Aligns an eVision.Easy3D.EPointCloud or eVision.Easy3D.EZMap on and compares it with a reference eVision.Easy3D.EMesh, eVision.Easy3D.EPointCloud or eVision.Easy3D.EZMap. More...

Inheritance diagram for eVision.Easy3D.E3DMatcher:

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Collaboration diagram for eVision.Easy3D.E3DMatcher:

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Public Member Functions
None	__init__ (self)
	Constructs a 3D matching context.
None	__init__ (self, eVision.Easy3D.E3DMatcher other)
	Constructs a 3D matching context.
None	Load (self, str path)
	Loads the eVision.Easy3D.E3DMatcher.
None	Load (self, eVision.ESerializer\|None serializer)
	Loads the eVision.Easy3D.E3DMatcher.
None	Save (self, str path)
	Saves the eVision.Easy3D.E3DMatcher.
None	Save (self, eVision.ESerializer\|None serializer)
	Saves the eVision.Easy3D.E3DMatcher.
eVision.Easy3D.E3DMatch	Match (self, eVision.Easy3D.EZMap zmap)
	Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.
eVision.Easy3D.E3DMatch	Match (self, eVision.Easy3D.EPointCloud cloud, eVision.Easy3D.E3DPlane projectionPlane)
	Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.
eVision.Easy3D.E3DMatch	Match (self, eVision.Easy3D.EPointCloud cloud, float azimuth, float elevation)
	Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.
None	SetComparisonROI (self, eVision.ERegion\|None regionOfInterest)
	Sets/Gets the eVision.ERegion of the reference that should be compared.
eVision.ERegion	GetComparisonROI (self, int offset)
	Sets/Gets the eVision.ERegion of the reference that should be compared.
None	ClearComparisonROI (self)
	Clears the eVision.ERegion that should be compared for all of the references.
None	SetComparisonNoExtraMaterial (self, eVision.ERegion\|None noExtraMaterial)
	Sets/Gets the eVision.ERegion that should not have extra material in the scan.
eVision.ERegion	GetComparisonNoExtraMaterial (self, int offset)
	Sets/Gets the eVision.ERegion that should not have extra material in the scan.
None	ClearComparisonNoExtraMaterial (self)
	Clears the eVision.ERegion that should not have extra material in the scan.
None	PrepareReference (self)
	Prepare the reference internal structures.
None	GetComparisonPointCloud (self, eVision.Easy3D.EPointCloud comparisonCloud, bool storeDistances, bool storeColors, bool pointFromReference, bool fullModel)
	Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.
None	GetComparisonPointCloud (self, eVision.Easy3D.EPointCloud comparisonCloud, bool storeDistances, bool storeColors, bool pointFromReference)
	Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.
None	GetComparisonPointCloud (self, eVision.Easy3D.EPointCloud comparisonCloud, bool storeDistances, bool storeColors)
	Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.
None	GetComparisonPointCloud (self, eVision.Easy3D.EPointCloud comparisonCloud, bool storeDistances)
	Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.
None	GetComparisonPointCloud (self, eVision.Easy3D.EPointCloud comparisonCloud)
	Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.
None	ResetAnomalyThresholds (self)
	Sets the anomaly thresholds to their default values (computed automatically from the model size).
list[eVision._eVision.ERegion\|None]	AllComparisonROI (self)
	Sets/Gets the eVision.ERegion that should be compared for all of the references.
	AllComparisonROI (self, list[eVision._eVision.ERegion\|None] value)
	Sets/Gets the eVision.ERegion that should be compared for all of the references.
list[eVision._eVision.ERegion\|None]	AllComparisonNoExtraMaterial (self)
	Sets/Gets the eVision.ERegion that should not have extra material in the scan.
	AllComparisonNoExtraMaterial (self, list[eVision._eVision.ERegion\|None] value)
	Sets/Gets the eVision.ERegion that should not have extra material in the scan.
eVision.Easy3D.EComparisonDistanceMode	ComparisonDistanceMode (self)
	Sets/Gets the distance mode for the 3D comparison.
	ComparisonDistanceMode (self, eVision.Easy3D.EComparisonDistanceMode value)
	Sets/Gets the distance mode for the 3D comparison.
bool	EnableMissingPointAsAnomaly (self)
	If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies.
	EnableMissingPointAsAnomaly (self, bool value)
	If True, the points that are not present in the scan (but are present in the reference), are considered as anomalies.
bool	EnableAutomaticDecimation (self)
	If True, the given cloud or ZMap is automatically decimated with a resolution depending on the distance threshold to speed-up processing.
