halcon3D 点云拟合球体

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已于 2023-02-06 15:44:04 修改

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分类专栏： Halcon 文章标签： c++ 计算机视觉 opencv

于 2023-02-06 15:43:08 首次发布

本文链接：https://blog.csdn.net/weixin_43213429/article/details/128902889

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dev_get_window (WindowHandle)
dev_set_draw ('margin')
read_image (Image, 'depth.tif')
min_max_gray (Image, Image, 0, Min, Max, Range)
threshold (Image, Region, Min+1, Max)
reduce_domain (Image, Region, ImageReduced)
convert_image_type (ImageReduced, ImageConverted, 'real')
scale_image (ImageConverted, zMap, 0.8/1000, -32768*0.0008)

get_image_size (Image, Width, Height)
xScale:=0.005
yScale:=0.05
gen_image_surface_first_order (xMap, 'real', 0, xScale, 0, 0, 0, Width, Height)
gen_image_surface_first_order (yMap, 'real', yScale, 0, 0, 0, 0, Width, Height)
xyz_to_object_model_3d (xMap, yMap, zMap, ObjectModel3D)
paraName:=['primitive_type','fitting_algorithm','min_radius','max_radius']
paraValue:=['sphere','least_squares_tukey',3,12]
fit_primitives_object_model_3d (ObjectModel3D, paraName, paraValue, sphereModel)
get_object_model_3d_params (sphereModel, 'primitive_parameter', spereParam)
centerX:=spereParam[0]
centerY:=spereParam[1]
centerZ:=spereParam[2]
R:=spereParam[3]
visualize_object_model_3d (WindowHandle, [ObjectModel3D,sphereModel], [], [], \
                           ['color_0','color_1','alpha_0','alpha_1','disp_pose'],\
                           ['gray','green',0.5,0.3,'true'],\
                           [], [], [], PoseOut)