Hi~ 可私信我了解后再进行下载~
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: 基于点云的平面拟合。
* @作者: hugo
* @版本: 1.1
* @日期: 2021-6-16
* @描述: 该方法支持点云平面拟合以及深度图平面拟合。
**********************************/*
read_image (imageReal, './replay_38893_2021-6-7.tif')
xResolution:=0.06
yResolution:=0.06
zResolution:=0.001
ScaleFactor:=[xResolution,yResolution,zResolution]
rateLowRemove:=0.1
rateHighRemove:=0.1
dev_get_window (WindowHandle)
*采样区域1
create_drawing_object_rectangle2 (300, 120, rad(90), 30, 20, DrawID)
set_drawing_object_params (DrawID, 'color', 'red')
set_drawing_object_params (DrawID, 'line_width', 1)
attach_drawing_object_to_window (WindowHandle, DrawID)
.........
TransPose := [0,0,d,0,0,0,0]
rigid_trans_object_model_3d (SampledObjectModel3D1, TransPose, _SampledObjectModel3D1)
rigid_trans_object_model_3d (ObjectModelPlane1, TransPose, _ObjectModelPlane1)
create_pose (0, 0, Mean/2, 180, 0, 0, 'Rp+T', 'gba', 'point', Pose1)
*visualize_object_model_3d (WindowHandle, [_ObjectModelPlane1,_SampledObjectModel3D1,SampledObjectModel3D2], [], [Pose1], [], ['intensity','lut','lut'], ['&litude','sqrt','sqrt'], '', 'Edited by AmazingRobot+ ' , PoseOut)
visParamName := ['intensity_1','color_0','color_2','alpha_0']
visParamValue := ['coord_z','red','yellow',0.5]
visualize_object_model_3d (WindowHandle, [_SampledObjectModel3D1,SampledObjectModel3D2,_ObjectModelPlane1], [], [], visParamName, visParamValue, 'Edited by AmazingRobot+', [], '', PoseOut)
stop ()
谢谢您的信任~
本文详细探讨了3D点云数据的平面拟合，通过最小二乘法的直接求解、拉格朗日乘子法和SVD分解法进行分析。对比结果显示，SVD分解法在处理噪声数据时表现出更好的拟合效果。此外，还介绍了随机采样(RANSAC)方法来拟合平面的基本原理和实现过程。
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