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