halcon之表面匹配find_surface_model

最新推荐文章于 2024-04-09 23:52:44 发布

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最新推荐文章于 2024-04-09 23:52:44 发布

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dev_close_window ()
dev_open_window (0, 0, 1280, 960, 'black', WindowHandle)

read_object_model_3d ('parasaurolophus_6700.ply', 'm', [], [], ObjectModel3D, Status)
read_object_model_3d ('rs1_normals.ply', 'm', [], [], ObjectScene3D, Status1)

surface_normals_object_model_3d (ObjectModel3D, 'mls', [], [], ObjectModel3DNormals)
create_surface_model (ObjectModel3DNormals, 0.03, [], [], SurfaceModelID)

count_seconds (T0)
find_surface_model (SurfaceModelID, ObjectScene3D, 0.02, 0.2, 0, 'true', [], [], Pose, Score, SurfaceMatchingResultID)
* debug_find_surface_model(SurfaceModelID, ObjectModel3D, ObjectScene3D, SurfaceMatchingResultID, CreateSurfaceModelParamName, CreateSurfaceModelParamValue, FindSurfaceModelParamName, FindSurfaceModelParamValue)
count_seconds (T1)
TimeForMatching := (T1 - T0) 

pose_invert(Pose, PoseInvert)
rigid_trans_object_model_3d (ObjectScene3D, PoseInvert, ObjectScene3DRigidTrans)
time := 'time: ' + TimeForMatching
visualize_object_model_3d (WindowHandle, [ObjectScene3DRigidTrans,ObjectModel3D], [], [], ['color_' + [0,1],'point_size_' + [0,1]], ['red','green',1.0,5.0], time, [], [], PoseOut)

dev_clear_window ()