{"id":49335,"date":"2025-07-30T17:30:19","date_gmt":"2025-07-30T09:30:19","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/49335.html"},"modified":"2025-07-30T17:30:19","modified_gmt":"2025-07-30T09:30:19","slug":"%e3%80%90%e4%b8%89%e7%bb%b4%e5%8c%b9%e9%85%8d%ef%bc%88%e5%9f%ba%e4%ba%8e%e8%a1%a8%e9%9d%a2%ef%bc%89%e6%a1%88%e4%be%8b%e3%80%91-%e7%ae%a1%e6%a1%a9%e5%a0%863d%e6%a3%80%e6%b5%8b%e7%b3%bb%e7%bb%9f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/49335.html","title":{"rendered":"\u3010\u4e09\u7ef4\u5339\u914d\uff08\u57fa\u4e8e\u8868\u9762\uff09\u6848\u4f8b\u3011--\u7ba1\u6869\u58063D\u68c0\u6d4b\u7cfb\u7edf"},"content":{"rendered":"

*<\/span>\u91cd\u5efa\u7ba1\u6869\u7684\u4e09\u7ef4\u8868\u9762
\n*<\/span>\u901a\u8fc7\u4f7f\u7528\u56db\u4e2a\u76f8\u4f3c\u7684\u591a\u89c6\u56fe\u7acb\u4f53\u8bbe\u7f6e\u6765\u8fde\u63a5\u5173\u8282
\n*<\/span>\u4f7f\u7528\u6444\u50cf\u5934\u68c0\u6d4b\u6bcf\u4e2a\u5173\u8282\u7684\u4f4d\u7f6e
\n*<\/span>\u57fa\u4e8e\u8868\u9762\u76843<\/span>D\u5339\u914d\u3002
\n*<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> Initializations:<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span>
\ndev_close_window<\/span> (<\/span>)<\/span>
\ndev_update_off<\/span> (<\/span>)<\/span>
\nImagePath :<\/span>=<\/span> '3d_machine_vision\/multi_view\/'<\/span>
\nImagePrefix :<\/span>=<\/span> 'multi_view_pipe_joints'<\/span>
\nread_image<\/span> (<\/span>Image,<\/span> ImagePath +<\/span> ImagePrefix +<\/span> '_cam_0_01'<\/span>)<\/span>
\nget_image_size<\/span> (<\/span>Image,<\/span> Width,<\/span> Height)<\/span>
\ndev_open_window_fit_image<\/span> (<\/span>Image,<\/span> 0<\/span>,<\/span> 0<\/span>,<\/span> –<\/span>1<\/span>,<\/span> –<\/span>1<\/span>,<\/span> WindowHandle)<\/span>
\ndev_open_window_fit_image<\/span> (<\/span>Image,<\/span> 0<\/span>,<\/span> Width +<\/span> 8<\/span>,<\/span> –<\/span>1<\/span>,<\/span> –<\/span>1<\/span>,<\/span> WindowHandle1)<\/span>
\nset_display_font<\/span> (<\/span>WindowHandle,<\/span> 16<\/span>,<\/span> 'mono'<\/span>,<\/span> 'true'<\/span>,<\/span> 'false'<\/span>)<\/span>
\nset_display_font<\/span> (<\/span>WindowHandle1,<\/span> 16<\/span>,<\/span> 'mono'<\/span>,<\/span> 'true'<\/span>,<\/span> 'false'<\/span>)<\/span>
\n*<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> Part 1<\/span>:<\/span> Initialize cameras,<\/span> get the parameters and poses of the cameras.<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span>
\ninit_camera_setup<\/span> (<\/span>CameraSetupModelID)<\/span>
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 'general'<\/span>,<\/span> 'num_cameras'<\/span>,<\/span> NumCameras)<\/span>
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 0<\/span>,<\/span> 'pose'<\/span>,<\/span> Pose0)<\/span>
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 0<\/span>,<\/span> 'params'<\/span>,<\/span> CamParam0)<\/span>
\n*<\/span>
\n*<\/span> Create a multi–<\/span>view stereo model,<\/span> initialize it,<\/span> and clear
\n*<\/span> the camera setup,<\/span> which is no longer required.<\/span>
\ncreate_stereo_model<\/span> (<\/span>CameraSetupModelID,<\/span> 'surface_pairwise'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> StereoModelID)<\/span>
\nclear_camera_setup_model<\/span> (<\/span>CameraSetupModelID)<\/span>
\n*<\/span> -><\/span> Interpolation aliasing by binocular image rectification.<\/span>
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'rectif_interpolation'<\/span>,<\/span> 'bilinear'<\/span>)<\/span>
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'rectif_sub_sampling'<\/span>,<\/span> 1.2<\/span>)<\/span>
\n*<\/span> -><\/span> Define camera pairs and bounding box.<\/span>
\nset_stereo_model_image_pairs<\/span> (<\/span>StereoModelID,<\/span> [<\/span>0<\/span>,<\/span>2<\/span>]<\/span>,<\/span> [<\/span>1<\/span>,<\/span>3<\/span>]<\/span>)<\/span>
