Classes
class	E3DAligner
	Aligns an EPointCloud or EZMap on a reference EMesh, EPointCloud or EZMap. More...
class	E3DAlignment
	Represents a 3D Alignment returned by E3DAligner. More...
class	E3DAnomaly
	Represents a detected 3D anomaly. More...
class	E3DAxisDisplay
	Represents the axis and the grid to display in the E3DViewer. More...
class	E3DAxisSystem
	Represent a 3D base axis system. More...
class	E3DBox
	A 3D box, used as bounding volume for E3DObject class. A box is defined by a center, 3 axis and 3 extent for the 3 axis. A 3D point (x,y,z) is inside the E3DBox if ... By default a E3DBox is an axis aligned unit cube, centered on the origin. More...
struct	E3DClosestPoint
	Struct containing the E3DPoint of an EPointCloud that is closest to a line or segment with its index in the cloud and its distance to the line or segment. More...
class	E3DComparer
	Represents a 3D comparison context. More...
class	E3DLine
	Represents a 3D line. More...
class	E3DMatch
	Represents a 3D match returned by E3DMatcher. More...
class	E3DMatcher
	Aligns an EPointCloud or EZMap on and compares it with a reference EMesh, EPointCloud or EZMap. More...
class	E3DObject
	A E3DObject is a geometric description of a set of 3D points, produced by E3DObjectExtractor. Several 3D features are available. All 3D features are expressed in the ZMap metric coordinate system. More...
class	E3DObjectExtractor
	E3DObjectExtractor is used to extract 3D objects from a ZMap. More...
class	E3DOrthonormalAxisSystem
	E3DOrthonormalAxisSystem is a subassembly of E3DAxisSystem with properties Orthogonal and Normed. More...
class	E3DPlane
	Represents a 3D plane. More...
struct	E3DPoint
	Represents a 3D point with floating point coordinates. More...
class	E3DRightOrthonormalAxisSystem
	E3DRightOrthonormalAxisSystem is a subassembly of E3DAxisSystem with properties Orthogonal and Normed and Right. More...
class	E3DSphere
	Represents a 3D sphere. More...
class	E3DTransformMatrix
	Represents a 3D transformation [4x4] matrix. More...
class	E3DViewer
	Manages a viewer window for EPointCloud. More...
class	EAffineTransformer
	Manages a 3D coordinates transformation context. More...
struct	EAnomalyThresholds
	Thresholds used to define an anomaly in Easy3DMatch. Composed of a distance and an area thresholds. More...
struct	EAzimuthElevationAngles
	Azimuth and Elevation Angles. More...
class	ECalibrationGenerator
	Represents a 3D calibration model generator, a class made to compute calibration models. More...
class	ECalibrationModel
	Represents a 3D calibration model. More...
class	EConverter
	Conversion functions between bit depth formats of various 3D classes. More...
class	EDecimator
	Decimation of a point cloud/ZMap/DepthMap. More...
class	EDepthMap
	Represents a generic DepthMap type interface. More...
class	EDepthMap16
	Represents a EDepthMap with an 16-bit pixel internal representation. More...
class	EDepthMap32f
	Represents a EDepthMap with an 32-bit pixel internal representation. More...
class	EDepthMap8
	Represents a EDepthMap with an internal 8-bit pixel representation. More...
class	EDepthMapToMeshConverter
	Performs the conversion from a EDepthMap to a EMesh, using the given calibration model. More...
class	EDepthMapToPointCloudConverter
	Performs the conversion from a EDepthMap to a EPointCloud, using the given calibration model. More...
struct	EEdgeCroppingParameters
	Parameters used to defined edge cropping in Easy3DMatch. More...
class	EErrorStatistics
	This object contains the error statistics (deviation between model and aligned points). More...
class	EExplicitGeometricCalibrationModel
	EExplicitGeometricCalibrationModel is used to calibrate a depth map from a minimal set of explicit geometric values. More...
class	EFeaturesAligner
	Alignment class, used to calculate the best transformation between matching pairs of points. The object EFeaturesAligner contains a list of points called the 'Model points list'. The method EFeaturesAligner.Compute takes a second list of points as argument which is called the 'Measured points list' and produces a E3DTransformMatrix as result. More...
class	EFilters
	Filtering functions used to remove noise on 3D containers. More...
class	EGridDecimator
	Decimation of an EPointCloud. More...
class	ELaserLineExtractor
	Manages a laser line extraction context. More...
class	EMesh
	Represents a 3D meshed object. More...
class	EMeshToZMapConverter
