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

Inheritance diagram for eVision.Easy3D.EPointCloudMerger:

Collaboration diagram for eVision.Easy3D.EPointCloudMerger:

Public Member Functions
	EPointCloudMerger ()
	Constructs an EPointCloudMerger.
	EPointCloudMerger (eVision.Easy3D.EPointCloudMerger other)
	Constructs an EPointCloudMerger.
	EPointCloudMerger (bool enableDecimation, float mergedCloudResolution, eVision.Easy3D.E3DTransformMatrix[] transforms)
	Constructs an EPointCloudMerger.
void	Load (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 (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.
float	Calibrate (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 (eVision.Easy3D.EPointCloud[] calibrationClouds, float calibrationObjectSize)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
void	Merge (eVision.Easy3D.EPointCloud[] clouds, eVision.Easy3D.EPointCloud mergedCloud)
	Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.

Properties
float	MergedCloudResolution `[get, set]`
	Sets/Gets the resolution of the merged point clouds.
eVision.Easy3D.E3DTransformMatrix[]	Transformations `[get, set]`
	Sets/Gets the transformations to apply to all of the clouds to merge.
bool	EnableDecimation `[get, set]`
	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.

Detailed Description

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

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ EPointCloudMerger() [1/3]

eVision.Easy3D.EPointCloudMerger.EPointCloudMerger ( )

Constructs an EPointCloudMerger.

◆ EPointCloudMerger() [2/3]

eVision.Easy3D.EPointCloudMerger.EPointCloudMerger ( eVision.Easy3D.EPointCloudMerger other )

Constructs an EPointCloudMerger.

Parameters

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

◆ EPointCloudMerger() [3/3]

eVision.Easy3D.EPointCloudMerger.EPointCloudMerger	(	bool	enableDecimation,
		float	mergedCloudResolution,
		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.

Member Function Documentation

◆ Calibrate() [1/2]

float eVision.Easy3D.EPointCloudMerger.Calibrate	(	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.Transformations and EPointCloudMerger.MergedCloudResolution 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() [2/2]

float eVision.Easy3D.EPointCloudMerger.Calibrate	(	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.Transformations and EPointCloudMerger.MergedCloudResolution 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.

◆ Load() [1/2]

void eVision.Easy3D.EPointCloudMerger.Load ( eVision.ESerializer serializer )

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

Parameters

serializer The serializer.

◆ Load() [2/2]

void eVision.Easy3D.EPointCloudMerger.Load ( string path )

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

Parameters

path	The file path.

◆ Merge()

void eVision.Easy3D.EPointCloudMerger.Merge	(	eVision.Easy3D.EPointCloud[]	clouds,
		eVision.Easy3D.EPointCloud	mergedCloud )

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.Transformations or constructor.

◆ Save() [1/2]

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.

◆ Save() [2/2]

void eVision.Easy3D.EPointCloudMerger.Save ( string path )

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

Parameters

path	The file path.

Property Documentation

◆ EnableDecimation

bool eVision.Easy3D.EPointCloudMerger.EnableDecimation

getset

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.

◆ MergedCloudResolution

float eVision.Easy3D.EPointCloudMerger.MergedCloudResolution

getset

Sets/Gets the resolution of the merged point clouds.

◆ Transformations

eVision.Easy3D.E3DTransformMatrix [] eVision.Easy3D.EPointCloudMerger.Transformations

getset

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

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

Public Member Functions

Properties

Detailed Description

Constructor & Destructor Documentation

◆ EPointCloudMerger() [1/3]

◆ EPointCloudMerger() [2/3]

◆ EPointCloudMerger() [3/3]

Member Function Documentation

◆ Calibrate() [1/2]

◆ Calibrate() [2/2]

◆ Load() [1/2]

◆ Load() [2/2]

◆ Merge()

◆ Save() [1/2]

◆ Save() [2/2]

Property Documentation

◆ EnableDecimation

◆ MergedCloudResolution

◆ Transformations