* ******************************************************************** * 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