	Computes an EZMap from an EMesh. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane. All 3D points under the reference plane are discarded. Various options can be set with methods EMeshToZMapConverter.ReferencePlane, EMeshToZMapConverter.SetFillMode, EMeshToZMapConverter.SetMapXYResolution, EMeshToZMapConverter.MapZResolution, EMeshToZMapConverter.OrientationVector... When the conversion is called without defining specific parameters, the algorithm uses the following options: More...
class	EObjectBasedCalibrationGenerator
	Represents an object-based 3D calibration generator. More...
class	EObjectBasedCalibrationModel
	EObjectBasedCalibrationModel is an Easy3D calibration model built from a scan of a reference object. More...
class	EPhotometricStereoImager
	Manages photometric stereo reconstruction. This class can build normals, albedos, gradients, mean curvatures and gaussian curvatures images from at least 3 input images by using photometric stereo The algorithm used assumes objects are Lambertian and light sources emit parallel rays. More...
class	EPlaneCropper
	A EPlaneCropper object is used to crop some points of a EPointCloud object. More...
class	EPlaneFinder
	A EPlaneFinder object is used to search an E3DPlane in an EPointCloud. More...
class	EPlaneFitter
	A EPlaneFitter object is used to fit an E3DPlane on an EPointCloud. More...
class	EPointCloud
	Represents a 3D point cloud. More...
class	EPointCloudFactory
	Manages a context for creating point clouds of specific shapes. More...
class	EPointCloudFilter
	An EPointCloudFilter is used to filter some points out of an EPointCloud. More...
class	EPointCloudMerger
	Merges several EPointCloud of the same scene from different sensors after having performed a calibration. More...
class	EPointCloudStatistics
	Manages a context for retrieving statistics on an EPointCloud. More...
class	EPointCloudToMeshConverter
	Performs the conversion from an EPointCloud to an EMesh. More...
class	EPointCloudToZMapConverter
	Computes an EZMap from an EPointCloud. The value of the pixels of the ZMap are the distance between the 3D points and the reference plane. All 3D points under the reference plane are discarded. Various options can be set with methods EPointCloudToZMapConverter.ReferencePlane, EPointCloudToZMapConverter.SetFillMode, EPointCloudToZMapConverter.SetMapXYResolution, EPointCloudToZMapConverter.MapZResolution, EPointCloudToZMapConverter.OrientationVector... When the conversion is called without defining specific parameters, the algorithm uses the following options: More...
class	EPrincipalAxisExtractor
	A EPrincipalAxisExtractor object computes the principal axis analysis (PCA) on an EPointCloud and produces a E3DTransformMatrix as a result. More...
class	ERandomDecimator
	Decimation of an EPointCloud. More...
class	ERectangularCropper
	Manages a point cloud cropper in the shape of a rectangular parallelepiped. More...
struct	ERenderStyle
	Represents how to visualize 3D Objects in a E3DViewer. More...
class	EScaleCalibrationModel
	EScaleCalibrationModel is used to convert depth map 2.5D point to 3D world position, only by applying a scale factor. More...
class	ESimpleCropper
	Manages a point cloud cropper based on X/Y/Z value ranges. More...
class	ESphereFitter
	A ESphereFitter object is used to fit an E3DSphere on an EPointCloud. More...
class	ESphericalCropper
	Manages a spherical point cloud cropper. More...
class	EStatistics
	Calculates various statistics on the pixels values of an EDepthMap or EZMap. More...
struct	EStatistics16
	Statistics on the pixels values of an EDepthMap16 or EZMap16 computed by EStatistics. More...
struct	EStatistics32f
	Statistics on the pixels values of an EDepthMap or EZMap computed by EStatistics. More...
struct	EStatistics8
	Statistics on the pixels values of an EDepthMap8 or EZMap8 computed by EStatistics. More...
class	EUtils
	3D Utilitarian Functions. More...
class	EZMap
	Represents a generic ZMap type interface. More...
class	EZMap16
	A ZMap16 is a 16bits corrected 2.5D image. More...
class	EZMap32f
	A ZMap32f is a 32bits corrected 2.5D image. More...
class	EZMap8
	A ZMap8 is a 8bits corrected 2.5D image. More...
class	EZMapLeveler
	Class performing the leveling of an EZMap. The ZMap is re-projected along a new direction and with a specific orientation. The direction is either given by the user or found on the initial ZMap. The orientation is given as an angle (0° is the x-axis of the initial ZMap). More...
class	EZMapToMeshConverter
	Performs the conversion from an EZMap to an EMesh. More...
class	EZMapToPointCloudConverter
	Generates an EPointCloud from a ZMap. More...
class	TextLabel
	A class representing a text label that can be displayed using E3DViewer. More...

