E3DAligner Class
Aligns an EPointCloud or EZMap on a reference EMesh, EPointCloud or EZMap.
Derived Class(es):E3DMatcher
Namespace: Euresys::Open_eVision::Easy3D
Methods
Aligns an EZMap or EPointCloud on the reference model.
Clears re-projection plane set with E3DAligner::ScanReprojectionPlane or E3DAligner::SetFlatScan.
Constructs a 3D Aligner.
Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.
Returns whether a re-projection plane was set with E3DAligner::ScanReprojectionPlane or E3DAligner::SetFlatScan or not.
Loads the E3DAligner. The given ESerializer must have been created for reading.
Assignment operator.
Retrieves the reference poses of the E3DAligner in the form of a vector of E3DPlane. The corresponding reference patterns vector can be retrieved with E3DAligner::RetrieveReferencePosesProjections.
Retrieves the reference patterns of the E3DAligner in the form of a vector of EZMap8. The corresponding reference poses vector can be retrieved with E3DAligner::RetrieveReferencePoses.
Saves the E3DAligner. The given ESerializer must have been created for writing.
Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::ScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.
Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.
E3DAligner Class
Aligns an EPointCloud or EZMap on a reference EMesh, EPointCloud or EZMap.
Derived Class(es):E3DMatcher
Namespace: Euresys.Open_eVision.Easy3D
Properties
Sets/Gets the plane on which the model lays. This is used to re-project the scans before trying to find the position of the object within them. The E3DPlane should lay slightly below/above (depending on the orientation of the normal) the real plane, so that all points of the real plane are reprojected in the new ZMap.
Methods
Aligns an EZMap or EPointCloud on the reference model.
Clears re-projection plane set with E3DAligner::ScanReprojectionPlane or E3DAligner::SetFlatScan.
Constructs a 3D Aligner.
Returns whether a re-projection plane was set with E3DAligner::ScanReprojectionPlane or E3DAligner::SetFlatScan or not.
Loads the E3DAligner. The given ESerializer must have been created for reading.
Assignment operator.
Retrieves the reference poses of the E3DAligner in the form of a vector of E3DPlane. The corresponding reference patterns vector can be retrieved with E3DAligner::RetrieveReferencePosesProjections.
Retrieves the reference patterns of the E3DAligner in the form of a vector of EZMap8. The corresponding reference poses vector can be retrieved with E3DAligner::RetrieveReferencePoses.
Saves the E3DAligner. The given ESerializer must have been created for writing.
Uses a flat scan of the setup to compute the plane on which the object lays. This helps computing alignment when the sensor does not lay on top of the objects.
Sets the 3D reference model that is used to create reference patterns. It may be a CAD of the object as an EMesh with reference plane(s) on which they must be projected to roughly correspond to the face visible in the scans. In that case, when a scan re-projection plane is set (E3DAligner::ScanReprojectionPlane, E3DAligner::SetFlatScan), the reference plane(s) set by this method should correspond to the scan's re-projection plane. It may also be a golden scan represented by an EZMap or an EPointCloud with reference plane indicating on which direction it must be projected.