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 ()
halcon之表面匹配find_surface_model
最新推荐文章于 2023-05-30 15:55:22 发布