Enumerations
enum	E3DAttribute : int { Color = 0 , Normal = 1 , Intensity = 2 , Texture = 3 , Index = 4 , Confidence = 5 , Distance = 6 , Curvature = 7 }
	This enumeration contains the possible attributes of the EPointCloud in addition to the E3DPoint. The attributes have constraints about the type that is used to represent them. See also EPointCloud.FillAttributeBufferUInt8. More...
enum	E3DObjectFeature : int { Length = 0 , Width = 1 , LocalHeight = 2 , ReferenceHeight = 3 , Orientation = 4 , BoundingBox = 5 , AveragePosition = 6 , LocalTopPosition = 7 , ReferenceTopPosition = 8 , Plane = 9 , LocalTilt = 10 , ReferenceTilt = 11 , Area = 12 , Volume = 13 , BasePlane = 14 , BaseTilt = 15 , ERectangleRegion = 16 , ERegion = 17 , Sphere = 18 }
	The list of possible extracted features for E3DObject. More...
enum	E3DPlaneNormalOrientation : int { PosX = 0 , NegX = 1 , PosY = 2 , NegY = 3 , PosZ = 4 , NegZ = 5 }
	Orient the normal of the plane such that normal.X/Y/Z is positive/negative. The orientation of a plane denotes which half of the space is above/below the plane. The orientation of the plane is important when using EPointCloudToZMapConverter for example, because only the points above the plane will be part of the EZMap. More...
enum	EAlignmentPolarity : int { ModelToMeasured = 0 , MeasuredToModel = 1 }
	Polarity of an alignment, used in EFeaturesAligner. More...
enum	EAlignmentType : int { Ordered = 1 , Unordered = 2 }
	Type of alignment to perform by EFeaturesAligner. Measured points can be in the same order as model points or not. More...
enum	EAttributeType : int { UINT8 = 0 , UINT16 = 1 , UINT32 = 2 , INT32 = 3 , FLOAT = 4 , DOUBLE = 5 , EC24A = 6 , E3DPOINT = 7 , UNDEFINED = 8 }
	This enumeration contains the possible types for the E3DAttribute. See also EPointCloud.GetAttributeBufferType. More...
enum	EAxisOriginMode : int { BoundingBoxOrigin = 0 , WorldOrigin = 1 , UserDefined = 2 }
	This enumeration contains the possible values for the parameter of E3DViewer.AxisOrigin method. More...
enum	EAxisSystemType : int { CornerUpperLeft = 0 , CornerLowerLeft = 1 , Unknown = 2147483647 }
	Axis type used in a EZMap or EDepthMap. More...
enum	ECalibrationType : int { Scale = 0 , ExplicitGeometric = 1 , ObjectBased = 2 , Unknown = 3 }
	The Easy3D calibration type. More...
enum	EColorRampMode : int { HueFromZ = 0 , HueFromY = 1 , HueFromX = 2 , HueFastFromZ = 3 , HueFastFromY = 4 , HueFastFromX = 5 , RGBCube = 6 , HueFromIntensity = 7 , HueFromConfidence = 8 , HueFromDistance = 9 , HueFromNormal = 10 , Undefined = 255 }
	This enumeration contains the possible values for the parameter of E3DViewer.GenerateColors method. More...
enum	EComparisonDistanceMode : int { Fast = 0 , Normal = 1 , Advanced = 2 , Euclidean_Fast = 3 , Euclidean = 4 , Euclidean_Advanced = 5 , Normals = 6 , Normals_Advanced = 7 }
	This enumeration specifies the distance mode for the 3D comparison. See E3DMatcher.ComparisonDistanceMode and E3DComparer.ComparisonDistanceMode. More...
enum	EFillUndefinedPixelsDirection : int { Vertical = 0 , Horizontal = 1 , Combined = 2 , Local = 3 }
	Direction in which the undefined pixels are filled in a depthmap. More...
enum	EFillUndefinedPixelsMethod : int { KeepMinimum = 0 , KeepMaximum = 1 , Average = 2 , Ramp = 4 }
	Method to fill the undefined pixels in a depthmap. More...
enum	EMapConversionMode : int { MaxDynamic = 0 , Shift = 1 }
	Conversion modes to use in EConverter. More...
enum	EMaximumAnalysisMode : int { Peaks = 0 , Max = 1 , COG = 2 }
	This enumeration contains the possible values for the analysis mode of the ELaserLineExtractor object. More...
enum	ENoiseRemovalMethod : int { AbsoluteDifferenceFromMean = 0 , RelativeDifferenceFromMean = 1 , HighStandardDeviation = 2 }
	Type of filter used in method EFilters.RemoveNoise. More...
enum	EObjectBasedCalibrationPrecisionVsSpeedTradeOff : int { Fast = 0 , Balanced = 1 , Precise = 2 }
	The precision vs speed trade-off. More...
enum	EObjectBasedCalibrationType : int { DoublePyramid = 0 , TruncatedDoublePyramid = 1 , NotDefined = -1 }
	The type of the calibration object. More...
enum	EPhotometricStereoContrast : int { FullRange = 0 , HighContrast = 1 , FixedRange = 2 }
	This enumeration contains the possible ways to handle the contrast when retrieving Albedos, Gaussian curvatures or Mean curvatures. See EPhotometricStereoImager.GetAlbedos, EPhotometricStereoImager.ComputeMeanCurvatures and EPhotometricStereoImager.ComputeGaussianCurvatures. More...
enum	EPlaneCropperType : int { KeepAbove = 0 , KeepBelow = 1 , KeepClose = 2 , KeepFar = 3 }
	Type of crop to use in EPlaneCropper. More...
enum	EPointCloudFilteringMethod : int { DistanceFromMean = 0 , HighStandardDerivation = 1 }
	Type of filtering method to use in EPointCloudFilter. More...
enum	EPreservationMode : int { XYResolution = 1 , Size = 2 , ZResolution = 4 }
	Enum defining what quantities related to the X, Y and Z axes are preserved by EZMapLeveler. Values can be combined together with the \| operator. More...
enum	EProjectionType : int { Orthographic = 0 , Perspective = 1 }
	This enumeration contains the possible values for the parameter of E3DViewer.ProjectionType method. More...
enum	ESourceColorMode : int { Constant = 0 , Ramp = 1 , Attribute = 2 }
	This enumeration contains the modes for the display of the point cloud colors. More...
enum	ETextLabelAlignment : int { FromPosition = 0 , Left = 1 , Right = 2 }
	This enumeration contains the alignment of the text labels. More...
enum	EUIAPI : int { Win32 = 0 , Qt = 1 }
	This enumeration contains the various User Interface API supported by E3DViewer. More...
enum	EViewDirection : int { NegX = 0 , PosX = 1 , NegY = 2 , PosY = 3 , NegZ = 4 , PosZ = 5 }
	This enumeration contains the axis aligned view directions. More...
enum	EZMapGeneratorResolutionXYMode : int { Absolute = 0 , Relative = 1 }
	Mode used to specify the resolution of the ZMap generated on the x and y axes. More...
enum	EZMapGeneratorZResolutionFailureHandler : int { Crop = 0 , Saturate = 1 , Throw = 2 }
	Mode used to specify what to do when the Z Resolution set is too small to represent all the data. More...
enum	EZMapImageToWorldKernel : int { Median = 0 , Mean = 1 }
	Represents the kernel to use to compute the Z coordinate of the worldPoint in EZMap.ImageToWorld. More...
enum	EZMapOrientationVectorMode : int { Auto = 0 , XAxis = 1 , YAxis = 2 , ZAxis = 3 , Explicit = 4 }
	The EZMap orientation, it's the direction of the X (width) axis of the ZMap. More...
enum	EZMapReferencePlaneMode : int { XPlane = 0 , YPlane = 1 , ZPlane = 2 , Explicit = 3 }
	The 3D reference plane used to build the EZMap. More...