	EnableAutomaticDecimation (self, bool value)
	If True, the given cloud or ZMap is automatically decimated with a resolution depending on the distance threshold to speed-up processing.
float	AutomaticCropFactor (self)
	Sets/Gets the automatic cropping factor.
	AutomaticCropFactor (self, float value)
	Sets/Gets the automatic cropping factor.
eVision.Easy3D.EAnomalyThresholds	AnomalyThresholds (self)
	Gets/Sets the thresholds related to the anomalies detection.
	AnomalyThresholds (self, eVision.Easy3D.EAnomalyThresholds value)
	Gets/Sets the thresholds related to the anomalies detection.
eVision.Easy3D.EAnomalyThresholds	AnomalyHysteresis (self)
	Gets/Sets the hysteresis related to the anomalies detection.
	AnomalyHysteresis (self, eVision.Easy3D.EAnomalyThresholds value)
	Gets/Sets the hysteresis related to the anomalies detection.
eVision.Easy3D.EEdgeCroppingParameters	EdgeCroppingParameters (self)
	Gets/Sets the parameters driving the edge cropping.
	EdgeCroppingParameters (self, eVision.Easy3D.EEdgeCroppingParameters value)
	Gets/Sets the parameters driving the edge cropping.
bool	EnableAutomaticEdgeCropping (self)
	If True, edges in the reference will be cropped automatically.
	EnableAutomaticEdgeCropping (self, bool value)
	If True, edges in the reference will be cropped automatically.
Public Member Functions inherited from eVision.Easy3D.E3DAligner
None	__init__ (self)
	Constructs a 3D Aligner.
None	__init__ (self, eVision.Easy3D.E3DAligner other)
	Constructs a 3D Aligner.
None	SetReference (self, eVision.Easy3D.EMesh mesh, eVision.Easy3D.E3DPlane plane)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EMesh mesh, float azimuth, float elevation)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EMesh mesh, list[eVision._eVision.Easy3D.E3DPlane] planes)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EMesh mesh, list[float] azimuths, list[float] elevations)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EZMap zmap)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EPointCloud cloud, eVision.Easy3D.E3DPlane plane)
	Sets the 3D reference model that is used to create reference patterns.
None	SetReference (self, eVision.Easy3D.EPointCloud cloud, float azimuth, float elevation)
	Sets the 3D reference model that is used to create reference patterns.
None	SetFlatScan (self, eVision.Easy3D.EZMap scan)
	Uses a flat scan of the setup to compute the plane on which the object lays.
None	SetFlatScan (self, eVision.Easy3D.EZMap scan, bool objectAbovePlane)
	Uses a flat scan of the setup to compute the plane on which the object lays.
None	SetFlatScan (self, eVision.Easy3D.EPointCloud cloud)
	Uses a flat scan of the setup to compute the plane on which the object lays.
None	SetFlatScan (self, eVision.Easy3D.EPointCloud cloud, bool objectAbovePlane)
	Uses a flat scan of the setup to compute the plane on which the object lays.
None	ClearReprojectionPlane (self)
	Clears re-projection plane set with eVision.Easy3D.E3DAligner.ScanReprojectionPlane or eVision.Easy3D.E3DAligner.SetFlatScan.
bool	IsReprojectionPlaneSet (self)
	Returns whether a re-projection plane was set with eVision.Easy3D.E3DAligner.ScanReprojectionPlane or eVision.Easy3D.E3DAligner.SetFlatScan or not.
None	RetrieveReferencePosesProjections (self, list[eVision._eVision.Easy3D.EZMap8] referencePosesProjections)
	Retrieves the reference patterns of the eVision.Easy3D.E3DAligner in the form of a vector of eVision.Easy3D.EZMap8.
None	RetrieveReferencePoses (self, list[eVision._eVision.Easy3D.E3DPlane] referencePoses)
	Retrieves the reference poses of the eVision.Easy3D.E3DAligner in the form of a vector of eVision.Easy3D.E3DPlane.
eVision.Easy3D.E3DAlignment	Align (self, eVision.Easy3D.EZMap zmap)
	Aligns an eVision.Easy3D.EZMap or eVision.Easy3D.EPointCloud on the reference model.
eVision.Easy3D.E3DAlignment	Align (self, eVision.Easy3D.EPointCloud cloud, eVision.Easy3D.E3DPlane projectionPlane)
	Aligns an eVision.Easy3D.EZMap or eVision.Easy3D.EPointCloud on the reference model.
eVision.Easy3D.E3DAlignment	Align (self, eVision.Easy3D.EPointCloud cloud, float azimuth, float elevation)
	Aligns an eVision.Easy3D.EZMap or eVision.Easy3D.EPointCloud on the reference model.
eVision.Easy3D.E3DPlane	ScanReprojectionPlane (self)
	Sets/Gets the plane on which the model lays.
	ScanReprojectionPlane (self, eVision.Easy3D.E3DPlane value)
	Sets/Gets the plane on which the model lays.

