Version: 16.3.1.167ea6ecff

Match3D Add-on

AQSENSE's Match3D Tool is a sophisticated piece of software that allows the extremely fast alignment and comparison of 3D point clouds with their respective models based on a "best-fit" approach. This tool can be used for quickly determine the position and orientation of objects and for an optimized surface subtraction and comparison.

Despite Match3D advanced functionality it hardly needs any configuration. For this reason Match3D Tool mainly extends the available outputs of 3DExpress by adding the aligned Cloud of Point, ZMAP and the Disparity Map. The only needed configuration is the selection of the reference Cloud of Points

Please, take a look at the section Match3D to get more information on the Match3D algorithms, inputs, advantages and applications.

This Match3D Tool requires a special license (please, read the Section 3DExpress Licensing to get more information).

Choosing the reference model

3DExpress Match3D Tool aligns and compares each obtained cloud of points to a fixed reference model. For this reason, the only needed configuration is the selection of this reference COP.

Any AQSENSE Cloud of Points file (also COPs obtained through SAL3D software) can be used as a model. The file is selected in the RangeMap configuration step using the available browse button.

load_match3d_model.png
Browse button at the bottom of the RangeMap configuration step to select the reference COP

A typical previous step is obtaining this reference Cloud of Points using this same 3DExpress. To do so, once the system is properly set and calibrated a COP output can be added as an output (Refer to Defining the parameters of the COP output for more details). A golden model (this is, a reference object) can be then scanned so that its COP is generated. By clicking on the COP output the COP viewer will be opened. There, the cloud of points can be saved using the menu option File > Save. This COP can then be used as the reference for the Match3D Tool.

For a full list of set-ups to obtain the model COP please check the Match3D input data

Match3D additional outputs

Having a reference cloud of points allows a number of operations to be done over the scanned object which lead to new available outputs.

Defining the parameters of the Match3D Model COP output

The Match3D Model COP option sets the fixed reference Cloud of Points as output. It does not require any specific parameter to be set by the user. This COP, in addition to be visualize on the corresponding COP viewer, it can also be read from another application using the SAL3D interface.

Moreover, as the COP viewer allows to see more than one COP in the same window, the user can check the alignment by displaying both the model COP and the aligned COP in the same viewer.

Defining the parameters of the Match3D Aligned COP output

Match3D can automatically align the obtained Cloud of Points to the reference COP based on its "best-fit" approach. This option selects this aligned Cloud of Points without any other configuration needed. Again, in addition to be visualized, user can read this COP data from another application using the SAL3D interface.

Moreover, as the COP viewer allows to see more than one COP in the same window, the user can check the alignment by displaying both the model COP and the aligned COP in the same viewer.

Defining the parameters of the Match3D Model ZMap output

This option allows the user to output the ZMap of the loaded reference model. Information on the ZMap file and configuration of a ZMap output can be found at Defining the parameters of the ZMap output

Defining the parameters of the Match3D Aligned ZMap output

With the same configuration as a Zmap output this option allows the user to output a ZMap which has been mathematically rotated to meet the reference model.

Some uses of the Aligned Zmap have been explained in the section Use of Match3D to align your data before 2D processing

Defining the parameters of the Match3D Disparity Map output

Although the Disparity Map output is configured as a Zmap output its information is completely different. While a ZMap is a projection of a cloud of points, a Disparity Map projects the comparison between two cloud of points.

This disparity map contain in each pixel the metric difference (along the Z axis) between model and part.

As other ZMaps, this disparity map can also be normalized to 8 bits (or 16 bits) before the 2D processing.

Clicking the Disparity Map output (on the 3DExpress main panel) opens the ZMap/Disparity Map viewer. There, 3 color configurations can be chosen: Gray Min/Max, Color Min/Max or Color disparity. For the specific case of the Disparity Map, the best visualization mode is the Color Disparity which allows the user to select a tolerance threshold. All values above the tolerance are painted red, below the -tolerance deep blue and the values in between are painted in a gradient being green the zero disparity value.

viewer_disparity_color.png
Zmap/Disparity Map viewer configured in Color Disparity option. The parts painted in yellow/red are deviations (errors) on the scanned part compared to the reference model.

For more info on the options, visualizations and uses of Disparity Maps please check the Disparity Map Documentation