10 Halcon 点云空间拟合直线

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

• @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

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