Merges several eVision.Easy3D.EPointCloud of the same scene from different sensors after having performed a calibration. More...

Public Member Functions
None	__init__ (self)
	Constructs an eVision.Easy3D.EPointCloudMerger.
None	__init__ (self, eVision.Easy3D.EPointCloudMerger other)
	Constructs an eVision.Easy3D.EPointCloudMerger.
None	__init__ (self, bool enableDecimation, float mergedCloudResolution, list[eVision._eVision.Easy3D.E3DTransformMatrix] transforms)
	Constructs an eVision.Easy3D.EPointCloudMerger.
None	Load (self, str path)
	Loads the eVision.Easy3D.EPointCloudMerger.
None	Load (self, eVision.ESerializer\|None serializer)
	Loads the eVision.Easy3D.EPointCloudMerger.
None	Save (self, str path)
	Saves the eVision.Easy3D.EPointCloudMerger.
None	Save (self, eVision.ESerializer\|None serializer)
	Saves the eVision.Easy3D.EPointCloudMerger.
float	Calibrate (self, list[eVision._eVision.Easy3D.EPointCloud\|None] calibrationClouds, float calibrationObjectSize, bool computeMergedCloudResolution)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
float	Calibrate (self, list[eVision._eVision.Easy3D.EPointCloud\|None] calibrationClouds, float calibrationObjectSize)
	Calibrates the transformations to apply to the point clouds from clouds of the calibration object.
None	Merge (self, list[eVision._eVision.Easy3D.EPointCloud\|None] clouds, eVision.Easy3D.EPointCloud mergedCloud)
	Merges the given clouds by applying the transformation matrices and optionally filter the result to remove duplicate points.
float	MergedCloudResolution (self)
	Sets/Gets the resolution of the merged point clouds.
	MergedCloudResolution (self, float value)
	Sets/Gets the resolution of the merged point clouds.
list[eVision._eVision.Easy3D.E3DTransformMatrix]	Transformations (self)
	Sets/Gets the transformations to apply to all of the clouds to merge.
	Transformations (self, list[eVision._eVision.Easy3D.E3DTransformMatrix] value)
	Sets/Gets the transformations to apply to all of the clouds to merge.
bool	EnableDecimation (self)
	Sets/Gets whether the filtering of the merged cloud is enabled.
	EnableDecimation (self, bool value)
	Sets/Gets whether the filtering of the merged cloud is enabled.

Detailed Description

Merges several eVision.Easy3D.EPointCloud of the same scene from different sensors after having performed a calibration.

Remarks:

License(s): Easy3DMatch

Constructor & Destructor Documentation

◆ init() [1/3]

None eVision.Easy3D.EPointCloudMerger.__init__ ( self )

Constructs an eVision.Easy3D.EPointCloudMerger.

◆ init() [2/3]

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

Constructs an eVision.Easy3D.EPointCloudMerger.

Parameters

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

◆ init() [3/3]

None eVision.Easy3D.EPointCloudMerger.__init__	(		self,
		bool	enableDecimation,
		float	mergedCloudResolution,
		list[eVision._eVision.Easy3D.E3DTransformMatrix]	transforms )

Constructs an eVision.Easy3D.EPointCloudMerger.

Parameters

enableDecimation	Whether we want to filter the merged cloud to remove point duplicates coming from different clouds by using an eVision.Easy3D.EGridDecimator or not. Set to true by default.
mergedCloudResolution	The size of a cubic cell of eVision.Easy3D.EGridDecimator applied to the merged eVision.Easy3D.EPointCloud. Set to 1 by default.
transforms	A vector of eVision.Easy3D.E3DTransformMatrix that will be applied to each eVision.Easy3D.EPointCloud before merging them together.

Member Function Documentation

◆ Calibrate() [1/2]

float eVision.Easy3D.EPointCloudMerger.Calibrate	(		self,
		list[eVision._eVision.Easy3D.EPointCloud \| None]	calibrationClouds,
		float	calibrationObjectSize )

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

Remarks:

The transformations to apply and possibly the mergedCloudResolution can also be set by eVision.Easy3D.EPointCloudMerger.Transformations and eVision.Easy3D.EPointCloudMerger.MergedCloudResolution respectively.

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

Parameters

calibrationClouds	A vector of eVision.Easy3D.EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.