Enumeration Type Documentation

◆ E3DAttribute

enum eVision.Easy3D.E3DAttribute : int

This enumeration contains the possible attributes of the EPointCloud in addition to the E3DPoint. The attributes have constraints about the type that is used to represent them. See also EPointCloud.FillAttributeBufferUInt8.

Numeric types are: uint8_t, uint16_t, uint32_t, int32_t, float, double.

Enumerator
Color	Represents the color of an E3DPoint, it should use the type EC24A.
Normal	Represents the normal of an E3DPoint, it should use the type E3DPoint.
Intensity	Represents the intensity of an E3DPoint, it should use a numeric type.
Texture	Represents the texture of an E3DPoint, it can use any type.
Index	Represents an index related to an E3DPoint, it should use the type uint32_t or int32_t.
Confidence	Represents the confidence of an E3DPoint, it should use the type float.
Distance	Represents the distance of an E3DPoint to another element, it should use the type float. This attribute can be set by E3DAligner, E3DMatcher, E3DComparer.
Curvature	Represents the local curvature of an E3DPoint, it should use the type float. This attribute can be set by EPointCloud.ComputeNormalsAndCurvatures.

◆ E3DObjectFeature

enum eVision.Easy3D.E3DObjectFeature : int

The list of possible extracted features for E3DObject.

Enumerator
Length	Length of the object in metric units.
Width	Width of the object in metric units.
LocalHeight	Local height of the object in metric units.
ReferenceHeight	Reference height of the object in metric units.
Orientation	Orientation of the object.
BoundingBox	3D oriented bounding box of the object.
AveragePosition	3D average position of the object.
LocalTopPosition	3D highest position of the object relatively to the object base plane.
ReferenceTopPosition	3D top position relative to the ZMap origin (this is the position with the highest Z coordinate).
Plane	Plane fitted to the object 3D positions.
LocalTilt	Angle between the object plane and the base plane.
ReferenceTilt	Angle between the object plane and the vertical (Z) axis.
Area	Object area in metric units.
Volume	Object volume in metric units.
BasePlane	Base plane for the object.
BaseTilt	Angle between the base plane and the vertical (Z) axis.
ERectangleRegion	E3DObjectFeature.E3DObjectFeature_ERectangleRegion enclosing the object ZMap pixels.
ERegion	E3DObjectFeature.E3DObjectFeature_ERegion composed of the object ZMap pixels.
Sphere	Sphere fitted on the object.

