E3DAligner Reprojection Plane

This code snippet shows how to set the reprojection plane when performing alignment.

C++

#include <eVision/Easy3D/Easy3DMatch/E3DAligner.h>

using namespace eVision;

// load the reference mesh and define the pose
Easy3D::E3DAligner aligner;
Easy3D::EMesh cad;
cad.Load("...");
float azimuthReference = 0.f, elevationReference = 90.f;
aligner.SetReference(cad, azimuthReference, elevationReference);

// define the reprojection plane
bool userKnowsPlaneEquation = false; // depending on the user
if (userKnowsPlaneEquation)
{
  Easy3D::E3DPlane reprojectionPlane(Easy3D::E3DPoint(0, 0, -1), -15);
  aligner.SetScanReprojectionPlane(reprojectionPlane);
}
else
{
  Easy3D::EPointCloud cloud;
  cloud.Load("...");
  bool objectAbovePlane = true; // is the object above the plane on the cloud
  aligner.SetFlatScan(cloud, objectAbovePlane);
}

// load the sample
Easy3D::EPointCloud sample;
sample.Load("...");
float azimuthSample = 0.f, elevationSample = 90.f;

// perform alignment
Easy3D::E3DAlignment alignment = aligner.Align(sample, azimuthSample, elevationSample);

C#

using eVision.Easy3D;

// load the reference mesh and define the pose
E3DAligner aligner = new E3DAligner();
EMesh cad = new EMesh();
cad.Load("...");
float azimuthReference = 0.0f, elevationReference = 90.0f;
aligner.SetReference(cad, azimuthReference, elevationReference);

// define the reprojection plane
bool userKnowsPlaneEquation = false; // depending on the user
if (userKnowsPlaneEquation)
{
  E3DPlane reprojectionPlane = new E3DPlane(new E3DPoint(0, 0, -1), -15);
  aligner.ScanReprojectionPlane = reprojectionPlane;
}
else
{
  EPointCloud cloud = new EPointCloud();
  cloud.Load("...");
  bool objectAbovePlane = true; // is the object above the plane on the cloud
  aligner.SetFlatScan(cloud, objectAbovePlane);
}

// load the sample
EPointCloud sample = new EPointCloud();
sample.Load("...");
float azimuthSample = 0.0f, elevationSample = 90.0f;

// perform alignment
E3DAlignment alignment = aligner.Align(sample, azimuthSample, elevationSample);

Python

from eVision import Easy3D
# load the reference mesh and define the pose
aligner = Easy3D.E3DAligner()
cad = Easy3D.EMesh()
cad.Load("...")
aligner.SetReference(cad, azimuth=0., elevation=90.)

# define the reprojection plane
user_knows_plane_equation = False # depending on the user
if user_knows_plane_equation:
    reprojectionPlane = Easy3D.E3DPlane(Easy3D.E3DPoint(0, 0, -1), -15)
    aligner.ScanReprojectionPlane = reprojectionPlane
else:
    cloud = Easy3D.EPointCloud()
    cloud.Load("...")
    object_above_plane = True # is the object above the plane on the cloud
    aligner.SetFlatScan(cloud, object_above_plane)

# load the sample
sample = Easy3D.EPointCloud()
sample.Load("...")

# perform alignment
alignment = aligner.Align(sample, azimuth = 0., elevation= 90.)