Additional Inherited Members
Static Public Member Functions inherited from eVision.Easy3D.E3DAligner
None	compute3DPositionFrom2DAligning (eVision.Easy3D.EZMap8 refZMap, eVision.Easy3D.EZMap8 scanZmap, eVision.Easy3D.E3DTransformMatrix modelToScanTransform, float angle, eVision.EPoint modelCenter, eVision.EPoint scanCenter)
	computes transformation between the point clouds from the alignment on the ZMaps

Detailed Description

Aligns an eVision.Easy3D.EPointCloud or eVision.Easy3D.EZMap on and compares it with a reference eVision.Easy3D.EMesh, eVision.Easy3D.EPointCloud or eVision.Easy3D.EZMap.

Remarks:

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ init() [1/2]

None eVision.Easy3D.E3DMatcher.__init__ ( self )

Constructs a 3D matching context.

◆ init() [2/2]

None eVision.Easy3D.E3DMatcher.__init__	(		self,
		eVision.Easy3D.E3DMatcher	other )

Constructs a 3D matching context.

Parameters

other Another eVision.Easy3D.E3DMatcher object to be copied in the new eVision.Easy3D.E3DMatcher object.

Member Function Documentation

◆ AllComparisonNoExtraMaterial() [1/2]

list[eVision._eVision.ERegion | None] eVision.Easy3D.E3DMatcher.AllComparisonNoExtraMaterial ( self )

Sets/Gets the eVision.ERegion that should not have extra material in the scan.

A pointer to eVision.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 eVision.Easy3D.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).

◆ AllComparisonNoExtraMaterial() [2/2]

eVision.Easy3D.E3DMatcher.AllComparisonNoExtraMaterial	(		self,
		list[eVision._eVision.ERegion \| None]	value )

Sets/Gets the eVision.ERegion that should not have extra material in the scan.

A pointer to eVision.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 eVision.Easy3D.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).

◆ AllComparisonROI() [1/2]

list[eVision._eVision.ERegion | None] eVision.Easy3D.E3DMatcher.AllComparisonROI ( self )

Sets/Gets the eVision.ERegion that should be compared for all of the references.

A pointer to eVision.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 eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

◆ AllComparisonROI() [2/2]

eVision.Easy3D.E3DMatcher.AllComparisonROI	(		self,
		list[eVision._eVision.ERegion \| None]	value )

Sets/Gets the eVision.ERegion that should be compared for all of the references.

A pointer to eVision.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 eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

◆ AnomalyHysteresis() [1/2]

eVision.Easy3D.EAnomalyThresholds eVision.Easy3D.E3DMatcher.AnomalyHysteresis ( self )

Gets/Sets the hysteresis related to the anomalies detection.