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'bounding_box'<\/span>,<\/span> [<\/span>–<\/span>0.2<\/span>,<\/span>–<\/span>0.07<\/span>,<\/span>–<\/span>0.075<\/span>,<\/span>0.2<\/span>,<\/span>0.07<\/span>,<\/span>–<\/span>0.004<\/span>]<\/span>)<\/span>
\n*<\/span> -><\/span> Subsampling X,<\/span> Y,<\/span> Z
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'sub_sampling_step'<\/span>,<\/span> 3<\/span>)<\/span>
\n*<\/span> -><\/span> Binocular disparity parameters.<\/span>
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'binocular_filter'<\/span>,<\/span> 'left_right_check'<\/span>)<\/span>
\n*<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> Part 2<\/span>:<\/span> Create a surface model of the pipe fittings to be matched.<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\nread_object_model_3d<\/span> (<\/span>'pipe_joint'<\/span>,<\/span> 'm'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> PipeJointOM3DID,<\/span> Status)<\/span>
\ncreate_surface_model<\/span> (<\/span>PipeJointOM3DID,<\/span> 0.03<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> PipeJointSMID)<\/span>
\n*<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> Part 3<\/span>:<\/span> Reconstruct the surface of the pile of pipe fittings
\n*<\/span> and detect the position of up to MaxNumParts by using
\n*<\/span> surface–<\/span>based 3<\/span>D matching.<\/span>
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\nNumMatches :<\/span>=<\/span> 5<\/span>
\nMinScore :<\/span>=<\/span> .33<\/span>
\nParams :<\/span>=<\/span> [<\/span>'num_matches'<\/span>,<\/span>'pose_ref_scoring_dist_rel'<\/span>,<\/span>'scene_normal_computation'<\/span>]<\/span>
\nValues :<\/span>=<\/span> [<\/span>NumMatches,<\/span>0.02<\/span>,<\/span>'mls'<\/span>]<\/span>
\nInstructions[<\/span>0<\/span>]<\/span> :<\/span>=<\/span> 'Rotate: Left button'<\/span>
\nInstructions[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> 'Zoom: Shift + left button'<\/span>
\nInstructions[<\/span>2<\/span>]<\/span> :<\/span>=<\/span> 'Move: Ctrl + left button'<\/span>
\n*<\/span>
\npose_invert<\/span> (<\/span>Pose0,<\/span> WorldPose0)<\/span>
\n*<\/span>
\ngen_empty_obj<\/span> (<\/span>EmptyObject)<\/span>
\nNumImages :<\/span>=<\/span> 15<\/span>
\nfor<\/span> Index :<\/span>=<\/span> 1<\/span> to NumImages by 1<\/span>
\n *<\/span>
\n *<\/span> Read and display the images.<\/span>
\n read_multi_view_stereo_images<\/span> (<\/span>Images,<\/span> ImagePath,<\/span> ImagePrefix,<\/span> Index,<\/span> NumCameras)<\/span>
\n *<\/span>
\n *<\/span> Reconstruct the 3<\/span>D scene<\/span> (<\/span>the pile of pipe fittings)<\/span>.<\/span>
\n display_multi_view_stereo_images<\/span> (<\/span>Images,<\/span> WindowHandle)<\/span>
\n Message :<\/span>=<\/span> 'Images for reconstruction'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n count_seconds<\/span> (<\/span>T0)<\/span>
\n reconstruct_surface_stereo<\/span> (<\/span>Images,<\/span> StereoModelID,<\/span> PipeJointPileOM3DID)<\/span>
\n count_seconds<\/span> (<\/span>T1)<\/span>
\n ReconsTime :<\/span>=<\/span> T1 –<\/span> T0
\n *<\/span>
\n create_pose<\/span> (<\/span>0.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.5<\/span>,<\/span> –<\/span>30<\/span>,<\/span> 0<\/span>,<\/span> 180<\/span>,<\/span> 'Rp+T'<\/span>,<\/span> 'gba'<\/span>,<\/span> 'point'<\/span>,<\/span> PoseIn)<\/span>
\n if<\/span> (<\/span>Index ==<\/span> 1<\/span>)<\/span>
\n visualize_object_model_3d<\/span> (<\/span>WindowHandle1,<\/span> PipeJointPileOM3DID,<\/span> CamParam0,<\/span> PoseIn,<\/span> [<\/span>'color'<\/span>,<\/span>'point_size'<\/span>]<\/span>,<\/span> [<\/span>'yellow'<\/span>,<\/span>1<\/span>]<\/span>,<\/span> 'Reconstructed scene in '<\/span> +<\/span> ReconsTime$'.3'<\/span> +<\/span> ' s'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> Instructions,<\/span> PoseOut)<\/span>
\n endif
\n *<\/span>
\n *<\/span> Perform surface–<\/span>based 3<\/span>D matching.<\/span>
