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