◆ Calibrate() [2/2]

float eVision.Easy3D.EPointCloudMerger.Calibrate	(		self,
		list[eVision._eVision.Easy3D.EPointCloud \| None]	calibrationClouds,
		float	calibrationObjectSize,
		bool	computeMergedCloudResolution )

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

Remarks:

The transformations to apply and possibly the mergedCloudResolution can also be set by eVision.Easy3D.EPointCloudMerger.Transformations and eVision.Easy3D.EPointCloudMerger.MergedCloudResolution respectively.

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

Parameters

calibrationClouds	A vector of eVision.Easy3D.EPointCloud representing different points of view of the calibration object.
calibrationObjectSize	The size of an edge of the calibration cube in the point clouds.
computeMergedCloudResolution	Whether to compute the resolution of the merged cloud from the given clouds or not.

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

Defaults to false.

◆ EnableDecimation() [1/2]

bool eVision.Easy3D.EPointCloudMerger.EnableDecimation ( self )

Sets/Gets whether the filtering of the merged cloud is enabled.

If set to true, an eVision.Easy3D.EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.

◆ EnableDecimation() [2/2]

eVision.Easy3D.EPointCloudMerger.EnableDecimation	(		self,
		bool	value )

Sets/Gets whether the filtering of the merged cloud is enabled.

If set to true, an eVision.Easy3D.EGridDecimator is used to perform a grid decimation so that a point present in several clouds is not duplicated. Defaults to true.

◆ Load() [1/2]

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

Loads the eVision.Easy3D.EPointCloudMerger.

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

Parameters

serializer The serializer.

◆ Load() [2/2]

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

Loads the eVision.Easy3D.EPointCloudMerger.

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

Parameters

path	The file path.

◆ Merge()

None eVision.Easy3D.EPointCloudMerger.Merge	(		self,
		list[eVision._eVision.Easy3D.EPointCloud \| None]	clouds,
		eVision.Easy3D.EPointCloud	mergedCloud )

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

Remarks:

The eVision.Easy3D.EPointCloudMerger must have been calibrated or the transformations to apply set, see eVision.Easy3D.EPointCloudMerger.Calibrate, eVision.Easy3D.EPointCloudMerger.Transformations or constructor.

Parameters

clouds	A vector of eVision.Easy3D.EPointCloud representing different points of view of the object.
mergedCloud	An empty cloud that will be filled with the merging of the clouds.

◆ MergedCloudResolution() [1/2]

float eVision.Easy3D.EPointCloudMerger.MergedCloudResolution ( self )

Sets/Gets the resolution of the merged point clouds.

◆ MergedCloudResolution() [2/2]

eVision.Easy3D.EPointCloudMerger.MergedCloudResolution	(		self,
		float	value )

Sets/Gets the resolution of the merged point clouds.

◆ Save() [1/2]

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

Saves the eVision.Easy3D.EPointCloudMerger.

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

Parameters

serializer The eVision.ESerializer object that is written to.

◆ Save() [2/2]

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

Saves the eVision.Easy3D.EPointCloudMerger.

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

Parameters

path	The file path.

◆ Transformations() [1/2]

list[eVision._eVision.Easy3D.E3DTransformMatrix] eVision.Easy3D.EPointCloudMerger.Transformations ( self )

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

Remarks:

The transformations to apply can also be produced by eVision.Easy3D.EPointCloudMerger.Calibrate.

◆ Transformations() [2/2]

eVision.Easy3D.EPointCloudMerger.Transformations	(		self,
		list[eVision._eVision.Easy3D.E3DTransformMatrix]	value )

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

Remarks:

The transformations to apply can also be produced by eVision.Easy3D.EPointCloudMerger.Calibrate.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__() [1/3]

◆ __init__() [2/3]

◆ __init__() [3/3]

Member Function Documentation

◆ Calibrate() [1/2]

◆ Calibrate() [2/2]

◆ EnableDecimation() [1/2]

◆ EnableDecimation() [2/2]

◆ Load() [1/2]

◆ Load() [2/2]

◆ Merge()

◆ MergedCloudResolution() [1/2]

◆ MergedCloudResolution() [2/2]

◆ Save() [1/2]

◆ Save() [2/2]

◆ Transformations() [1/2]

◆ Transformations() [2/2]

◆ init() [1/3]

◆ init() [2/3]

◆ init() [3/3]