\n Message[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> 'Search best parts with surface based matching…'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n count_seconds<\/span> (<\/span>T2)<\/span>
\n find_surface_model<\/span> (<\/span>PipeJointSMID,<\/span> PipeJointPileOM3DID,<\/span> 0.03<\/span>,<\/span> 0.05<\/span>,<\/span> MinScore,<\/span> 'false'<\/span>,<\/span> Params,<\/span> Values,<\/span> Poses,<\/span> Scores,<\/span> SurfaceMatchingResultID)<\/span>
\n count_seconds<\/span> (<\/span>T3)<\/span>
\n MatchingDiff :<\/span>=<\/span> T3 –<\/span> T2
\n *<\/span>
\n *<\/span> Display the results.<\/span>
\n set_system<\/span> (<\/span>'flush_graphic'<\/span>,<\/span> 'false'<\/span>)<\/span>
\n select_obj<\/span> (<\/span>Images,<\/span> Img,<\/span> 1<\/span>)<\/span>
\n dev_set_part<\/span> (<\/span>0<\/span>,<\/span> 0<\/span>,<\/span> Height –<\/span> 1<\/span>,<\/span> Width –<\/span> 1<\/span>)<\/span>
\n dev_set_window<\/span> (<\/span>WindowHandle1)<\/span>
\n dev_display<\/span> (<\/span>Img)<\/span>
\n for<\/span> MatchIndex :<\/span>=<\/span> 0<\/span> to |<\/span>Scores|<\/span> –<\/span> 1<\/span> by 1<\/span>
\n PoseObjInWorld :<\/span>=<\/span> Poses[<\/span>MatchIndex *<\/span> 7<\/span>:<\/span>(<\/span>MatchIndex *<\/span> 7<\/span>)<\/span> +<\/span> 6<\/span>]<\/span>
\n pose_invert<\/span> (<\/span>PoseObjInWorld,<\/span> PoseWorldInObj)<\/span>
\n pose_compose<\/span> (<\/span>PoseWorldInObj,<\/span> Pose0,<\/span> PoseCamInObj)<\/span>
\n pose_invert<\/span> (<\/span>PoseCamInObj,<\/span> ObjPoseInCam0)<\/span>
\n *<\/span> Display the coordinate system of the part.<\/span>
\n dev_set_colored<\/span> (<\/span>3<\/span>)<\/span>
\n dev_set_line_width<\/span> (<\/span>3<\/span>)<\/span>
\n disp_3d_coord_system<\/span> (<\/span>WindowHandle1,<\/span> CamParam0,<\/span> ObjPoseInCam0,<\/span> 0.03<\/span>)<\/span>
\n *<\/span> Display the faces of the part.<\/span>
\n rigid_trans_object_model_3d<\/span> (<\/span>PipeJointOM3DID,<\/span> PoseObjInWorld,<\/span> ObjectModel3DRigidTrans)<\/span>
\n project_object_model_3d<\/span> (<\/span>ModelContours,<\/span> ObjectModel3DRigidTrans,<\/span> CamParam0,<\/span> WorldPose0,<\/span> [<\/span>'data'<\/span>,<\/span>'hidden_surface_removal'<\/span>]<\/span>,<\/span> [<\/span>'faces'<\/span>,<\/span>'true'<\/span>]<\/span>)<\/span>
\n dev_set_line_width<\/span> (<\/span>2<\/span>)<\/span>
\n dev_set_color<\/span> (<\/span>'green'<\/span>)<\/span>
\n dev_display<\/span> (<\/span>ModelContours)<\/span>
\n *<\/span>
\n clear_object_model_3d<\/span> (<\/span>ObjectModel3DRigidTrans)<\/span>
\n endfor
\n set_system<\/span> (<\/span>'flush_graphic'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n *<\/span>
\n Message :<\/span>=<\/span> 'Reconstruction: '<\/span> +<\/span> ReconsTime$'.2f'<\/span> +<\/span> ' s'<\/span>
\n Message[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> 'Found '<\/span> +<\/span> |<\/span>Scores|<\/span> +<\/span> ' pipe joint(s) in '<\/span> +<\/span> MatchingDiff$'.2f'<\/span> +<\/span> ' s'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle1,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n disp_message<\/span> (<\/span>WindowHandle1,<\/span> 'Camera 0'<\/span>,<\/span> 'window'<\/span>,<\/span> Height –<\/span> 36<\/span>,<\/span> 12<\/span>,<\/span> 'white'<\/span>,<\/span> 'false'<\/span>)<\/span>
\n if<\/span> (<\/span>Index <<\/span> NumImages)<\/span>
\n disp_continue_message<\/span> (<\/span>WindowHandle1,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n stop<\/span> (<\/span>)<\/span>
\n endif
\n *<\/span>
\n *<\/span> Clear the 3<\/span>D object model.<\/span>
\n clear_object_model_3d<\/span> (<\/span>PipeJointPileOM3DID)<\/span>
\nendfor
\n*<\/span>
\n*<\/span> Clear the stereo model and the surface model.<\/span>
\nclear_stereo_model<\/span> (<\/span>StereoModelID)<\/span>
\nclear_surface_model<\/span> (<\/span>PipeJointSMID)<\/span>
\nclear_object_model_3d<\/span> (<\/span>PipeJointOM3DID)<\/span><\/p>\n