◆ E3DPlaneNormalOrientation

enum eVision.Easy3D.E3DPlaneNormalOrientation : int

Orient the normal of the plane such that normal.X/Y/Z is positive/negative. The orientation of a plane denotes which half of the space is above/below the plane. The orientation of the plane is important when using EPointCloudToZMapConverter for example, because only the points above the plane will be part of the EZMap.

Enumerator
PosX	Orients the plane such that normal.X >= 0.
NegX	Orients the plane such that normal.X <= 0.
PosY	Orients the plane such that normal.Y >= 0.
NegY	Orients the plane such that normal.Y <= 0.
PosZ	Orients the plane such that normal.Z >= 0.
NegZ	Orients the plane such that normal.Z <= 0.

◆ EAlignmentPolarity

enum eVision.Easy3D.EAlignmentPolarity : int

Polarity of an alignment, used in EFeaturesAligner.

Enumerator
ModelToMeasured	The transformation from the model data to the measured data.
MeasuredToModel	The transformation from the measured data to the model data.

◆ EAlignmentType

enum eVision.Easy3D.EAlignmentType : int

Type of alignment to perform by EFeaturesAligner. Measured points can be in the same order as model points or not.

Enumerator

Ordered

Measured points are assumed to be in the same order as model points, i.e. modelPoint[i] corresponds to measuredPoint[i].

Unordered

Measured points are assumed to be in an arbitrary order but we still assume each measured point corresponds to one model point. This mode will, in the worst case, test all the permutations of the measured points. This mode is O(N!) where N is the number of measured points. As such, it shouldn't be user with a number of points larger than around 10. The 3DTransformMatrix returned is the one associated with the lowest mean squared error.

◆ EAttributeType

enum eVision.Easy3D.EAttributeType : int

This enumeration contains the possible types for the E3DAttribute. See also EPointCloud.GetAttributeBufferType.

Enumerator
UINT8	Corresponds to an uint8_t.
UINT16	Corresponds to an uint16_t.
UINT32	Corresponds to an uint32_t.
INT32	Corresponds to an int32_t.
FLOAT	Corresponds to a float.
DOUBLE	Corresponds to a double.
EC24A	Corresponds to an EAttributeType.EAttributeType_EC24A.
E3DPOINT	Corresponds to an E3DPoint.
UNDEFINED	Corresponds to a non-defined type.

◆ EAxisOriginMode

enum eVision.Easy3D.EAxisOriginMode : int

This enumeration contains the possible values for the parameter of E3DViewer.AxisOrigin method.

Enumerator
BoundingBoxOrigin	Use the bounding box lower point as axis origin.
WorldOrigin	Use the world origin as axis origin.
UserDefined	Use a user defined point as axis origin.

◆ EAxisSystemType

enum eVision.Easy3D.EAxisSystemType : int

Axis type used in a EZMap or EDepthMap.

Enumerator
CornerUpperLeft	The origin of the axes is the upper left corner of the map.
CornerLowerLeft	The origin of the axes is the lower left corner of the map.
Unknown	Do not use this value.

◆ ECalibrationType

enum eVision.Easy3D.ECalibrationType : int

The Easy3D calibration type.

Enumerator
Scale	Calibration type is EScaleCalibrationModel.
ExplicitGeometric	Calibration type is EExplicitGeometricCalibrationModel.
ObjectBased	Calibration type is EObjectBasedCalibrationModel.
Unknown	Calibration type is not defined.

◆ EColorRampMode

enum eVision.Easy3D.EColorRampMode : int

This enumeration contains the possible values for the parameter of E3DViewer.GenerateColors method.

Enumerator
HueFromZ	The Hue color component calculated from Z coordinate. The colors range from Blue (minimum Z) to Red (maximum Z).
HueFromY	The Hue color component calculated from Y coordinate. The colors range from Blue (minimum Y) to Red (maximum Y).
HueFromX	The Hue color component calculated from X coordinate. The colors range from Blue (minimum X) to Red (maximum X).
HueFastFromZ	The Hue color component with fast change calculated from Z coordinate. The colors range from Red (minimum Z) to Red (maximum Z) going through green and blue.
HueFastFromY	The Hue color component with fast change calculated from Y coordinate. The colors range from Red (minimum Y) to Red (maximum Y) going through green and blue.
HueFastFromX	The Hue color component with fast change calculated from X coordinate. The colors range from Red (minimum X) to Red (maximum X) going through green and blue.
RGBCube	RGB colors directly calculated from XYZ coordinates.
HueFromIntensity	The colors used are calculated from the intensity attribute of EPointCloud.
HueFromConfidence	The colors used are calculated from the confidence attribute of EPointCloud.
HueFromDistance	The colors used are calculated from the distance attribute of EPointCloud.
HueFromNormal	The colors used are calculated from the normal attribute of EPointCloud. A normal of (1, 0, 0) is converted to (255, 0, 0), one of (0, 1, 0) to (0, 255, 0) and one of (0, 0, 1) to (0, 0, 255).
Undefined	The color ramp is not defined. This is the value used when there is no color and all E3DPoint will be displayed in white.

