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Release Notes
 

  

 
PlaneFit3D - 121

This tool does a 2D plane fit in a 3D Point Cloud or Scorpion 3D Image.

This is a very important tool that is used to locate the plane of an object before using the 2D image to measure in true 3D coordinates.




Setup

3D coordinate system

  • Reference - select a 3D reference for position and results

ROI

  • X,Y,Z position
    • Center - ROI box center
    • Size - ROI box dimensions
  • X,Y,Z angle - ROI box rotation

Point cloud decimation (x & y)

  • Factor - keep only every nth sample in x and y directions
    • used to speed up processing on large point clouds

Point cloud filter

  • Contrast - element 4 in a 5-element point cloud; set min and max allowable value

RANSAC

Fit Quality

  • Max fit RMS for accept plane

Initial search ( RANSAC )

  • Number of tries in ransac
  • Minium number of fitted points
  • Min fit percent for accept
    • Hint - Can be enabled when fitted points are set low
  • Fit points within distance from plane
  • Cost function
    • Use RMS in RANSAC
    • Use point count
    • Use combination ( 0 = Count - 100 = RMS ) of RMS and Count
    • Hint - combining count and RMS is the best option
  • Extended planefit for better RMS and angle resoolution
    • runs full planefit inside RANSAC

Constraints

  • PositionX, PositionY and PositionZ
    • filter plane on center of gravity position
  • dX,dY and dZ
    • Filter plane on bounding box size
    • Bounding Box is size aligned with incoming reference system axis
  • angleX, angleY and angleZ
    • filter the plane with regards to the angle to one of the three incoming axis


Visualisation
BoundingBox Shows bounding Box
ChildAxis Shows child axis
FittedPoints Accepted points within the ROI
Plane The found plane, visualized on the edge of the ROI cube
Points All points within the ROI
ROI The ROI cube


Results
BoundingBox The Bounding Box aligned with incoming reference of the selected plane
Plane.x The plane is given as four numbers, x,y,z and w
Plane.y See remarks below
Plane.z
Plane.w
Center The Center of gravity of the plane points
NormalLine.p.x Plane normal: a line perpendicular to the plane
NormalLine.p.y See remarks below
NormalLine.p.z
NormalLine.v.x
NormalLine.v.y
NormalLine.v.z
RMS Quality of fit
Point count Total number of points within ROI
Fit count Used points
Fit percent Percentage of points used


Remarks

Plane

A plane is given by the equation ax + by + cz + d = 0. The constants a, b, c and d are given as the results Plane.x, Plane.y, Plane.z resp. Plane.w

NormalLine

The plane normal is a unit length line with its point p located at the center of gravity for all points used to fit the plane (of course projected down on the plane). The vector v points perpendicular to the plane.

Profiles
1: SDP-0076-Box-Picking-from-Conveyor
2: STP-0061 PlaneFit3D


Tool Features:
Supports Templates: No
Support Threading No
Result reference Yes

Scorpion Vision Version XII : Build 646 - Date: 20170225
Scorpion Vision Software® is a registered trademark of Tordivel AS.
Copyright © 2000 - 2017 Tordivel AS.