\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
\n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
\n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

\u7ba1\u6869\u58063D\u68c0\u6d4b\u7cfb\u7edf\u5b8c\u6574\u6ce8\u91ca<\/h4>\n

*<\/span> \u5173\u95ed\u7a97\u53e3\u548c\u66f4\u65b0
\ndev_close_window<\/span> (<\/span>)<\/span>
\ndev_update_off<\/span> (<\/span>)<\/span>
\n*<\/span> \u8bbe\u7f6e\u56fe\u50cf\u8def\u5f84\u548c\u524d\u7f00
\nImagePath :<\/span>=<\/span> '3d_machine_vision\/multi_view\/'<\/span>
\nImagePrefix :<\/span>=<\/span> 'multi_view_pipe_joints'<\/span>
\n*<\/span> \u8bfb\u53d6\u56fe\u50cf\u83b7\u53d6\u5c3a\u5bf8
\nread_image<\/span> (<\/span>Image,<\/span> ImagePath +<\/span> ImagePrefix +<\/span> '_cam_0_01'<\/span>)<\/span>
\nget_image_size<\/span> (<\/span>Image,<\/span> Width,<\/span> Height)<\/span>
\n*<\/span> \u521b\u5efa\u4e24\u4e2a\u663e\u793a\u7a97\u53e3
\ndev_open_window_fit_image<\/span> (<\/span>Image,<\/span> 0<\/span>,<\/span> 0<\/span>,<\/span> –<\/span>1<\/span>,<\/span> –<\/span>1<\/span>,<\/span> WindowHandle)<\/span>
\ndev_open_window_fit_image<\/span> (<\/span>Image,<\/span> 0<\/span>,<\/span> Width +<\/span> 8<\/span>,<\/span> –<\/span>1<\/span>,<\/span> –<\/span>1<\/span>,<\/span> WindowHandle1)<\/span>
\n*<\/span> \u8bbe\u7f6e\u7a97\u53e3\u5b57\u4f53
\nset_display_font<\/span> (<\/span>WindowHandle,<\/span> 16<\/span>,<\/span> 'mono'<\/span>,<\/span> 'true'<\/span>,<\/span> 'false'<\/span>)<\/span>
\nset_display_font<\/span> (<\/span>WindowHandle1,<\/span> 16<\/span>,<\/span> 'mono'<\/span>,<\/span> 'true'<\/span>,<\/span> 'false'<\/span>)<\/span><\/p>\n

*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> \u7b2c\u4e00\u90e8\u5206：\u521d\u59cb\u5316\u76f8\u673a，\u83b7\u53d6\u53c2\u6570\u548c\u4f4d\u59ff
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span><\/p>\n

*<\/span> \u521d\u59cb\u5316\u76f8\u673a\u8bbe\u7f6e\u6a21\u578b
\ninit_camera_setup<\/span> (<\/span>CameraSetupModelID)<\/span>
\n*<\/span> \u83b7\u53d6\u76f8\u673a\u6570\u91cf
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 'general'<\/span>,<\/span> 'num_cameras'<\/span>,<\/span> NumCameras)<\/span>
\n*<\/span> \u83b7\u53d6\u7b2c\u4e00\u4e2a\u76f8\u673a\u7684\u4f4d\u59ff\u548c\u53c2\u6570
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 0<\/span>,<\/span> 'pose'<\/span>,<\/span> Pose0)<\/span>
\nget_camera_setup_param<\/span> (<\/span>CameraSetupModelID,<\/span> 0<\/span>,<\/span> 'params'<\/span>,<\/span> CamParam0)<\/span><\/p>\n

*<\/span> \u521b\u5efa\u591a\u89c6\u89d2\u7acb\u4f53\u6a21\u578b
\ncreate_stereo_model<\/span> (<\/span>CameraSetupModelID,<\/span> 'surface_pairwise'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> StereoModelID)<\/span>
\n*<\/span> \u6e05\u7406\u76f8\u673a\u8bbe\u7f6e\u6a21\u578b（\u4e0d\u518d\u9700\u8981）
\nclear_camera_setup_model<\/span> (<\/span>CameraSetupModelID)<\/span><\/p>\n