◆ EComparisonDistanceMode

enum eVision.Easy3D.EComparisonDistanceMode : int

This enumeration specifies the distance mode for the 3D comparison. See E3DMatcher.ComparisonDistanceMode and E3DComparer.ComparisonDistanceMode.

Enumerator
Fast	Same as EComparisonDistanceMode.EComparisonDistanceMode_Euclidean_Fast, kept for backward compatibility for E3DMatcher.
Normal	Same as EComparisonDistanceMode.EComparisonDistanceMode_Euclidean, kept for backward compatibility for E3DMatcher.
Advanced	Same as EComparisonDistanceMode.EComparisonDistanceMode_Euclidean_Advanced, kept for backward compatibility for E3DMatcher.
Euclidean_Fast	An algorithm faster but less accurate than EComparisonDistanceMode.EComparisonDistanceMode_Euclidean (especially on edges). Not compatible with E3DComparer.
Euclidean	The default algorithm.
Euclidean_Advanced	A more advanced algorithm used to penalize bumps but with increased computation time. Not compatible with E3DComparer.
Normals	Works like EComparisonDistanceMode.EComparisonDistanceMode_Euclidean with the exception that the distances are not computed from points but from their normals. As a consequence, the distance threshold set by E3DMatcher.SetAnomalyThresholds or E3DComparer.SetAnomalyThresholds must be expressed in Easy.AngleUnit.
Normals_Advanced	A more advanced algorithm based on normals distances. This is more robust towards false positives near edges than EComparisonDistanceMode.EComparisonDistanceMode_Normals. This setting ignores the values set by E3DMatcher.AllComparisonNoExtraMaterial, E3DComparer.NoExtraMaterial and E3DMatcher.EnableMissingPointAsAnomaly (missing points are not detected). When using this option, the distance threshold set by E3DMatcher.SetAnomalyThresholds or E3DComparer.SetAnomalyThresholds must be expressed in Easy.AngleUnit.

◆ EFillUndefinedPixelsDirection

enum eVision.Easy3D.EFillUndefinedPixelsDirection : int

Direction in which the undefined pixels are filled in a depthmap.

Enumerator
Vertical	Undefined pixels are filled using a vertical scan.
Horizontal	Undefined pixels are filled using an horizontal scan.
Combined	Undefined pixels are filled using both a vertical and an horizontal scan.
Local	Specialized method for filling undefined pixels. Undefined pixels are filled using their 4 neighboring pixels: If at least 2 out of 4 neighbors have a 'defined' value, the pixel will be filled with their average value. Else, the pixel will remain 'undefined'.

◆ EFillUndefinedPixelsMethod

enum eVision.Easy3D.EFillUndefinedPixelsMethod : int

Method to fill the undefined pixels in a depthmap.

Enumerator
KeepMinimum	Undefined pixels are filled using the minimum of their neighbors.
KeepMaximum	Undefined pixels are filled using the maximum of their neighbors.
Average	Undefined pixels are filled using the average of their neighbors.
Ramp	Undefined pixels are filled using a ramp between their neighbors.

◆ EMapConversionMode

enum eVision.Easy3D.EMapConversionMode : int

Conversion modes to use in EConverter.

Enumerator
MaxDynamic	Scale the value to fill the destination dynamic.
Shift	Convert value by bit shifting.

◆ EMaximumAnalysisMode

enum eVision.Easy3D.EMaximumAnalysisMode : int

This enumeration contains the possible values for the analysis mode of the ELaserLineExtractor object.

Enumerator
Peaks	Peak analysis mode.
Max	Maximum analysis mode.
COG	Center of gravity analysis mode.

◆ ENoiseRemovalMethod

enum eVision.Easy3D.ENoiseRemovalMethod : int

Type of filter used in method EFilters.RemoveNoise.

Enumerator

AbsoluteDifferenceFromMean

Removes points for which the deviation from the average height in the filter window is larger than the specified threshold.

The threshold is the absolute value of the maximum difference.

RelativeDifferenceFromMean

Removes points for which the deviation from the average height in the filter window is larger than the specified threshold multiplied by the standard deviation (in the same filter window).

