原创网站源码,上海公共招聘网下载,安卓搭建网站,wordpress主题茶叶目录 一、locate_cylinder_3d例程代码二、gen_binocular_rectification_map函数三、binocular_disparity函数四、自定义函数select_best_candidates五、自定义函数remove_shadowed_regions 一、locate_cylinder_3d例程代码
1、读取或者创建3D形状模型#xff0c; 2、根据双目… 目录 一、locate_cylinder_3d例程代码二、gen_binocular_rectification_map函数三、binocular_disparity函数四、自定义函数select_best_candidates五、自定义函数remove_shadowed_regions 一、locate_cylinder_3d例程代码
1、读取或者创建3D形状模型 2、根据双目相机参数和图像获得校正后图像对的视差图。 3、
gen_cam_par_area_scan_division (0.00855613, -2579.17, 5.99979e-006, 6e-006, 399.681, 232.327, 752, 480, CamParamMatching)
gen_cam_par_area_scan_division (0.0121469, -2514.3, 9.30281e-006, 9.3e-006, 272.773, 273.689, 640, 512, CamParam1)
gen_cam_par_area_scan_division (0.0121592, -2687.76, 9.30085e-006, 9.3e-006, 302.665, 263.738, 640, 512, CamParam2)
create_pose (0.202198, 0.00177953, 0.0376427, 0.325733, 342.295, 359.167, RpT, gba, point, RelPose)
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, RelPose, 1, viewing_direction, bilinear, CamParamRect1, CamParamRect2, CamPoseRect1, CamPoseRect2, RelPoseRect)
*
file_exists (cylinder.sm3, FileExists)
if (FileExists)* Load the model from fileread_shape_model_3d (cylinder.sm3, ShapeModel3DID)
else* Recreate the model from the DXF fileread_object_model_3d (cylinder.dxf, mm, [], [], ObjectModel3DID, DxfStatus)prepare_object_model_3d (ObjectModel3DID, shape_based_matching_3d, true, [], [])create_shape_model_3d (ObjectModel3DID, CamParamMatching, rad(90), 0, 0, gba, 0, 0, 0, rad(45), 0, rad(360), 0.3, 0.45, 10, num_levels, 5, ShapeModel3DID)write_shape_model_3d (ShapeModel3DID, cylinder.sm3)
endif
*
for Index : 1 to 15 by 1* * emphasize() enhances the texture on the cylinders surfaceread_image (Image1, Path stereo_left_ Index$02)emphasize (Image1, ImageEmphasize1, 5, 5, 2)map_image (ImageEmphasize1, Map1, ImageMapped1)read_image (Image2, Path stereo_right_ Index$02)emphasize (Image2, ImageEmphasize2, 5, 5, 2)map_image (ImageEmphasize2, Map2, ImageMapped2)* * the mask width and height must be (approximately) set according to the size* of the pattern projected onto the setupbinocular_disparity (ImageMapped2, ImageMapped1, Disparity, Score, ncc, 7, 7, 0, -20, 140, 1, 0.7, left_right_check, none)select_best_candidates (Disparity, TopMost)remove_shadowed_regions (Disparity, 0.01)* * display height map and highest object extractedclear_window (WindowHandleL)dev_set_window (WindowHandle)dev_clear_window ()dev_display (ImageMapped2)dev_display (Disparity)wait_seconds (0.5)dev_display (TopMost)dev_display (Disparity)wait_seconds (0.5)* * determine exact 3D pose of highest objectdev_set_window (WindowHandleL)read_image (Image, Path closeup_ Index$02)dev_display (Image)find_shape_model_3d (Image, ShapeModel3DID, 0.8, 0.7, [0, 2], [], [], Pose, CovPose, Score_CTRL)if (|Score_CTRL| ! 0)dev_set_color (green)display_match_pose (ShapeModel3DID, Pose, WindowHandleL)elsedisp_message (WindowHandleL, No match found , window, 12, 12, black, true)endif* if (Index ! 15)disp_continue_message (WindowHandleL, black, true)endifstop ()
endfor
disp_message (WindowHandleL, Program finished \nPress \Run\ to clear the shape model, window, 1, 1, black, true)
stop ()
dev_close_window ()二、gen_binocular_rectification_map函数
生成变换映射描述双目相机对图像到公共校正图像平面的映射。
gen_binocular_rectification_map( : Map1, Map2 : CamParam1, CamParam2, RelPose, SubSampling, Method, MapType : CamParamRect1, CamParamRect2, CamPoseRect1, CamPoseRect2, RelPoseRect)三、binocular_disparity函数
使用相关技术计算校正图像对的视差
binocular_disparity(ImageRect1, ImageRect2 : Disparity, Score : Method, MaskWidth, MaskHeight, TextureThresh, MinDisparity, MaxDisparity, NumLevels, ScoreThresh, Filter, SubDisparity : )
四、自定义函数select_best_candidates
下面这段代码的功能是选取最上层的一个圆柱感觉非常经典逐句理解一下 full_domain 将图像的域ROI扩大到最大。 scale_image_max 灰度值范围minimummaximum 扩展到范围是0 255。 regiongrowing_n 对多通道图像使用区域生长来分割图像 intensity 计算灰度值的均值和偏差。 select_gray 根据灰度值特征选择区域。 select_shape借助形状特征选择区域。 min_max_gray确定区域内的最小和最大灰度值。 tuple_sort_index 对Tuple中的所有元素按升序排序 select_obj 选取图像
*
full_domain (Disparity, DisparityFull)
scale_image_max (DisparityFull, ImageScaleMax2)
gray_dilation_shape (ImageScaleMax2, ImageMax, 3, 3, octagon)
*
*
regiongrowing_n (ImageMax, cylinders, 2-norm, 0, 5, 200)
intensity (cylinders, ImageScaleMax2, Mean1, Deviation1)
tuple_max (Mean1, MaxVal)
select_gray (cylinders, ImageScaleMax2, SelectedRegions, mean, and, MaxVal / 2, MaxVal 1)
select_shape (SelectedRegions, SelectedRegions, [area, rectangularity], and, [7000, 0.65], [25000, 1.0])
intensity (SelectedRegions, ImageScaleMax2, Mean, Deviation)
*
min_max_gray (SelectedRegions, ImageScaleMax2, 0, Min, Max, Range)
tuple_sort_index (Max, Indices)
select_obj (SelectedRegions, TopMost, Indices[|Max| - 1] 1)
*
return ()五、自定义函数remove_shadowed_regions
对于每个3D相机遮挡和阴影都会产生非常高视差的小区域这将被理解为靠近相机的物体为了提高结果的质量我们删除了这些区域把高视差区域灰度设为0。
scale_image_max (Disparity, ImageScaleMax)
gray_histo (ImageScaleMax, ImageScaleMax, AbsoluteHisto, RelativeHisto)
Percent : RelativeHisto[255]
i : 254
while (Percent Threshold)Percent : RelativeHisto[i] Percenti : i - 1
endwhile
threshold (ImageScaleMax, Region, i, 255)
overpaint_region (Disparity, Region, 0.0, fill)
return ()