*<\/span> \u8bbe\u7f6e\u7acb\u4f53\u6a21\u578b\u53c2\u6570
\n*<\/span> -><\/span> \u53cc\u76ee\u6821\u6b63\u63d2\u503c\u65b9\u6cd5
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'rectif_interpolation'<\/span>,<\/span> 'bilinear'<\/span>)<\/span>
\n*<\/span> -><\/span> \u6821\u6b63\u5b50\u91c7\u6837
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'rectif_sub_sampling'<\/span>,<\/span> 1.2<\/span>)<\/span>
\n*<\/span> -><\/span> \u5b9a\u4e49\u76f8\u673a\u5bf9
\nset_stereo_model_image_pairs<\/span> (<\/span>StereoModelID,<\/span> [<\/span>0<\/span>,<\/span>2<\/span>]<\/span>,<\/span> [<\/span>1<\/span>,<\/span>3<\/span>]<\/span>)<\/span>
\n*<\/span> -><\/span> \u8bbe\u7f6e\u91cd\u5efa\u8fb9\u754c\u6846
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'bounding_box'<\/span>,<\/span> [<\/span>–<\/span>0.2<\/span>,<\/span>–<\/span>0.07<\/span>,<\/span>–<\/span>0.075<\/span>,<\/span>0.2<\/span>,<\/span>0.07<\/span>,<\/span>–<\/span>0.004<\/span>]<\/span>)<\/span>
\n*<\/span> -><\/span> \u8bbe\u7f6eXYZ\u65b9\u5411\u5b50\u91c7\u6837\u6b65\u957f
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'sub_sampling_step'<\/span>,<\/span> 3<\/span>)<\/span>
\n*<\/span> -><\/span> \u8bbe\u7f6e\u53cc\u76ee\u89c6\u5dee\u6ee4\u6ce2
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'binocular_filter'<\/span>,<\/span> 'left_right_check'<\/span>)<\/span><\/p>\n

*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> \u7b2c\u4e8c\u90e8\u5206：\u521b\u5efa\u7ba1\u63a5\u5934\u7684\u8868\u9762\u6a21\u578b
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span><\/p>\n

*<\/span> \u8bfb\u53d6\u7ba1\u63a5\u59343<\/span>D\u6a21\u578b(<\/span>\u5355\u4f4d：\u7c73)<\/span>
\nread_object_model_3d<\/span> (<\/span>'pipe_joint'<\/span>,<\/span> 'm'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> PipeJointOM3DID,<\/span> Status)<\/span>
\n*<\/span> \u521b\u5efa\u8868\u9762\u5339\u914d\u6a21\u578b(<\/span>\u91c7\u6837\u8ddd\u79bb0.03<\/span>m)<\/span>
\ncreate_surface_model<\/span> (<\/span>PipeJointOM3DID,<\/span> 0.03<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> PipeJointSMID)<\/span><\/p>\n

*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> \u7b2c\u4e09\u90e8\u5206：\u91cd\u5efa\u7ba1\u63a5\u5934\u5806\u8868\u9762
\n*<\/span> \u5e76\u4f7f\u7528\u57fa\u4e8e\u8868\u9762\u76843<\/span>D\u5339\u914d\u68c0\u6d4b\u4f4d\u7f6e
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span><\/p>\n

*<\/span> \u8bbe\u7f6e\u5339\u914d\u53c2\u6570
\nNumMatches :<\/span>=<\/span> 5<\/span> \/\/ \u6700\u5927\u5339\u914d\u6570\u91cf<\/span>
\nMinScore :<\/span>=<\/span> 0.33<\/span> \/\/ \u6700\u5c0f\u5339\u914d\u5206\u6570<\/span>
\n*<\/span> \u67e5\u627e\u8868\u9762\u6a21\u578b\u7684\u53c2\u6570
\nParams :<\/span>=<\/span> [<\/span>'num_matches'<\/span>,<\/span>'pose_ref_scoring_dist_rel'<\/span>,<\/span>'scene_normal_computation'<\/span>]<\/span>
\nValues :<\/span>=<\/span> [<\/span>NumMatches,<\/span>0.02<\/span>,<\/span>'mls'<\/span>]<\/span>
\n*<\/span> 3<\/span>D\u89c6\u56fe\u64cd\u4f5c\u8bf4\u660e
\nInstructions[<\/span>0<\/span>]<\/span> :<\/span>=<\/span> '\u65cb\u8f6c: \u9f20\u6807\u5de6\u952e'<\/span>
\nInstructions[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> '\u7f29\u653e: Shift + \u5de6\u952e'<\/span>
\nInstructions[<\/span>2<\/span>]<\/span> :<\/span>=<\/span> '\u79fb\u52a8: Ctrl + \u5de6\u952e'<\/span><\/p>\n

*<\/span> \u8ba1\u7b97\u4e16\u754c\u5750\u6807\u7cfb\u76f8\u5bf9\u4e8e\u76f8\u673a0<\/span>\u7684\u4f4d\u59ff
\npose_invert<\/span> (<\/span>Pose0,<\/span> WorldPose0)<\/span><\/p>\n

