The company can’t do it in half a year. The company has ideas, so the department leaders forced the employees to resign. In order to let us go, the company first issued various assessments, checked the performance of the previous month, and let me drop the department, and then increased the workload. , No, let me translate the 3D operator of halcon to PCL by myself.
create_pose
create_pose (0.1, 0.1, 0.1, 90, 80, 90, 'Rp+T', 'gba', 'point', Pose1)
read_object_model_3d
read_object_model_3d ('pipe_joint', 'm', [], [], ObjectModel3D, Status)
hom_mat3d_rotate
y-axis
X axis:
Z axis:
dev_update_off ()
dev_close_window ()
dev_open_window_fit_size (0, 0, 640, 480, [], [], WindowHandle)
set_display_font (WindowHandle, 16, 'mono', 'true', 'false')
create_pose (0.1, 0.1, 0.1, 90, 80, 90, 'Rp+T', 'gba', 'point', Pose1)
*
* Read 3D object model
read_object_model_3d ('pipe_joint', 'm', [], [], ObjectModel3D, Status)
*
Instructions[0] := 'Rotate: Left button'
Instructions[1] := 'Zoom: Shift + left button'
Instructions[2] := 'Move: Ctrl + left button'
*
gen_cam_par_area_scan_division (0.01, 0.0, 0.00001, 0.00001, 320, 240, 640, 480, CamParam)
hom_mat3d_identity (HomMat3DIdentity)
* 绕着Y轴旋转 0.78弧度
cos_r:=cos(0.78)
sin_r:=sin(0.78)
hom_mat3d_rotate (HomMat3DIdentity, 0.78, 'x', 0, 0, 0, HomMat3DRotate_X)
hom_mat3d_rotate (HomMat3DIdentity, 0.78, 'z', 0, 0, 0, HomMat3DRotate_Z)
* 绕着Y轴旋转，其平面是Z0X
hom_mat3d_rotate (HomMat3DIdentity, 0.78, 'y', 0, 0, 0, HomMat3DRotate)
*
affine_trans_object_model_3d (ObjectModel3D, HomMat3DRotate, ObjectModel3DAffineTrans)
*
visualize_object_model_3d (WindowHandle, ObjectModel3DAffineTrans, CamParam, [], ['color','disp_pose'], ['green','true'], 'A 3D object model', '', Instructions, Pose)
*
* Calculate the axis-aligned bounding box.
smallest_bounding_box_object_model_3d (ObjectModel3DAffineTrans, 'axis_aligned', PoseBox, Length1, Length2, Length3)
gen_box_object_model_3d (PoseBox, Length1, Length2, Length3, BoundingBoxes)
visualize_object_model_3d (WindowHandle, [ObjectModel3DAffineTrans,BoundingBoxes], CamParam, Pose, ['color_0','color_1','alpha_1','disp_pose'], ['green','yellow',0.5,'true'], 'Axis-aligned bounding boxes', '', Instructions, Pose)
*
* Calculate the oriented bounding box.
smallest_bounding_box_object_model_3d (ObjectModel3DAffineTrans, 'oriented', PoseBoxOri, Length1Ori, Length2Ori, Length3Ori)
gen_box_object_model_3d (PoseBoxOri, Length1Ori, Length2Ori, Length3Ori, BoundingBoxesOriented)
visualize_object_model_3d (WindowHandle, [ObjectModel3DAffineTrans,BoundingBoxesOriented], CamParam, Pose, ['color_0','color_1','alpha_1','disp_pose'], ['green','yellow',0.5,'true'], 'Oriented bounding boxes', '', Instructions, Pose)