01-halcon读取点云测高

yaominh_2017

已于 2022-03-28 20:03:12 修改

阅读量3.8k

点赞数 2

分类专栏：图像处理 halcon学习记录文章标签：计算机视觉

于 2022-03-27 10:14:54 首次发布

本文链接：https://blog.csdn.net/yaominh_2017/article/details/123768859

版权

halcon学习记录同时被 2 个专栏收录

3 篇文章 0 订阅

订阅专栏

图像处理

2 篇文章 1 订阅

订阅专栏

halcon读取点云测高

1、点云数据链接：https://pan.baidu.com/s/14SD1DIDptyOiuyQy3kTebA
提取码：rqy4
2、思路：读取om3格式点云；
获取电池表面点云Z值平均值；
获取底面点云Z值平均值；
两个点云Z值平均值相减获得电池高度；
3、halcon代码实现：

dev_get_window (WindowHandle)
*1读入点云数据（文件中）
read_object_model_3d ('./2020-01-10-235331.om3', 'm', [], [], ObjectModel3D, Status)
* visualize_object_model_3d (WindowHandle, ObjectModel3D, [], [], ['lut','color_attrib','disp_pose'],\
                                   ['color1','coord_z','true'], [], [], [], PoseOut)
*2得到电池表面点云的数据（mm)
get_object_model_3d_params (ObjectModel3D, 'point_coord_z', GenParamValue)
*去掉噪点
select_points_object_model_3d (ObjectModel3D, 'point_coord_z', 15, 16, ObjectModel3DThresholded)
connection_object_model_3d (ObjectModel3DThresholded, 'distance_3d', 1, ObjectModel3DConnected)
get_object_model_3d_params (ObjectModel3DConnected, 'num_points', GenParamValue1)
select_object_model_3d (ObjectModel3DConnected, 'num_points', 'and', 1000, 50000, ObjectModel3DBattery)
* visualize_object_model_3d (WindowHandle, ObjectModel3DBattery, [], [], ['lut','color_attrib','disp_pose'],\
                                   ['color1','coord_z','true'], [], [], [], PoseOut)
*3得到背景的点云数据集合（mm)
select_points_object_model_3d (ObjectModel3D, 'point_coord_z', 12, 14, ObjectModel3DBackGround)
* visualize_object_model_3d (WindowHandle, ObjectModel3DBackGround, [], [], ['lut','color_attrib','disp_pose'],\
                                   ['color1','coord_z','true'], [], [], [], PoseOut)
*4求电池上表面点云的z坐标值，求背景表面的点云的z坐标值
get_object_model_3d_params (ObjectModel3DBattery, 'point_coord_z', GenParamValueHeigtBattery)
get_object_model_3d_params (ObjectModel3DBackGround, 'point_coord_z', GenParamValueHeigtGround)
*5求电池上表面点云的z坐标的平均值，求背景表面点云的z坐标的平均值
HeigtBattery :=mean(GenParamValueHeigtBattery)
HeightGround :=mean(GenParamValueHeigtGround)
*8求电池表面的高度
H := HeigtBattery-HeightGround

visualize_object_model_3d (WindowHandle, ObjectModel3D, [], [], \
                           ['lut','color_attrib','disp_pose'],\
                           ['color1','coord_z','true'], \
                           '电池点云的高度为'+H+'mm', \
                           'Battery Object',\
                             [], PoseOut)

* disp_object_model_3d (WindowHandle, ObjectModel3D,  [],\
                           [], \
                           'color', \
                           'primitive')