A eVision.Easy3D.EPlaneFinder object is used to search an eVision.Easy3D.E3DPlane in an eVision.Easy3D.EPointCloud. More...

Public Member Functions
None	__init__ (self, float maxDeviation, float pcExpectedInCloud)
	Creates an eVision.Easy3D.EPlaneFinder object.
None	__init__ (self, float maxDeviation)
	Creates an eVision.Easy3D.EPlaneFinder object.
None	__init__ (self, float maxDeviation, eVision.EFloatRange pcExpectedInCloudRange)
	Creates an eVision.Easy3D.EPlaneFinder object.
None	__init__ (self, eVision.Easy3D.EPlaneFinder other)
	Creates an eVision.Easy3D.EPlaneFinder object.
None	EnableDecimator (self)
	Enables the default decimation which reduces the input point cloud by drawing points randomly.
None	DisableDecimator (self)
	Disables the default decimation.
bool	IsDecimatorEnabled (self)
	Returns true if the default decimator is enabled (enabled by default).
None	UnsetNormal (self)
	Unsets the normal vector definition.
None	SetNormal (self, eVision.Easy3D.E3DPoint normal)
	Sets the expected normal direction and the tolerance around it.
None	SetNormal (self, eVision.Easy3D.E3DPoint normal, float angleTolerance)
	Sets the expected normal direction and the tolerance around it.
None	SetNormal (self, float nx, float ny, float nz)
	Sets the expected normal direction and the tolerance around it.
None	SetNormal (self, float nx, float ny, float nz, float angleTolerance)
	Sets the expected normal direction and the tolerance around it.
None	SetNormal (self, eVision.Easy3D.E3DPlane referencePlane)
	Sets the expected normal direction and the tolerance around it.
None	SetNormal (self, eVision.Easy3D.E3DPlane referencePlane, float angleTolerance)
	Sets the expected normal direction and the tolerance around it.
eVision.Easy3D.E3DPoint	GetNormal (self)
	Returns the expected normal direction (that has been set by eVision.Easy3D.EPlaneFinder.SetNormal).
bool	IsNormalSet (self)
	Returns true if the expected normal direction has been set (not set by default).
None	UnsetPoints (self)
	Unsets the 1 or 2 points that the plane is constrained to contain.
None	SetTwoPoints (self, eVision.Easy3D.E3DPoint point1, eVision.Easy3D.E3DPoint point2)
	Sets two points that the plane will be constrained to contain.
eVision.Easy3D.E3DPoint	GetPoint (self, bool first)
	Returns an eVision.Easy3D.E3DPoint the plane is constrained to contain (that has been set by eVision.Easy3D.EPlaneFinder.OnePoint or eVision.Easy3D.EPlaneFinder.SetTwoPoints).
float	Find (self, eVision.Easy3D.EPointCloud pointCloud, eVision.Easy3D.E3DPlane foundPlane)
	Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.
float	Find (self, eVision.Easy3D.EPointCloud pointCloud, eVision.Easy3D.E3DPlane foundPlane, eVision.Easy3D.EPointCloud inliers)
	Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.
float	Find (self, eVision.Easy3D.EPointCloud pointCloud, eVision.Easy3D.E3DPlane foundPlane, eVision.Easy3D.EPointCloud inliers, eVision.Easy3D.EPointCloud outliers)
	Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.
None	Load (self, str path)
	Loads the plane finder configuration.
None	Load (self, eVision.ESerializer\|None serializer)
	Loads the plane finder configuration.
None	Save (self, str path)
	Saves the plane finder configuration.
None	Save (self, eVision.ESerializer\|None serializer)
	Saves the plane finder configuration.
bool	IsSeedSet (self)
	Returns true if the seed was set to a custom value.
None	UnsetSeed (self)
	Reset seed to its default state of being randomly initialized.
float	MaxDeviation (self)
	Sets/gets the maximum distance of an inlier to the plane.
	MaxDeviation (self, float value)
	Sets/gets the maximum distance of an inlier to the plane.
int	NumberOfPointsAfterDecimation (self)
	Sets/gets the number of points surviving the decimation.
	NumberOfPointsAfterDecimation (self, int value)
	Sets/gets the number of points surviving the decimation.
float	ExpectedCloudInliersRatio (self)
	Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.
	ExpectedCloudInliersRatio (self, float value)
	Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.
eVision.EFloatRange	ExpectedCloudInliersRatioRange (self)
	Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.
	ExpectedCloudInliersRatioRange (self, eVision.EFloatRange value)
	Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.
float	NormalTolerance (self)
	Returns the angle tolerance around the expected normal (that has been set by eVision.Easy3D.EPlaneFinder.SetNormal).
int	NumberOfPointsSet (self)
	Returns the number of points set (this will be either 0, 1 or 2).
int	Seed (self)
	Returns the seed (that has been set by eVision.Easy3D.EPlaneFinder.Seed).
	Seed (self, int value)
	Returns the seed (that has been set by eVision.Easy3D.EPlaneFinder.Seed).

