目录
4 已知物体三维位姿识别 ........................................................................... 3
4.1 点的位姿估计 ............................................................................. 3
4.2 基于形状的 3D 匹配的误差估计 .............................................................. 7
4.2.1 形状匹配的一般过程 ................................................................. 7
4.2.2 强化基于形状的 3D 匹配 ............................................................. 11
4.2.3 问题处理的提示和技巧 .............................................................. 13
4.3 基于表面的 3D 匹配的位姿计算 ............................................................. 15
4.3.1 基于表面 3D 匹配的一般过程 ......................................................... 15
4.4 使用可变形的表面 3D 匹配进行位姿估计 ..................................................... 18
4.4.1 可变形的表面 3D 匹配的一般过程 ..................................................... 19
4.5 使用 3D 基元拟合进行位姿估计 ............................................................. 22
4.6 使用标定的投影变形匹配进行位姿估计 ...................................................... 25
4.7 使用标定的基于描述符的匹配进行位姿估计 .................................................. 26
4.8 圆的位姿估计 ............................................................................ 27
4.9 矩形位姿估计 ............................................................................ 27
部分 3D 算子 ..................................................................................... 28
3.3 Surface-Based ........................................................................... 28
clear_surface_matching_result ........................................................... 28
clear_surface_model ..................................................................... 28
create_surface_model .................................................................... 28
find_surface_model ...................................................................... 30
find_surface_model_image ................................................................ 36
get_surface_matching_result ............................................................. 38
get_surface_model_param ................................................................. 39
read_surface_model ...................................................................... 39
refine_surface_model_pose ............................................................... 40
refine_surface_model_pose_image ......................................................... 41
set_surface_model_param ................................................................. 42
write_surface_model ..................................................................... 43
4.1 Creation ................................................................................ 43
copy_object_model_3d .................................................................... 43
gen_box_object_model_3d ................................................................. 44
gen_cylinder_object_model_3d ............................................................ 45
gen_empty_object_model_3d ............................................................... 45
gen_object_model_3d_from_points ......................................................... 45
gen_plane_object_model_3d ............................................................... 46
gen_sphere_object_model_3d .............................................................. 46
gen_sphere_object_model_3d_center ....................................................... 46
read_object_model_3d .................................................................... 47
set_object_model_3d_attrib .............................................................. 50
set_object_model_3d_attrib_mod .......................................................... 52
union_object_model_3d ................................................................... 52
