Easy3D - Tools for 3D Object Processing

Easy3D is a set of tools for solving computer vision problems using 3D acquisition and processing. The user can also create, load, save and manipulate 3D depth maps, ZMaps, point clouds and meshes in full-fledged 3D environments.

All Easy3D tools are located within the Easy3D ^{.NET Python} namespace.

3D Representation

eVision uses a right-handed cartesian 3D coordinate system. In this system, each 3D point is represented by its 3 coordinates X, Y and Z.

Cartesian coordinate system.

eVision provides different containers to store 3D objects.

E3DPoint

The object E3DPoint ^{.NET Python} represents points in a 3D space. An E3DPoint ^{.NET Python} is the basic container for data processing in a 3D space.

• A E3DPoint ^{.NET Python} is defined by its X, Y and Z coordinates.

• Use the function E3DPoint::DistanceTo ^{.NET Python} to compute distances between points

• You can combine points to form point clouds (see below).

E3DLine

The object E3DLine ^{.NET Python} represents lines in a 3D space.

• An E3DLine ^{.NET Python} is defined by two points.

E3DPlane

The object E3DPlane ^{.NET Python} represents planes in a 3D space.

• An E3DPlane ^{.NET Python} is defined by its normal vector and the signed distance to the origin of the axes.

• Use the function E3DPlane::DistanceTo ^{.NET Python} to compute the distance to any point.

• Use the function E3DPlane::ProjectPoint ^{.NET Python} to project points onto planes.

• Use the function E3DPlane::Transform ^{.NET Python} with transformation matrices to rotate and translate planes.

E3DSphere

The object E3DSphere ^{.NET Python} represents spheres in a 3D space.

• An E3DSphere ^{.NET Python} is defined by its center point and its radius.

• Use the function E3DSphere::DistanceTo ^{.NET Python} to compute the distance to any point.

• Use the function E3DSphere::Transform ^{.NET Python} with transformation matrices to rotate and translate spheres.

E3DBox

An E3DBox ^{.NET Python} is a rectangular parallelepiped in a 3D space. It can have any orientation and be centered on any point in the 3D space.

• An E3DBox ^{.NET Python} is defined by a center point, 3 axes and the extension of the box along each axis.

• Use the function E3DBox::Transform ^{.NET Python} with transformation matrices to rotate and translate boxes.

E3DObject

In eVision, an E3DObject ^{.NET Python} is a geometric representation of a set of 3D points.

• Use the E3DObject ^{.NET Python} to get the characteristics such as the extend along the 3 axes, the area, the total volume and the average position of the set of points.

• Use the function E3DObject::GetBasePlane ^{.NET Python} to get the fitted plane of the set of points.

• Use the function E3DObject::GetBoundingBox ^{.NET Python} to get the bounding box, represented by a E3DBox ^{.NET Python} enclosing the set of points.