Protected Member Functions
	_OnePoint__setter (self, eVision.Easy3D.E3DPoint value)
	Sets one point that the plane will be constrained to contain.

Properties
	OnePoint

Detailed Description

A eVision.Easy3D.EPlaneFinder object is used to search an eVision.Easy3D.E3DPlane in an eVision.Easy3D.EPointCloud.

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

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

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

The method eVision.Easy3D.EPlaneFinder.Find processes an eVision.Easy3D.EPointCloud object and returns an eVision.Easy3D.E3DPlane object when a sufficiently good plane is found in the input point cloud. The returned plane is the result of fitting an eVision.Easy3D.EPlaneFitter on the inliers.

Remarks:

License(s): Easy3D

Constructor & Destructor Documentation

◆ init() [1/4]

None eVision.Easy3D.EPlaneFinder.__init__	(		self,
		float	maxDeviation,
		float	pcExpectedInCloud )

Creates an eVision.Easy3D.EPlaneFinder object.

Parameters

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

This optional parameter has a default value of 0.3.

◆ init() [2/4]

None eVision.Easy3D.EPlaneFinder.__init__	(		self,
		float	maxDeviation )

Creates an eVision.Easy3D.EPlaneFinder object.

Parameters

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

◆ init() [3/4]

None eVision.Easy3D.EPlaneFinder.__init__	(		self,
		float	maxDeviation,
		eVision.EFloatRange	pcExpectedInCloudRange )

Creates an eVision.Easy3D.EPlaneFinder object.

Parameters

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

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

◆ init() [4/4]

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

Creates an eVision.Easy3D.EPlaneFinder object.

Parameters

other The eVision.Easy3D.EPlaneFinder object that should be copied.

Member Function Documentation

◆ _OnePoint__setter()

eVision.Easy3D.EPlaneFinder._OnePoint__setter	(		self,
		eVision.Easy3D.E3DPoint	value )

protected

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

Remarks:

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

◆ DisableDecimator()

None eVision.Easy3D.EPlaneFinder.DisableDecimator ( self )

Disables the default decimation.

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

◆ EnableDecimator()

None eVision.Easy3D.EPlaneFinder.EnableDecimator ( self )

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

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

◆ ExpectedCloudInliersRatio() [1/2]

float eVision.Easy3D.EPlaneFinder.ExpectedCloudInliersRatio ( self )

Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.

Remarks:

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

◆ ExpectedCloudInliersRatio() [2/2]

eVision.Easy3D.EPlaneFinder.ExpectedCloudInliersRatio	(		self,
		float	value )

Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.

Remarks:

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

◆ ExpectedCloudInliersRatioRange() [1/2]

eVision.EFloatRange eVision.Easy3D.EPlaneFinder.ExpectedCloudInliersRatioRange ( self )

Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.

Remarks:

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

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

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

◆ ExpectedCloudInliersRatioRange() [2/2]

eVision.Easy3D.EPlaneFinder.ExpectedCloudInliersRatioRange	(		self,
		eVision.EFloatRange	value )

Sets/gets the expected ratio of inliers in the eVision.Easy3D.EPointCloud.

Remarks:

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

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

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

◆ Find() [1/3]

float eVision.Easy3D.EPlaneFinder.Find	(		self,
		eVision.Easy3D.EPointCloud	pointCloud,
		eVision.Easy3D.E3DPlane	foundPlane )

Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.

If a sufficiently good plane is not found, an exception is thrown.