*<\/span> \u521b\u5efa\u7a7a\u5bf9\u8c61
\ngen_empty_obj<\/span> (<\/span>EmptyObject)<\/span>
\nNumImages :<\/span>=<\/span> 15<\/span> \/\/ \u5904\u7406\u7684\u56fe\u50cf\u5e8f\u5217\u6570\u91cf<\/span>
\n*<\/span> \u5faa\u73af\u5904\u7406\u6240\u6709\u56fe\u50cf\u5e8f\u5217
\nfor<\/span> Index :<\/span>=<\/span> 1<\/span> to NumImages by 1<\/span><\/p>\n

*<\/span> \u8bfb\u53d6\u5e76\u663e\u793a\u591a\u89c6\u89d2\u56fe\u50cf
\n read_multi_view_stereo_images<\/span> (<\/span>Images,<\/span> ImagePath,<\/span> ImagePrefix,<\/span> Index,<\/span> NumCameras)<\/span><\/p>\n

*<\/span> \u91cd\u5efa3<\/span>D\u573a\u666f(<\/span>\u7ba1\u63a5\u5934\u5806)<\/span>
\n display_multi_view_stereo_images<\/span> (<\/span>Images,<\/span> WindowHandle)<\/span> \/\/ \u663e\u793a\u591a\u89c6\u89d2\u56fe\u50cf<\/span>
\n Message :<\/span>=<\/span> '\u7528\u4e8e\u91cd\u5efa\u7684\u56fe\u50cf'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n *<\/span> \u8ba1\u65f6\u5f00\u59cb\u91cd\u5efa
\n count_seconds<\/span> (<\/span>T0)<\/span>
\n *<\/span> \u6267\u884c\u8868\u9762\u91cd\u5efa
\n reconstruct_surface_stereo<\/span> (<\/span>Images,<\/span> StereoModelID,<\/span> PipeJointPileOM3DID)<\/span>
\n count_seconds<\/span> (<\/span>T1)<\/span>
\n ReconsTime :<\/span>=<\/span> T1 –<\/span> T0 \/\/ \u8ba1\u7b97\u91cd\u5efa\u65f6\u95f4<\/span><\/p>\n

*<\/span> \u521b\u5efa\u521d\u59cb\u89c6\u89d2
\n create_pose<\/span> (<\/span>0.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.5<\/span>,<\/span> –<\/span>30<\/span>,<\/span> 0<\/span>,<\/span> 180<\/span>,<\/span> 'Rp+T'<\/span>,<\/span> 'gba'<\/span>,<\/span> 'point'<\/span>,<\/span> PoseIn)<\/span>
\n *<\/span> \u7b2c\u4e00\u4e2a\u56fe\u50cf\u5e8f\u5217\u53ef\u89c6\u5316\u91cd\u5efa\u7ed3\u679c
\n if<\/span> (<\/span>Index ==<\/span> 1<\/span>)<\/span>
\n visualize_object_model_3d<\/span> (<\/span>WindowHandle1,<\/span> PipeJointPileOM3DID,<\/span> CamParam0,<\/span> PoseIn,<\/span>
\n [<\/span>'color'<\/span>,<\/span>'point_size'<\/span>]<\/span>,<\/span> [<\/span>'yellow'<\/span>,<\/span>1<\/span>]<\/span>,<\/span>
\n '\u91cd\u5efa\u573a\u666f\u7528\u65f6 '<\/span> +<\/span> ReconsTime$'.3'<\/span> +<\/span> ' \u79d2'<\/span>,<\/span>
\n [<\/span>]<\/span>,<\/span> Instructions,<\/span> PoseOut)<\/span>
\n endif<\/p>\n

*<\/span> \u6267\u884c\u57fa\u4e8e\u8868\u9762\u76843<\/span>D\u5339\u914d
\n Message[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> '\u4f7f\u7528\u8868\u9762\u5339\u914d\u641c\u7d22\u6700\u4f18\u7684\u7ba1\u63a5\u5934…'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n *<\/span> \u8ba1\u65f6\u5f00\u59cb\u5339\u914d
\n count_seconds<\/span> (<\/span>T2)<\/span>
\n *<\/span> \u5728\u91cd\u5efa\u573a\u666f\u4e2d\u67e5\u627e\u7ba1\u63a5\u5934\u6a21\u578b
\n find_surface_model<\/span> (<\/span>PipeJointSMID,<\/span> PipeJointPileOM3DID,<\/span> 0.03<\/span>,<\/span> 0.05<\/span>,<\/span> MinScore,<\/span>
\n 'false'<\/span>,<\/span> Params,<\/span> Values,<\/span> Poses,<\/span> Scores,<\/span> SurfaceMatchingResultID)<\/span>
\n count_seconds<\/span> (<\/span>T3)<\/span>
\n MatchingDiff :<\/span>=<\/span> T3 –<\/span> T2 \/\/ \u8ba1\u7b97\u5339\u914d\u65f6\u95f4<\/span><\/p>\n