Remarks:

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See eVision.Easy3D.E3DMatcher.AnomalyThresholds. 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 eVision.Easy3D.E3DMatcher.AnomalyThresholds.

◆ AnomalyHysteresis() [2/2]

eVision.Easy3D.E3DMatcher.AnomalyHysteresis	(		self,
		eVision.Easy3D.EAnomalyThresholds	value )

Gets/Sets the hysteresis related to the anomalies detection.

Remarks:

To be considered as an anomaly, a cluster of points with a distance greater than distanceThreshold must have an area greater than areaThreshold. See eVision.Easy3D.E3DMatcher.AnomalyThresholds. 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 eVision.Easy3D.E3DMatcher.AnomalyThresholds.

◆ AnomalyThresholds() [1/2]

eVision.Easy3D.EAnomalyThresholds eVision.Easy3D.E3DMatcher.AnomalyThresholds ( self )

Gets/Sets the thresholds related to the anomalies detection.

Remarks:

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 eVision.Easy3D.E3DMatcher.AnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once eVision.Easy3D.E3DMatcher.PrepareReference is called. Trying to get the anomaly thresholds before they are set or automatically computed will throw an exception.

◆ AnomalyThresholds() [2/2]

eVision.Easy3D.E3DMatcher.AnomalyThresholds	(		self,
		eVision.Easy3D.EAnomalyThresholds	value )

Gets/Sets the thresholds related to the anomalies detection.

Remarks:

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 eVision.Easy3D.E3DMatcher.AnomalyHysteresis to more advanced anomaly detection.

If the anomaly thresholds aren't set, they will be computed automatically from the given reference once eVision.Easy3D.E3DMatcher.PrepareReference is called. Trying to get the anomaly thresholds before they are set or automatically computed will throw an exception.

◆ AutomaticCropFactor() [1/2]

float eVision.Easy3D.E3DMatcher.AutomaticCropFactor ( self )

Sets/Gets the automatic cropping factor.

The factor multiplies the anomaly distance threshold (eVision.Easy3D.E3DMatcher.AnomalyThresholds) 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

Remarks:

Note that if the cropping margin is too small, the eVision.Easy3D.E3DPoint of the anomalies will not be visible (with the function eVision.Easy3D.E3DMatcher.GetComparisonPointCloud and the parameter pointFromReference = False). Moreover, if the eVision.Easy3D.E3DMatcher.EnableMissingPointAsAnomaly is set to False, the anomalies will not be detected.

◆ AutomaticCropFactor() [2/2]

eVision.Easy3D.E3DMatcher.AutomaticCropFactor	(		self,
		float	value )

Sets/Gets the automatic cropping factor.

The factor multiplies the anomaly distance threshold (eVision.Easy3D.E3DMatcher.AnomalyThresholds) 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

Remarks:

Note that if the cropping margin is too small, the eVision.Easy3D.E3DPoint of the anomalies will not be visible (with the function eVision.Easy3D.E3DMatcher.GetComparisonPointCloud and the parameter pointFromReference = False). Moreover, if the eVision.Easy3D.E3DMatcher.EnableMissingPointAsAnomaly is set to False, the anomalies will not be detected.

◆ ClearComparisonNoExtraMaterial()

None eVision.Easy3D.E3DMatcher.ClearComparisonNoExtraMaterial ( self )

Clears the eVision.ERegion that should not have extra material in the scan.

◆ ClearComparisonROI()

None eVision.Easy3D.E3DMatcher.ClearComparisonROI ( self )

Clears the eVision.ERegion that should be compared for all of the references.

◆ ComparisonDistanceMode() [1/2]

eVision.Easy3D.EComparisonDistanceMode eVision.Easy3D.E3DMatcher.ComparisonDistanceMode ( self )

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

Default: eVision.Easy3D.EComparisonDistanceMode.Euclidean.

◆ ComparisonDistanceMode() [2/2]

eVision.Easy3D.E3DMatcher.ComparisonDistanceMode	(		self,
		eVision.Easy3D.EComparisonDistanceMode	value )

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

Default: eVision.Easy3D.EComparisonDistanceMode.Euclidean.