Remarks:

The normal vector of the fitted plane is always oriented towards the positive Z axis, see eVision.Easy3D.E3DPlaneNormalOrientation.PosZ.

Parameters

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

◆ Find() [2/3]

float eVision.Easy3D.EPlaneFinder.Find	(		self,
		eVision.Easy3D.EPointCloud	pointCloud,
		eVision.Easy3D.E3DPlane	foundPlane,
		eVision.Easy3D.EPointCloud	inliers )

Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.

If a sufficiently good plane is not found, an exception is thrown.

Remarks:

The normal vector of the fitted plane is always oriented towards the positive Z axis, see eVision.Easy3D.E3DPlaneNormalOrientation.PosZ.

Parameters

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

◆ Find() [3/3]

float eVision.Easy3D.EPlaneFinder.Find	(		self,
		eVision.Easy3D.EPointCloud	pointCloud,
		eVision.Easy3D.E3DPlane	foundPlane,
		eVision.Easy3D.EPointCloud	inliers,
		eVision.Easy3D.EPointCloud	outliers )

Searches the biggest plane in the supplied eVision.Easy3D.EPointCloud.

If a sufficiently good plane is not found, an exception is thrown.

Remarks:

The normal vector of the fitted plane is always oriented towards the positive Z axis, see eVision.Easy3D.E3DPlaneNormalOrientation.PosZ.

Parameters

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

◆ GetNormal()

eVision.Easy3D.E3DPoint eVision.Easy3D.EPlaneFinder.GetNormal ( self )

Returns the expected normal direction (that has been set by eVision.Easy3D.EPlaneFinder.SetNormal).

◆ GetPoint()

eVision.Easy3D.E3DPoint eVision.Easy3D.EPlaneFinder.GetPoint	(		self,
		bool	first )

Returns an eVision.Easy3D.E3DPoint the plane is constrained to contain (that has been set by eVision.Easy3D.EPlaneFinder.OnePoint or eVision.Easy3D.EPlaneFinder.SetTwoPoints).

Parameters

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

◆ IsDecimatorEnabled()

bool eVision.Easy3D.EPlaneFinder.IsDecimatorEnabled ( self )

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

◆ IsNormalSet()

bool eVision.Easy3D.EPlaneFinder.IsNormalSet ( self )

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

◆ IsSeedSet()

bool eVision.Easy3D.EPlaneFinder.IsSeedSet ( self )

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

Deprecated

Always returns true.

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

◆ Load() [1/2]

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

Loads the plane finder configuration.

The given ESerializer must have been created for reading.

Parameters

serializer The serializer.

◆ Load() [2/2]

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

Loads the plane finder configuration.

The given ESerializer must have been created for reading.

Parameters

path	The file path.

◆ MaxDeviation() [1/2]

float eVision.Easy3D.EPlaneFinder.MaxDeviation ( self )

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

◆ MaxDeviation() [2/2]

eVision.Easy3D.EPlaneFinder.MaxDeviation	(		self,
		float	value )

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

◆ NormalTolerance()

float eVision.Easy3D.EPlaneFinder.NormalTolerance ( self )

Returns the angle tolerance around the expected normal (that has been set by eVision.Easy3D.EPlaneFinder.SetNormal).

◆ NumberOfPointsAfterDecimation() [1/2]

int eVision.Easy3D.EPlaneFinder.NumberOfPointsAfterDecimation ( self )

Sets/gets the number of points surviving the decimation.

Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.

◆ NumberOfPointsAfterDecimation() [2/2]

eVision.Easy3D.EPlaneFinder.NumberOfPointsAfterDecimation	(		self,
		int	value )

Sets/gets the number of points surviving the decimation.

Using the setter enables the decimation if it wasn't already. if numberOfPointsAfterDecimation is bigger than the point cloud size, no decimation occurs.

◆ NumberOfPointsSet()

int eVision.Easy3D.EPlaneFinder.NumberOfPointsSet ( self )

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

◆ Save() [1/2]

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

Saves the plane finder configuration.

The given ESerializer must have been created for writing.

Parameters

serializer The eVision.ESerializer object that is written to.

◆ Save() [2/2]

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

Saves the plane finder configuration.

The given ESerializer must have been created for writing.

