public static Points_3D Union_object_model_3d(HTuple model)
{
HTuple unionedModel;
HOperatorSet.UnionObjectModel3d(model, "points_surface", out unionedModel);
Points_3D points_3D = new Points_3D(unionedModel);
HOperatorSet.ClearObjectModel3d(unionedModel);
return(points_3D);
}
public void a()
{
BoundingBox_3D a = new BoundingBox_3D(1);
var gbg = (HTuple)a;
Points_3D points1 = new Points_3D(1);
Points_3D points2 = new Points_3D(1);
ListPoints_3D listPoints_3D = new ListPoints_3D();
listPoints_3D.Register_object_model_3d_pair(points1, points2);
}
/**写代码注意事项：
* 0. 生成的临时的模型Htuple 需要及时释放
* **/
/**采样
* **/
private static Points_3D Sample_object_model_3d(HTuple model, SampleMethord methord = SampleMethord.accurate, double sampleDistance = 1, SampleParams para = SampleParams.min_num_points, int minNumPoints = 1)
{
HTuple m = BaseMethord.Enum2Htuple(methord);
HTuple p = BaseMethord.Enum2Htuple(para);
HTuple sampledModel;
HOperatorSet.SampleObjectModel3d(model, m, sampleDistance, p, minNumPoints, out sampledModel);
Points_3D points_3D = new Points_3D(sampledModel);
HOperatorSet.ClearObjectModel3d(sampledModel);
return(points_3D);
}
/**全局注册
* 返回一个融合好的模型
* **/
public Points_3D Register_object_model_3d_global()
{
HTuple HomMat3DRefined, Score;
HTuple modelHandle = GetModels();
HTuple poseHandle = Pose2Mat();
HOperatorSet.RegisterObjectModel3dGlobal(modelHandle, poseHandle, "previous",
new HTuple(), Enum2Htuple(GenParamName.max_num_iterations), 1, out HomMat3DRefined, out Score);
HTuple affinedModel = HalconWrapper.Affine_trans_object_model_3d(modelHandle, HomMat3DRefined);
Points_3D unionedPoints = HalconWrapper.Union_object_model_3d(affinedModel);
HOperatorSet.ClearObjectModel3d(affinedModel);
return(unionedPoints);
}
/**对输入的点云进行注册
* PreviousOM3 : 基准点云
* ObjectModel3D ： 需要配准的点云
* **/
public void Register_object_model_3d_pair(Points_3D ObjectModel3D, Points_3D PreviousOM3)
{
HTuple methord = Enum2Htuple(Methord.matching);
HTuple genParamName = Enum2Htuple(GenParamName.default_parameters);
HTuple genParamValue = Enum2Htuple(GenParamValue.accurate);
HTuple pose, score;
HOperatorSet.RegisterObjectModel3dPair
(ObjectModel3D.Pointclouds, PreviousOM3.Pointclouds, methord, genParamName, genParamValue, out pose, out score);
PairRegesterResult regesterResult = new PairRegesterResult();
regesterResult.pose = pose;
regesterResult.score = score;
//保存点云和变换矩阵
pairRegesters.Add(regesterResult);
if (registePointsList.Count == 0)
{
registePointsList.Add(PreviousOM3);
}
registePointsList.Add(ObjectModel3D);
}
public static Points_3D Sample_object_model_3d(Points_3D model, SampleMethord methord = SampleMethord.accurate, double sampleDistance = 1, SampleParams para = SampleParams.min_num_points, int minNumPoints = 1)
{
return(Sample_object_model_3d
(model.Pointclouds, methord, sampleDistance, para, minNumPoints));
}
/**拷贝当前点云
* 注意，这里只拷贝了当前点云，没有拷贝里面存储的配准点云
* **/
public Points_3D Copy()
{
Points_3D p = new Points_3D(this.Pointclouds);
return(p);
}