◆ EdgeCroppingParameters() [1/2]

eVision.Easy3D.EEdgeCroppingParameters eVision.Easy3D.E3DMatcher.EdgeCroppingParameters ( self )

Gets/Sets the parameters driving the edge cropping.

Remarks:

Edge cropping is disabled by default, enable it using eVision.Easy3D.E3DMatcher.EnableAutomaticEdgeCropping.

◆ EdgeCroppingParameters() [2/2]

eVision.Easy3D.E3DMatcher.EdgeCroppingParameters	(		self,
		eVision.Easy3D.EEdgeCroppingParameters	value )

Gets/Sets the parameters driving the edge cropping.

Remarks:

Edge cropping is disabled by default, enable it using eVision.Easy3D.E3DMatcher.EnableAutomaticEdgeCropping.

◆ EnableAutomaticDecimation() [1/2]

bool eVision.Easy3D.E3DMatcher.EnableAutomaticDecimation ( self )

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

◆ EnableAutomaticDecimation() [2/2]

eVision.Easy3D.E3DMatcher.EnableAutomaticDecimation	(		self,
		bool	value )

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

◆ EnableAutomaticEdgeCropping() [1/2]

bool eVision.Easy3D.E3DMatcher.EnableAutomaticEdgeCropping ( self )

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 eVision.Easy3D.E3DMatcher.ComparisonDistanceMode and eVision.Easy3D.EComparisonDistanceMode). To modify the parameters of the cropping, see eVision.Easy3D.E3DMatcher.EdgeCroppingParameters.

Default: False

◆ EnableAutomaticEdgeCropping() [2/2]

eVision.Easy3D.E3DMatcher.EnableAutomaticEdgeCropping	(		self,
		bool	value )

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 eVision.Easy3D.E3DMatcher.ComparisonDistanceMode and eVision.Easy3D.EComparisonDistanceMode). To modify the parameters of the cropping, see eVision.Easy3D.E3DMatcher.EdgeCroppingParameters.

Default: False

◆ EnableMissingPointAsAnomaly() [1/2]

bool eVision.Easy3D.E3DMatcher.EnableMissingPointAsAnomaly ( self )

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

Remarks:

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.

◆ EnableMissingPointAsAnomaly() [2/2]

eVision.Easy3D.E3DMatcher.EnableMissingPointAsAnomaly	(		self,
		bool	value )

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

Remarks:

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.

◆ GetComparisonNoExtraMaterial()

eVision.ERegion eVision.Easy3D.E3DMatcher.GetComparisonNoExtraMaterial	(		self,
		int	offset )

Sets/Gets the eVision.ERegion that should not have extra material in the scan.

See eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Remarks:

This method is a shortcut of eVision.Easy3D.E3DMatcher.AllComparisonNoExtraMaterial when you only want to set/get one reference pose.

Parameters

offset offset of the ERegion to get back.

◆ GetComparisonPointCloud() [1/5]

None eVision.Easy3D.E3DMatcher.GetComparisonPointCloud	(		self,
		eVision.Easy3D.EPointCloud	comparisonCloud )

Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.

Parameters

comparisonCloud The eVision.Easy3D.EPointCloud in which to copy the data.

◆ GetComparisonPointCloud() [2/5]

None eVision.Easy3D.E3DMatcher.GetComparisonPointCloud	(		self,
		eVision.Easy3D.EPointCloud	comparisonCloud,
		bool	storeDistances )

Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The eVision.Easy3D.EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the eVision.Easy3D.EPointCloud.

Default: True

◆ GetComparisonPointCloud() [3/5]

None eVision.Easy3D.E3DMatcher.GetComparisonPointCloud	(		self,
		eVision.Easy3D.EPointCloud	comparisonCloud,
		bool	storeDistances,
		bool	storeColors )

Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The eVision.Easy3D.EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the eVision.Easy3D.EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the eVision.Easy3D.EPointCloud.