The threshold is a factor.

HighStandardDeviation

Removes points for which the standard deviation calculated in the filter window is larger than a specified threshold.

The threshold is the maximum standard deviation.

◆ EObjectBasedCalibrationPrecisionVsSpeedTradeOff

enum eVision.Easy3D.EObjectBasedCalibrationPrecisionVsSpeedTradeOff : int

The precision vs speed trade-off.

Enumerator
Fast	Fast mode.
Balanced	Balanced mode.
Precise	Precise mode.

◆ EObjectBasedCalibrationType

enum eVision.Easy3D.EObjectBasedCalibrationType : int

The type of the calibration object.

Enumerator
DoublePyramid	Double Pyramid calibration model.
TruncatedDoublePyramid	Double Truncated Pyramid calibration model.
NotDefined	Not Defined.

◆ EPhotometricStereoContrast

enum eVision.Easy3D.EPhotometricStereoContrast : int

This enumeration contains the possible ways to handle the contrast when retrieving Albedos, Gaussian curvatures or Mean curvatures. See EPhotometricStereoImager.GetAlbedos, EPhotometricStereoImager.ComputeMeanCurvatures and EPhotometricStereoImager.ComputeGaussianCurvatures.

Enumerator
FullRange	The full range of the image is linearly scaled. The image may need further post-processing in this case to remove outliers.
HighContrast	Produce images with a high contrast, to do so, outliers will be clipped. Scaling is linear. This increases the contrast so images may seem noisy.
FixedRange	Scaling is performed linearly using the specified range. Some default values are provided but user may need to specify them as they depend on the camera resolution and the object captured. This is interesting when several images of similar objects must have the same range.

◆ EPlaneCropperType

enum eVision.Easy3D.EPlaneCropperType : int

Type of crop to use in EPlaneCropper.

Enumerator
KeepAbove	Only the points above the plane are selected.
KeepBelow	Only the points below the plane are selected.
KeepClose	Only the points closer to the plane than a specified distance ("maxDistance") are selected.
KeepFar	Only the points further away from the plane than a specified distance ("maxDistance") are selected.

◆ EPointCloudFilteringMethod

enum eVision.Easy3D.EPointCloudFilteringMethod : int

Type of filtering method to use in EPointCloudFilter.

Enumerator

DistanceFromMean

Removes points for which the distance from the average of the neighborhood is larger than for other points of the cloud.

Points whose criterion is greater than mean + thresholdMultiplier * stddev are removed, mean and stddev being the mean and standard derivation of the criterion across all points of the cloud and thresholdMultiplier a factor set by EPointCloudFilter.ThresholdMultiplier.

HighStandardDerivation

Removes points for which the standard deviation calculated in the neighborhood is larger than for other points of the cloud.

Points whose criterion is greater than mean + thresholdMultiplier * stddev are removed, mean and stddev being the mean and standard derivation of the criterion across all points of the cloud and thresholdMultiplier a factor set by EPointCloudFilter.ThresholdMultiplier.

Unlike EPointCloudFilteringMethod.EPointCloudFilteringMethod_DistanceFromMean, this method does not filter points at the extremities of a surface. On the other hand, it is more sensitive to the value of the threshold.

◆ EPreservationMode

enum eVision.Easy3D.EPreservationMode : int

Enum defining what quantities related to the X, Y and Z axes are preserved by EZMapLeveler. Values can be combined together with the | operator.

When using both EPreservationMode.EPreservationMode_XYResolution and EPreservationMode.EPreservationMode_Size, the destination ZMap's is centered on the center of the source ZMap's and data may be cropped out of the ZMap or a large part of the ZMap may be undefined pixels.

Enumerator

XYResolution

In this mode, the destination ZMap's XY resolution approximatively matches the source ZMap's resolution. Resolution along each axis can still change due to projection but "3D" resolution stays the same.

Size

In this mode, the destination ZMap's size matches the source ZMap's size. Note that using this mode may result in "holes" in the destination ZMap's.

ZResolution

In this mode, the destination ZMap's Z resolution matches the source ZMap's Z resolution. Otherwise, the resolution on the Z-axis is recomputed to use the full 8 or 16 bit range for corresponding ZMap.

Using this mode may cause loss of data if the destination ZMap's range on the Z-axis is bigger than the source one. To specify how data loss should be handled, use EZMapLeveler.PreserveZResolutionFailureHandler.

◆ EProjectionType

enum eVision.Easy3D.EProjectionType : int

This enumeration contains the possible values for the parameter of E3DViewer.ProjectionType method.

Enumerator

Orthographic

Use an orthographic projection.

Perspective

Use an perspective projection.

◆ ESourceColorMode

enum eVision.Easy3D.ESourceColorMode : int

This enumeration contains the modes for the display of the point cloud colors.

