文章目录
c
* ********************************************************************
* This program shows how to calculate the intersection between a
* 3D object model and a plane.
* The intersection is calculated with the operator
* intersect_plane_object_model.
* The result of the intersection is a set of polylines.
* ********************************************************************
*
* Read 3D object model
Files := ['bmc_mini','glass_mug']
*
* Prepare visualization
dev_update_off ()
dev_close_window ()
* 为扫描相机设置参数
gen_cam_par_area_scan_division (0.01, 0, 7e-6, 7e-6, 240, 180, 480, 360, CamParam)
get_cam_par_data (CamParam, 'image_width', ImageWidth)
get_cam_par_data (CamParam, 'image_height', ImageHeight)
dev_open_window (0, 0, ImageWidth, ImageHeight, 'black', WindowHandle1)
set_display_font (WindowHandle1, 14, 'mono', 'true', 'false')
dev_open_window (0, ImageWidth + 12, ImageWidth, ImageHeight, 'black', WindowHandle2)
set_display_font (WindowHandle2, 14, 'mono', 'true', 'false')
dev_open_window (0, ImageWidth , ImageWidth, ImageHeight, 'black', WindowHandle3)
set_display_font (WindowHandle3, 14, 'mono', 'true', 'false')
* Poses for car object
* 设置位姿
create_pose (0.05, 0.10, 1.2, 181.4, 30.6, 359.0, 'Rp+T', 'gba', 'point', VisualizationPose)
create_pose (0.12, 0.08, 1.2, 180.0, 90.0, 0.0, 'Rp+T', 'gba', 'point', PoseConnected)
create_pose (0, 0, 0, 0, 90, 0, 'Rp+T', 'gba', 'point', CutPlanePose)
Border := 0.03
* Poses for mug object
* 显示位姿
VisualizationPose := [VisualizationPose,6.5e-005,-0.15e-3,8.1e-3,120.0,0.0,30.0,0]
* 切面位姿
CutPlanePose := [CutPlanePose,0,0,0,70,0,0,0]
* 分割切面位姿
PoseConnected := [PoseConnected,0.0,-0.1e-3,6.0e-3,90.0,0.0,0.0,0]
Border := [Border,0.0003]
*
GenParamName := ['color_0','attribute_0','disp_pose_0','light_position']
GenParamValue := ['green','faces','true','0.0 0.0 100.0 1.0']
GenParamName := [GenParamName,'color_1','disp_pose_1','alpha']
GenParamValue := [GenParamValue,'red','false',.5]
ColorSytle := ['colored','color']
ColorValue := [12,'green']
*
* Compute the interection of a 3d object model with a plane
* successively with two different Object models.
* 计算三维物体模型与平面的垂直度
* 连续使用两个不同的对象模型。
for Index := 0 to |Files| - 1 by 1
*
* Read a 3d object model
* 读取3D 模型
read_object_model_3d (Files[Index], 'mm', [], [], ObjectModel3D, Status)
visualize_object_model_3d(WindowHandle3, ObjectModel3D, [], [], [], [], [], [], [], PoseOut)
*
* Compute the intersection of the object with the plane
* and calculate the connected components.
CurrentCutPlanePose := CutPlanePose[Index * 7:Index * 7 + 6]
count_seconds (Seconds)
* 计算相交平面
intersect_plane_object_model_3d (ObjectModel3D, CurrentCutPlanePose, ObjectModel3DIntersection)
*相交平面显示
visualize_object_model_3d(WindowHandle3, ObjectModel3DIntersection, [], PoseOut, [], [], [], [], [], PoseOut1)
count_seconds (Seconds1)
connection_object_model_3d (ObjectModel3DIntersection, 'lines', 1, ObjectModel3DConnected)
*
* Display results
* 显示结果
* Calculate plane extents for visualization
* 仿射运算
pose_invert (CurrentCutPlanePose, PoseInvert)
rigid_trans_object_model_3d (ObjectModel3DIntersection, PoseInvert, ObjectModel3DRigidTrans)
* 获取3D模型参数
get_object_model_3d_params (ObjectModel3DRigidTrans, 'bounding_box1', Param1)
X := [Param1[0] - Border[Index],Param1[0] - Border[Index],Param1[3] + Border[Index],Param1[3] + Border[Index]]
Y := [Param1[1] - Border[Index],Param1[4] + Border[Index],Param1[4] + Border[Index],Param1[1] - Border[Index]]
* Generate plane to visualize the intersecting plane
* 产生相交的平面
gen_plane_object_model_3d (CurrentCutPlanePose, X, Y, ObjectModel3DPlane)
* Visualize the scene
Message := ['Compute the intersection','of the object with the plane']
disp_object_model_3d_safe (WindowHandle1, [ObjectModel3D,ObjectModel3DPlane], CamParam, VisualizationPose[Index * 7:Index * 7 + 6], GenParamName, GenParamValue)
disp_message (WindowHandle1, Message, 'window', 12, 12, 'white', 'false')
* Display the intersection of the object with the plane
get_object_model_3d_params (ObjectModel3DIntersection, 'num_points', NumPoints)
if (NumPoints > 0)
disp_object_model_3d_safe (WindowHandle2, ObjectModel3DConnected, CamParam, PoseConnected[Index * 7:Index * 7 + 6], ['disp_lines',ColorSytle[Index]], ['true',ColorValue[Index]])
disp_message (WindowHandle2, 'Runtime = ' + ((Seconds1 - Seconds) * 1e3)$'.3' + ' ms', 'window', 12, 12, 'white', 'false')
else
Message := 'The intersection of the object with the plane is empty!'
disp_message (WindowHandle1, Message, 'window', 12, 12, 'white', 'false')
endif
*
* It is also possible to project the resulting 3D lines into the
* intersection plane and to convert these planar lines into XLD
* contours.
* 还可以将生成的三维线投影到
* 将这些平面线段转换为 XLD
* 轮廓线。
project_object_model_3d_lines_to_contour_xld (Intersection, CurrentCutPlanePose, ObjectModel3DIntersection)
* Depending on the scale and position of the 3D object, a
* transformation of the contours might be required for a suitable
* visualization. The transformation parameters are determinde based
* on the extent of the intersection contours.
* 根据三维物体的比例和位置，可能需要对轮廓进行变换，以获得合适的效果。
* 可能需要对轮廓线进行变换，以获得合适的
* 可视化。变换参数根据
* 根据交叉轮廓的范围来确定变换参数。
determine_transformation_parameters (Intersection, ImageHeight, ImageWidth, 0.1, HomMat2D)
affine_trans_contour_xld (Intersection, ContoursAffineTrans, HomMat2D)
*
if (Index < |Files| - 1)
disp_continue_message (WindowHandle2, 'black', 'true')
stop ()
endif
* Clean up memory
clear_object_model_3d ([ObjectModel3D,ObjectModel3DPlane,ObjectModel3DIntersection,ObjectModel3DRigidTrans,ObjectModel3DConnected])
endfor