09 Halcon 3D点云定向切割

1.基于halcon算法平台；

2.提供深度图源文件以及解压密码；

3.代码预览：

/*******************************************************************************

• @文档名称: 3D点云定向切割。
• @作者: hugo
• @版本: 1.1
• @日期: 2021-6-26
• @描述: 该方法支持3DROI创建以及点云定向切割。
• @来源：欢迎关注微信公众号 robotvision+ 获取更多机器人视觉知识。

********************************************************************************/

 read_image (imageReal, './replay_38893_2021-6-7.tif')
    *read_image (imageReal, './circle0.tiff')
    xResolution:=0.06
    yResolution:=0.06
    zResolution:=0.001 
    ScaleFactor:=[xResolution,yResolution,zResolution]

    .......

    * ROI区域
    create_drawing_object_rectangle2 (270, 270, rad(90), 30, 20, DrawID)
    set_drawing_object_params (DrawID, 'color', 'yellow')
    set_drawing_object_params (DrawID, 'line_width', 1)
    attach_drawing_object_to_window (WindowHandle, DrawID)
   
    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, TriangulatedObjectModel3D, CameraParam, Pose, scale, WindowHandle, ObjectModel3D, GenParamValue, m_vloumn)

09 Halcon 点云空间定向切割

源码链接