10 Halcon 点云空间拟合直线 |
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/******************************************************************************* @文档名称: 3D点云拟合直线。@作者: hugo@版本: 1.1@日期: 2021-7-26@描述: 该方法支持3DROI创建以及点云拟合直线。@来源：欢迎关注微信公众号 robotvision+ 获取更多机器人视觉知识。********************************************************************************/ dev_get_window( WindowHandle) read_image (imageReal, './replay_38893_2021-6-7.tif') xResolution:=0.06 yResolution:=0.06 zResolution:=0.001 ScaleFactor:=[xResolution,yResolution,zResolution] *深度图装点云 IntensityImageToPiontsCloudImage_0 (imageReal, ScaleFactor, 1, ObjectModel3D, scale) * 点云滤波 NumNeighbors := 25 get_object_model_3d_params (ObjectModel3D, 'neighbor_distance ' + NumNeighbors, DistanceDistribution) InlierRate := 70 ..... stop () dev_set_color ('yellow') get_drawing_object_params (DrawID, ['row','column','phi','length1','length2'], GenParamValue) gen_rectangle2 (Rectangle,GenParamValue[0], GenParamValue[1], GenParamValue[2], GenParamValue[3], GenParamValue[4]) detach_drawing_object_from_window (WindowHandle, DrawID) *生成3DROI gen_3d_line (Rectangle, Triangulated, CameraParam, Pose, scale, WindowHandle, ObjectModel3DThresholdedFast, GenParamValue, m_vloumn)10 Halcon 点云空间拟合直线 源码下载链接 |
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