halcon三维点云数据处理（十五）xyz_attrib_to_object_model_3d

一、xyz_attrib_to_object_model_3d函数

将三维点从图像转换为三维对象模型，并为对象模型中的点云添加扩展属性。

xyz_attrib_to_object_model_3d(X, Y, Z, AttribImage : : AttribName : ObjectModel3D)

二、xyz_attrib_to_object_model_3d例程代码

//读深度图
dev_update_off ()
dev_close_window ()

read_image (Z, 'mreut_dgm_2.0.tif')
get_image_size (Z, Width, Height)
//读灰度图
read_image (AerialImage, 'mreut4_3.png')

auto_threshold (AerialImage, Regions, 4)
region_to_label (Regions, LabelImage, 'byte', Width, Height)
compose2 (AerialImage, LabelImage, MultiChannelAttribImage)
//创建X  Y  图像
GroundResolution := 2.0
gen_image_surface_first_order (X, 'real', 0, GroundResolution, 0, 0, 0, Width, Height)
gen_image_surface_first_order (Y, 'real', -GroundResolution, 0, 0, 0, 0, Width, Height)

AttribName := ['&gray', '&terrain']
xyz_attrib_to_object_model_3d (X, Y, Z, MultiChannelAttribImage, AttribName, ObjectModel3D)

dev_open_window (Height / 2, 0, Width / 2, Height / 2, 'black', WindowHandle1)
dev_set_part (0, 0, Height - 1, Width - 1)
set_display_font (WindowHandle1, 16, 'mono', 'true', 'false')
dev_set_color (['red', 'green', 'blue'])
dev_set_draw ('fill')
dev_display (Regions)
disp_message (WindowHandle1, 'Terrain types', 'window', 12, 12, 'black', 'true')
* 
dev_open_window (0, 0, Width / 2, Height / 2, 'black', WindowHandle2)
set_display_font (WindowHandle2, 16, 'mono', 'true', 'false')
dev_display (AerialImage)
disp_message (WindowHandle2, 'Aerial image', 'window', 12, 12, 'black', 'true')
* 
dev_open_window (0, Width / 2 + 8, Width, Height, 'gray', WindowHandle3)
set_display_font (WindowHandle3, 16, 'mono', 'true', 'false')
dev_display (Z)
* 
disp_message (WindowHandle3, 'Digital surface model', 'window', 12, 12, 'black', 'true')
disp_continue_message (WindowHandle3, 'black', 'true')
stop ()
* 
* Perform fast triangulation of the object model for better visualization.
prepare_object_model_3d (ObjectModel3D, 'segmentation', 'true', [], [])
* Visualize 3d object model interactively
create_pose (-620, -85, 17000, 135, 2, 10, 'Rp+T', 'gba', 'point', Pose)
Instructions := 'Rotate: Left button'
Instructions[1] := 'Zoom: Shift + left button'
Instructions[2] := 'Move: Ctrl + left button'
visualize_object_model_3d (WindowHandle3, ObjectModel3D, [], Pose, ['color_attrib', 'color_attrib_start', 'color_attrib_end'], ['&gray', 0, 255], ['Created 3D model', 'Attribute used for visualization: \'&gray\''], [], Instructions, PoseOut)
visualize_object_model_3d (WindowHandle3, ObjectModel3D, [], PoseOut, ['color_attrib', 'lut'], ['&terrain', 'color1'], ['Created 3D model', 'Attribute used for visualization: \'&terrain\''], [], Instructions, PoseOut)
disp_end_of_program_message (WindowHandle3, 'black', 'true')

AttribName := [‘&gray’, ‘&terrain’]
xyz_attrib_to_object_model_3d (X, Y, Z, MultiChannelAttribImage, AttribName, ObjectModel3D)
这里’&gray’对应灰度图像，‘&terrain’对应label图像
‘color_attrib’这里可以设置为’&gray’或者’&terrain’
visualize_object_model_3d (WindowHandle3, ObjectModel3D, [], Pose, [‘color_attrib’, ‘color_attrib_start’, ‘color_attrib_end’], [‘&gray’, 0, 255], [‘Created 3D model’, ‘Attribute used for visualization: ‘&gray’’], [], Instructions, PoseOut)
visualize_object_model_3d (WindowHandle3, ObjectModel3D, [], PoseOut, [‘color_attrib’, ‘lut’], [‘&terrain’, ‘color1’], [‘Created 3D model’, ‘Attribute used for visualization: ‘&terrain’’], [], Instructions, PoseOut)