Enumerator
Constant	Constant color for all the points (defined by E3DViewer.SetRenderSourceConstantColor).
Ramp	Use a color ramp (defined by E3DViewer.GenerateColors).
Attribute	Use the color attributes of the point cloud (if defined).

◆ ETextLabelAlignment

enum eVision.Easy3D.ETextLabelAlignment : int

This enumeration contains the alignment of the text labels.

Enumerator
FromPosition	Aligned towards the line between the anchor and the label (default).
Left	Aligned left.
Right	Aligned right.

◆ EUIAPI

enum eVision.Easy3D.EUIAPI : int

This enumeration contains the various User Interface API supported by E3DViewer.

Enumerator
Win32	The E3DViewer is used in a Windows Win32 application.
Qt	The E3DViewer is used in a Qt application (Windows or Linux).

◆ EViewDirection

enum eVision.Easy3D.EViewDirection : int

This enumeration contains the axis aligned view directions.

Enumerator
NegX	Negative X.
PosX	Positive X.
NegY	Negative Y.
PosY	Positive Y.
NegZ	Negative Z.
PosZ	Positive Z.

◆ EZMapGeneratorResolutionXYMode

enum eVision.Easy3D.EZMapGeneratorResolutionXYMode : int

Mode used to specify the resolution of the ZMap generated on the x and y axes.

Enumerator
Absolute	Resolution is specified in absolute units (e.g mm/pixel).
Relative	Resolution is specified relative to the size of the object. A value of 1 means resolution is computed so as to get one point per pixel assuming points are uniformly distributed.

◆ EZMapGeneratorZResolutionFailureHandler

enum eVision.Easy3D.EZMapGeneratorZResolutionFailureHandler : int

Mode used to specify what to do when the Z Resolution set is too small to represent all the data.

Enumerator
Crop	Data that cannot be represented are cropped out.
Saturate	Data that cannot be represented are saturated (Z is set to max representable value).
Throw	An exception is thrown when Data that cannot be represented are present.

◆ EZMapImageToWorldKernel

enum eVision.Easy3D.EZMapImageToWorldKernel : int

Represents the kernel to use to compute the Z coordinate of the worldPoint in EZMap.ImageToWorld.

Enumerator
Median	The Z coordinate of the E3DPoint is the median of the Z coordinate of all pixels within the kernel.
Mean	The Z coordinate of the E3DPoint is the mean of the Z coordinate of all pixels within the kernel.

◆ EZMapOrientationVectorMode

enum eVision.Easy3D.EZMapOrientationVectorMode : int

The EZMap orientation, it's the direction of the X (width) axis of the ZMap.

Enumerator
Auto	Chooses automatically the orientation of the ZMap.
XAxis	The X (width) axis of the ZMap is aligned with the world X axis.
YAxis	The X (width) axis of the ZMap is aligned with the world Y axis.
ZAxis	The X (width) axis of the ZMap is aligned with the world Z axis.
Explicit	The orientation vector is arbitrary and given by the method SetOrientationVector.

◆ EZMapReferencePlaneMode

enum eVision.Easy3D.EZMapReferencePlaneMode : int

The 3D reference plane used to build the EZMap.

Enumerator
XPlane	The reference plane is orthogonal to the X axis (YZ domain).
YPlane	The reference plane is orthogonal to the Y axis (XZ domain).
ZPlane	The reference plane is orthogonal to the Z axis (XY domain). That's the default reference plane.
Explicit	The reference plane is arbitrary and given by the method SetReferencePlane.

Classes

Enumerations

Enumeration Type Documentation

◆ E3DAttribute

◆ E3DObjectFeature

◆ E3DPlaneNormalOrientation

◆ EAlignmentPolarity

◆ EAlignmentType

◆ EAttributeType

◆ EAxisOriginMode

◆ EAxisSystemType

◆ ECalibrationType

◆ EColorRampMode

◆ EComparisonDistanceMode

◆ EFillUndefinedPixelsDirection

◆ EFillUndefinedPixelsMethod

◆ EMapConversionMode

◆ EMaximumAnalysisMode

◆ ENoiseRemovalMethod

◆ EObjectBasedCalibrationPrecisionVsSpeedTradeOff

◆ EObjectBasedCalibrationType

◆ EPhotometricStereoContrast

◆ EPlaneCropperType

◆ EPointCloudFilteringMethod

◆ EPreservationMode

◆ EProjectionType

◆ ESourceColorMode

◆ ETextLabelAlignment

◆ EUIAPI

◆ EViewDirection

◆ EZMapGeneratorResolutionXYMode

◆ EZMapGeneratorZResolutionFailureHandler

◆ EZMapImageToWorldKernel

◆ EZMapOrientationVectorMode

◆ EZMapReferencePlaneMode