*<\/span> \u663e\u793a\u68c0\u6d4b\u7ed3\u679c
\n set_system<\/span> (<\/span>'flush_graphic'<\/span>,<\/span> 'false'<\/span>)<\/span> \/\/ \u4e34\u65f6\u5173\u95ed\u56fe\u5f62\u5237\u65b0<\/span>
\n *<\/span> \u9009\u62e9\u7b2c\u4e00\u4e2a\u76f8\u673a\u56fe\u50cf
\n select_obj<\/span> (<\/span>Images,<\/span> Img,<\/span> 1<\/span>)<\/span>
\n dev_set_part<\/span> (<\/span>0<\/span>,<\/span> 0<\/span>,<\/span> Height –<\/span> 1<\/span>,<\/span> Width –<\/span> 1<\/span>)<\/span>
\n dev_set_window<\/span> (<\/span>WindowHandle1)<\/span>
\n dev_display<\/span> (<\/span>Img)<\/span> \/\/ \u663e\u793a\u76f8\u673a0\u56fe\u50cf<\/span><\/p>\n

*<\/span> \u5904\u7406\u6bcf\u4e2a\u5339\u914d\u7ed3\u679c
\n for<\/span> MatchIndex :<\/span>=<\/span> 0<\/span> to |<\/span>Scores|<\/span> –<\/span> 1<\/span> by 1<\/span>
\n *<\/span> \u8ba1\u7b97\u5bf9\u8c61\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u59ff
\n PoseObjInWorld :<\/span>=<\/span> Poses[<\/span>MatchIndex *<\/span> 7<\/span>:<\/span>(<\/span>MatchIndex *<\/span> 7<\/span>)<\/span> +<\/span> 6<\/span>]<\/span>
\n pose_invert<\/span> (<\/span>PoseObjInWorld,<\/span> PoseWorldInObj)<\/span>
\n pose_compose<\/span> (<\/span>PoseWorldInObj,<\/span> Pose0,<\/span> PoseCamInObj)<\/span>
\n pose_invert<\/span> (<\/span>PoseCamInObj,<\/span> ObjPoseInCam0)<\/span><\/p>\n

*<\/span> \u5728\u56fe\u50cf\u4e2d\u663e\u793a\u5750\u6807\u7cfb
\n dev_set_colored<\/span> (<\/span>3<\/span>)<\/span>
\n dev_set_line_width<\/span> (<\/span>3<\/span>)<\/span>
\n disp_3d_coord_system<\/span> (<\/span>WindowHandle1,<\/span> CamParam0,<\/span> ObjPoseInCam0,<\/span> 0.03<\/span>)<\/span><\/p>\n

*<\/span> \u663e\u793a\u7ba1\u63a5\u5934\u76843<\/span>D\u6a21\u578b\u8f6e\u5ed3
\n rigid_trans_object_model_3d<\/span> (<\/span>PipeJointOM3DID,<\/span> PoseObjInWorld,<\/span> ObjectModel3DRigidTrans)<\/span>
\n *<\/span> \u6295\u5f713<\/span>D\u6a21\u578b\u52302<\/span>D\u56fe\u50cf
\n project_object_model_3d<\/span> (<\/span>ModelContours,<\/span> ObjectModel3DRigidTrans,<\/span> CamParam0,<\/span> WorldPose0,<\/span>
\n [<\/span>'data'<\/span>,<\/span>'hidden_surface_removal'<\/span>]<\/span>,<\/span> [<\/span>'faces'<\/span>,<\/span>'true'<\/span>]<\/span>)<\/span>
\n dev_set_line_width<\/span> (<\/span>2<\/span>)<\/span>
\n dev_set_color<\/span> (<\/span>'green'<\/span>)<\/span>
\n dev_display<\/span> (<\/span>ModelContours)<\/span><\/p>\n

*<\/span> \u6e05\u7406\u4e34\u65f6\u6a21\u578b
\n clear_object_model_3d<\/span> (<\/span>ObjectModel3DRigidTrans)<\/span>
\n endfor
\n set_system<\/span> (<\/span>'flush_graphic'<\/span>,<\/span> 'true'<\/span>)<\/span> \/\/ \u6062\u590d\u56fe\u5f62\u5237\u65b0<\/span><\/p>\n