Parameters

path	The file path.

◆ Seed() [1/2]

int eVision.Easy3D.EPlaneFinder.Seed ( self )

Returns the seed (that has been set by eVision.Easy3D.EPlaneFinder.Seed).

Deprecated

Users shouldn't have to get the seed.

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

◆ Seed() [2/2]

eVision.Easy3D.EPlaneFinder.Seed	(		self,
		int	value )

Returns the seed (that has been set by eVision.Easy3D.EPlaneFinder.Seed).

Deprecated

Users shouldn't have to get the seed.

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

◆ SetNormal() [1/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		eVision.Easy3D.E3DPlane	referencePlane )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

referencePlane The reference plane specifies the expected perpendicular direction.

◆ SetNormal() [2/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		eVision.Easy3D.E3DPlane	referencePlane,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

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

◆ SetNormal() [3/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		eVision.Easy3D.E3DPoint	normal )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

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

◆ SetNormal() [4/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		eVision.Easy3D.E3DPoint	normal,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

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

◆ SetNormal() [5/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		float	nx,
		float	ny,
		float	nz )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

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

◆ SetNormal() [6/6]

None eVision.Easy3D.EPlaneFinder.SetNormal	(		self,
		float	nx,
		float	ny,
		float	nz,
		float	angleTolerance )

Sets the expected normal direction and the tolerance around it.

These values are used to limit the scope of the plane search.

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

Parameters

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

◆ SetTwoPoints()

None eVision.Easy3D.EPlaneFinder.SetTwoPoints	(		self,
		eVision.Easy3D.E3DPoint	point1,
		eVision.Easy3D.E3DPoint	point2 )

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

Remarks:

To set 1 point, use the function SetOnePoint

Parameters

point1	The first point.
point2	The second point.

◆ UnsetNormal()

None eVision.Easy3D.EPlaneFinder.UnsetNormal ( self )

Unsets the normal vector definition.

◆ UnsetPoints()

None eVision.Easy3D.EPlaneFinder.UnsetPoints ( self )

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

◆ UnsetSeed()

None eVision.Easy3D.EPlaneFinder.UnsetSeed ( self )

Reset seed to its default state of being randomly initialized.

Deprecated

This function doesn't have any effect.

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

Property Documentation

◆ OnePoint

eVision.Easy3D.EPlaneFinder.OnePoint

static

Initial value:

=  property(None, _OnePoint__setter, None,
        
    )

Public Member Functions

Protected Member Functions

Properties

Detailed Description

Constructor & Destructor Documentation

◆ __init__() [1/4]

◆ __init__() [2/4]

◆ __init__() [3/4]

◆ __init__() [4/4]

Member Function Documentation

◆ _OnePoint__setter()

◆ DisableDecimator()

◆ EnableDecimator()

◆ ExpectedCloudInliersRatio() [1/2]

◆ ExpectedCloudInliersRatio() [2/2]

◆ ExpectedCloudInliersRatioRange() [1/2]

◆ ExpectedCloudInliersRatioRange() [2/2]

◆ Find() [1/3]

◆ Find() [2/3]

◆ Find() [3/3]

◆ GetNormal()

◆ GetPoint()

◆ IsDecimatorEnabled()

◆ IsNormalSet()

◆ IsSeedSet()

◆ Load() [1/2]

◆ Load() [2/2]

◆ MaxDeviation() [1/2]

◆ MaxDeviation() [2/2]

◆ NormalTolerance()

◆ NumberOfPointsAfterDecimation() [1/2]

◆ NumberOfPointsAfterDecimation() [2/2]

◆ NumberOfPointsSet()

◆ Save() [1/2]

◆ Save() [2/2]

◆ Seed() [1/2]

◆ Seed() [2/2]

◆ SetNormal() [1/6]

◆ SetNormal() [2/6]

◆ SetNormal() [3/6]

◆ SetNormal() [4/6]

◆ SetNormal() [5/6]

◆ SetNormal() [6/6]

◆ SetTwoPoints()

◆ UnsetNormal()

◆ UnsetPoints()

◆ UnsetSeed()

Property Documentation

◆ OnePoint

◆ init() [1/4]

◆ init() [2/4]

◆ init() [3/4]

◆ init() [4/4]