Default: True

◆ GetComparisonPointCloud() [4/5]

None eVision.Easy3D.E3DMatcher.GetComparisonPointCloud	(		self,
		eVision.Easy3D.EPointCloud	comparisonCloud,
		bool	storeDistances,
		bool	storeColors,
		bool	pointFromReference )

Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The eVision.Easy3D.EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the eVision.Easy3D.EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the eVision.Easy3D.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 eVision.Easy3D.E3DMatcher.ComparisonDistanceMode is set to eVision.Easy3D.EComparisonDistanceMode.Normals_Advanced, result always contains points from the scan.

Default: False

◆ GetComparisonPointCloud() [5/5]

None eVision.Easy3D.E3DMatcher.GetComparisonPointCloud	(		self,
		eVision.Easy3D.EPointCloud	comparisonCloud,
		bool	storeDistances,
		bool	storeColors,
		bool	pointFromReference,
		bool	fullModel )

Gets the eVision.Easy3D.EPointCloud on which anomalies are detected.

Parameters

comparisonCloud	The eVision.Easy3D.EPointCloud in which to copy the data.
storeDistances	If set to True, the distances computed will be stored in the eVision.Easy3D.EPointCloud.

Default: True

Parameters

storeColors If set to True, the colors related to the distances computed will be stored in the eVision.Easy3D.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 eVision.Easy3D.E3DMatcher.ComparisonDistanceMode is set to eVision.Easy3D.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 eVision.Easy3D.EPointCloud. Default: False

◆ GetComparisonROI()

eVision.ERegion eVision.Easy3D.E3DMatcher.GetComparisonROI	(		self,
		int	offset )

Sets/Gets the eVision.ERegion of the reference that should be compared.

See eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Remarks:

This method is a shortcut of eVision.Easy3D.E3DMatcher.AllComparisonROI when you only want to set/get one reference pose.

Parameters

offset offset of the ERegion to get back.

◆ Load() [1/2]

None eVision.Easy3D.E3DMatcher.Load	(		self,
		eVision.ESerializer \| None	serializer )

Loads the eVision.Easy3D.E3DMatcher.

The given eVision.ESerializer must have been created for reading.

Parameters

serializer The serializer.

Reimplemented from eVision.Easy3D.E3DAligner.

◆ Load() [2/2]

None eVision.Easy3D.E3DMatcher.Load	(		self,
		str	path )

Loads the eVision.Easy3D.E3DMatcher.

The given eVision.ESerializer must have been created for reading.

Parameters

path	The file path.

Reimplemented from eVision.Easy3D.E3DAligner.

◆ Match() [1/3]

eVision.Easy3D.E3DMatch eVision.Easy3D.E3DMatcher.Match	(		self,
		eVision.Easy3D.EPointCloud	cloud,
		eVision.Easy3D.E3DPlane	projectionPlane )

Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.

Remarks:

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the eVision.Easy3D.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.

Parameters

cloud	The eVision.Easy3D.EPointCloud that will be aligned and compared with the reference.
projectionPlane	The plane on which the cloud is orthographically projected for alignment.

◆ Match() [2/3]

eVision.Easy3D.E3DMatch eVision.Easy3D.E3DMatcher.Match	(		self,
		eVision.Easy3D.EPointCloud	cloud,
		float	azimuth,
		float	elevation )

Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.

Remarks:

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the eVision.Easy3D.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.

Parameters

cloud	The eVision.Easy3D.EPointCloud that will be aligned and compared with the reference.
azimuth	The azimuth angle of the normal of the projection plane in eVision.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 eVision.Easy.SetAngleUnit. Elevation angles represent how close the normal is to the z = 0 plane.

◆ Match() [3/3]

eVision.Easy3D.E3DMatch eVision.Easy3D.E3DMatcher.Match	(		self,
		eVision.Easy3D.EZMap	zmap )

Matches the reference patterns against an eVision.Easy3D.EZMap or an eVision.Easy3D.EPointCloud.

Remarks:

When specifying azimuth and elevation, only the normal of the projection plane is specified. The distance from origin of the eVision.Easy3D.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.

Parameters

zmap	The eVision.Easy3D.EZMap that will be aligned and compared with the reference.

