibrates the transformations to apply to the point clouds from clouds of the calibration object.

Parameters

calibrationClouds	A vector of EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.

The transformations to apply and possibly the mergedCloudResolution can also be set by EPointCloudMerger::SetTransformations and EPointCloudMerger::SetMergedCloudResolution respectively.

The biggest face of the calibration cube should at least contain 2% of the points in each calibration cloud for the object to be detected.

◆ Calibrate() [2/4]

float eVision::Easy3D::EPointCloudMerger::Calibrate	(	const std::vector< eVision::Easy3D::EPointCloud * > &	calibrationClouds,
		float	calibrationObjectSize,
		bool	computeMergedCloudResolution )

Calibrates the transformations to apply to the point clouds from clouds of the calibration object.

Parameters

calibrationClouds	A vector of EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.
computeMergedCloudResolution	Whether to compute the resolution of the merged cloud from the given clouds or not.

If set to true, the resolution will be set to half the average distance between a point on the calibration object of the first cloud and its nearest neighbor.

Defaults to false.

The transformations to apply and possibly the mergedCloudResolution can also be set by EPointCloudMerger::SetTransformations and EPointCloudMerger::SetMergedCloudResolution respectively.

The biggest face of the calibration cube should at least contain 2% of the points in each calibration cloud for the object to be detected.

◆ Calibrate() [3/4]

float eVision::Easy3D::EPointCloudMerger::Calibrate	(	const std::vector< eVision::Easy3D::EPointCloud > &	calibrationClouds,
		float	calibrationObjectSize )

Calibrates the transformations to apply to the point clouds from clouds of the calibration object.

Parameters

calibrationClouds	A vector of EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.

The transformations to apply and possibly the mergedCloudResolution can also be set by EPointCloudMerger::SetTransformations and EPointCloudMerger::SetMergedCloudResolution respectively.

The biggest face of the calibration cube should at least contain 2% of the points in each calibration cloud for the object to be detected.

◆ Calibrate() [4/4]

float eVision::Easy3D::EPointCloudMerger::Calibrate	(	const std::vector< eVision::Easy3D::EPointCloud > &	calibrationClouds,
		float	calibrationObjectSize,
		bool	computeMergedCloudResolution )

Calibrates the transformations to apply to the point clouds from clouds of the calibration object.

Parameters

calibrationClouds	A vector of EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.
computeMergedCloudResolution	Whether to compute the resolution of the merged cloud from the given clouds or not.

If set to true, the resolution will be set to half the average distance between a point on the calibration object of the first cloud and its nearest neighbor.

Defaults to false.

The transformations to apply and possibly the mergedCloudResolution can also be set by EPointCloudMerger::SetTransformations and EPointCloudMerger::SetMergedCloudResolution respectively.

The biggest face of the calibration cube should at least contain 2% of the points in each calibration cloud for the object to be detected.

◆ GetEnableDecimation()

bool eVision::Easy3D::EPointCloudMerger::GetEnableDecimation ( ) const

Sets/Gets whether the filtering of the merged cloud is enabled. If set to true, an EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.

◆ GetMergedCloudResolution()

float eVision::Easy3D::EPointCloudMerger::GetMergedCloudResolution ( ) const

Sets/Gets the resolution of the merged point clouds.

◆ GetTransformations()

std::vector< eVision::Easy3D::E3DTransformMatrix > eVision::Easy3D::EPointCloudMerger::GetTransformations ( ) const

Sets/Gets the transformations to apply to all of the clouds to merge.

The transformations to apply can also be produced by EPointCloudMerger::Calibrate.

◆ Load() [1/2]

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

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

Parameters

path	The file path.

◆ Load() [2/2]

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

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

Parameters

serializer The serializer.

◆ Merge() [1/2]

void eVision::Easy3D::EPointCloudMerger::Merge	(	const std::vector< eVision::Easy3D::EPointCloud * > &	clouds,
		eVision::Easy3D::EPointCloud &	mergedCloud ) const

Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.

Parameters

clouds	A vector of EPointCloud representing different points of view of the object.
mergedCloud	An empty cloud that will be filled with the merging of the clouds.

The EPointCloudMerger must have been calibrated or the transformations to apply set, see EPointCloudMerger::Calibrate, EPointCloudMerger::SetTransformations or constructor.

◆ Merge() [2/2]

void eVision::Easy3D::EPointCloudMerger::Merge	(	const std::vector< eVision::Easy3D::EPointCloud > &	clouds,
		eVision::Easy3D::EPointCloud &	mergedCloud ) const

Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.

Parameters

clouds	A vector of EPointCloud representing different points of view of the object.
mergedCloud	An empty cloud that will be filled with the merging of the clouds.

The EPointCloudMerger must have been calibrated or the transformations to apply set, see EPointCloudMerger::Calibrate, EPointCloudMerger::SetTransformations or constructor.

Deprecated

Deprecated because using this method causes unnecessary copies. Use overloads with vector of pointers instead.

Deprecated in version 25.6. Scheduled to be removed in version 27.6.

◆ operator=()

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

Assignment operator.

Parameters

other The EPointCloudMerger object that should be assigned.

◆ Save() [1/2]

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

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

Parameters

path	The file path.

◆ Save() [2/2]

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

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

Parameters

serializer The ESerializer object that is written to.

◆ SetEnableDecimation()

void eVision::Easy3D::EPointCloudMerger::SetEnableDecimation ( bool enableDecimation )

Sets/Gets whether the filtering of the merged cloud is enabled. If set to true, an EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.

Parameters

enableDecimation Whether to perform decimation on the merged cloud or not.

◆ SetMergedCloudResolution()

void eVision::Easy3D::EPointCloudMerger::SetMergedCloudResolution ( float mergedCloudResolution )

Sets/Gets the resolution of the merged point clouds.

Parameters

mergedCloudResolution The size of a cubic cell of EGridDecimator applied to the merged EPointCloud.

◆ SetTransformations()

void eVision::Easy3D::EPointCloudMerger::SetTransformations ( const std::vector< eVision::Easy3D::E3DTransformMatrix > & transforms )

Sets/Gets the transformations to apply to all of the clouds to merge.

Parameters

transforms A vector of E3DTransformMatrix that will be applied to each EPointCloud before merging them together.

The transformations to apply can also be produced by EPointCloudMerger::Calibrate.

Member Data Documentation

◆ wrappedClass_

CppWrapperInternal::WrappedClass eVision::Easy3D::EPointCloudMerger::wrappedClass_

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EPointCloudMerger() [1/4]

◆ EPointCloudMerger() [2/4]

◆ EPointCloudMerger() [3/4]

◆ ~EPointCloudMerger()

◆ EPointCloudMerger() [4/4]

Member Function Documentation

◆ Calibrate() [1/4]

◆ Calibrate() [2/4]

◆ Calibrate() [3/4]

◆ Calibrate() [4/4]

◆ GetEnableDecimation()

◆ GetMergedCloudResolution()

◆ GetTransformations()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Merge() [1/2]

◆ Merge() [2/2]

◆ operator=()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetEnableDecimation()

◆ SetMergedCloudResolution()

◆ SetTransformations()

Member Data Documentation

◆ wrappedClass_