◆ PrepareReference()

None eVision.Easy3D.E3DMatcher.PrepareReference ( self )

Prepare the reference internal structures.

By default, this is done on the first call to eVision.Easy3D.E3DMatcher.Match.

◆ ResetAnomalyThresholds()

None eVision.Easy3D.E3DMatcher.ResetAnomalyThresholds ( self )

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

◆ Save() [1/2]

None eVision.Easy3D.E3DMatcher.Save	(		self,
		eVision.ESerializer \| None	serializer )

Saves the eVision.Easy3D.E3DMatcher.

The given eVision.ESerializer must have been created for writing.

Parameters

serializer The serializer.

Reimplemented from eVision.Easy3D.E3DAligner.

◆ Save() [2/2]

None eVision.Easy3D.E3DMatcher.Save	(		self,
		str	path )

Saves the eVision.Easy3D.E3DMatcher.

The given eVision.ESerializer must have been created for writing.

Parameters

path	The file path.

Reimplemented from eVision.Easy3D.E3DAligner.

◆ SetComparisonNoExtraMaterial()

None eVision.Easy3D.E3DMatcher.SetComparisonNoExtraMaterial	(		self,
		eVision.ERegion \| None	noExtraMaterial )

Sets/Gets the eVision.ERegion that should not have extra material in the scan.

See eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Remarks:

This method is a shortcut of eVision.Easy3D.E3DMatcher.AllComparisonNoExtraMaterial when you only want to set/get one reference pose.

Parameters

noExtraMaterial A pointer to eVision.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.

◆ SetComparisonROI()

None eVision.Easy3D.E3DMatcher.SetComparisonROI	(		self,
		eVision.ERegion \| None	regionOfInterest )

Sets/Gets the eVision.ERegion of the reference that should be compared.

See eVision.Easy3D.E3DAligner.RetrieveReferencePosesProjections. By default, all the points of the reference are used for the comparison.

Remarks:

This method is a shortcut of eVision.Easy3D.E3DMatcher.AllComparisonROI when you only want to set/get one reference pose.

Parameters

regionOfInterest A pointer to eVision.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.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ __init__() [1/2]

◆ __init__() [2/2]

Member Function Documentation

◆ AllComparisonNoExtraMaterial() [1/2]

◆ AllComparisonNoExtraMaterial() [2/2]

◆ AllComparisonROI() [1/2]

◆ AllComparisonROI() [2/2]

◆ AnomalyHysteresis() [1/2]

◆ AnomalyHysteresis() [2/2]

◆ AnomalyThresholds() [1/2]

◆ AnomalyThresholds() [2/2]

◆ AutomaticCropFactor() [1/2]

◆ AutomaticCropFactor() [2/2]

◆ ClearComparisonNoExtraMaterial()

◆ ClearComparisonROI()

◆ ComparisonDistanceMode() [1/2]

◆ ComparisonDistanceMode() [2/2]

◆ EdgeCroppingParameters() [1/2]

◆ EdgeCroppingParameters() [2/2]

◆ EnableAutomaticDecimation() [1/2]

◆ EnableAutomaticDecimation() [2/2]

◆ EnableAutomaticEdgeCropping() [1/2]

◆ EnableAutomaticEdgeCropping() [2/2]

◆ EnableMissingPointAsAnomaly() [1/2]

◆ EnableMissingPointAsAnomaly() [2/2]

◆ GetComparisonNoExtraMaterial()

◆ GetComparisonPointCloud() [1/5]

◆ GetComparisonPointCloud() [2/5]

◆ GetComparisonPointCloud() [3/5]

◆ GetComparisonPointCloud() [4/5]

◆ GetComparisonPointCloud() [5/5]

◆ GetComparisonROI()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Match() [1/3]

◆ Match() [2/3]

◆ Match() [3/3]

◆ PrepareReference()

◆ ResetAnomalyThresholds()

◆ Save() [1/2]

◆ Save() [2/2]

◆ SetComparisonNoExtraMaterial()

◆ SetComparisonROI()

◆ init() [1/2]

◆ init() [2/2]