*<\/span> \u663e\u793a\u6027\u80fd\u4fe1\u606f
\n Message :<\/span>=<\/span> '\u91cd\u5efa\u65f6\u95f4: '<\/span> +<\/span> ReconsTime$'.2f'<\/span> +<\/span> ' \u79d2'<\/span>
\n Message[<\/span>1<\/span>]<\/span> :<\/span>=<\/span> '\u627e\u5230 '<\/span> +<\/span> |<\/span>Scores|<\/span> +<\/span> ' \u4e2a\u7ba1\u63a5\u5934，\u7528\u65f6 '<\/span> +<\/span> MatchingDiff$'.2f'<\/span> +<\/span> ' \u79d2'<\/span>
\n disp_message<\/span> (<\/span>WindowHandle1,<\/span> Message,<\/span> 'window'<\/span>,<\/span> 12<\/span>,<\/span> 12<\/span>,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n disp_message<\/span> (<\/span>WindowHandle1,<\/span> '\u76f8\u673a 0'<\/span>,<\/span> 'window'<\/span>,<\/span> Height –<\/span> 36<\/span>,<\/span> 12<\/span>,<\/span> 'white'<\/span>,<\/span> 'false'<\/span>)<\/span><\/p>\n

*<\/span> \u6682\u505c\u6216\u7ee7\u7eed
\n if<\/span> (<\/span>Index <<\/span> NumImages)<\/span>
\n disp_continue_message<\/span> (<\/span>WindowHandle1,<\/span> 'black'<\/span>,<\/span> 'true'<\/span>)<\/span>
\n stop<\/span> (<\/span>)<\/span>
\n endif<\/p>\n

*<\/span> \u6e05\u7406\u5f53\u524d3<\/span>D\u5bf9\u8c61\u6a21\u578b
\n clear_object_model_3d<\/span> (<\/span>PipeJointPileOM3DID)<\/span>
\nendfor<\/p>\n

*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>
\n*<\/span> \u6700\u7ec8\u6e05\u7406
\n*<\/span> *<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span>*<\/span><\/p>\n

*<\/span> \u6e05\u7406\u7acb\u4f53\u6a21\u578b\u3001\u8868\u9762\u6a21\u578b\u548c\u5bf9\u8c61\u6a21\u578b
\nclear_stereo_model<\/span> (<\/span>StereoModelID)<\/span>
\nclear_surface_model<\/span> (<\/span>PipeJointSMID)<\/span>
\nclear_object_model_3d<\/span> (<\/span>PipeJointOM3DID)<\/span><\/p>\n

\u6838\u5fc3\u529f\u80fd\u4ee3\u7801（\u5e26\u8be6\u7ec6\u6ce8\u91ca）<\/h4>\n

*<\/span> ==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span> \u7ba1\u6869\u58063<\/span>D\u68c0\u6d4b\u6838\u5fc3\u529f\u80fd ==<\/span>==<\/span>==<\/span>==<\/span>==<\/span>==<\/span><\/p>\n

*<\/span> 1.<\/span> \u76f8\u673a\u914d\u7f6e\u4e0e\u7acb\u4f53\u6a21\u578b\u8bbe\u7f6e
\ninit_camera_setup<\/span> (<\/span>CamSetupID)<\/span> \/\/ \u521d\u59cb\u5316\u76f8\u673a\u914d\u7f6e<\/span>
\nget_camera_setup_param<\/span> (<\/span>CamSetupID,<\/span> 0<\/span>,<\/span> 'pose'<\/span>,<\/span> Cam0Pose)<\/span> \/\/ \u83b7\u53d6\u4f4d\u59ff<\/span>
\n*<\/span> \u521b\u5efa\u591a\u89c6\u89d2\u7acb\u4f53\u6a21\u578b(<\/span>\u8868\u9762\u76f8\u4e92\u65b9\u6cd5)<\/span>
\ncreate_stereo_model<\/span> (<\/span>CamSetupID,<\/span> 'surface_pairwise'<\/span>,<\/span> [<\/span>]<\/span>,<\/span> [<\/span>]<\/span>,<\/span> StereoModelID)<\/span>
\n*<\/span> \u8bbe\u7f6e\u5173\u952e\u53c2\u6570
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'bounding_box'<\/span>,<\/span> [<\/span>–<\/span>0.2<\/span>,<\/span>–<\/span>0.07<\/span>,<\/span>–<\/span>0.075<\/span>,<\/span>0.2<\/span>,<\/span>0.07<\/span>,<\/span>–<\/span>0.004<\/span>]<\/span>)<\/span>
\nset_stereo_model_param<\/span> (<\/span>StereoModelID,<\/span> 'sub_sampling_step'<\/span>,<\/span> 3<\/span>)<\/span> \/\/ XYZ\u65b9\u5411\u91c7\u6837\u6b65\u957f<\/span>
\nset_stereo_model_image_pairs<\/span> (<\/span>StereoModelID,<\/span> [<\/span>0<\/span>,<\/span>2<\/span>]<\/span>,<\/span> [<\/span>1<\/span>,<\/span>3<\/span>]<\/span>)<\/span> \/\/ \u5b9a\u4e49\u76f8\u673a\u5bf9<\/span><\/p>\n

*<\/span> 2.<\/span> \u53c2\u8003\u6a21\u578b\u51c6\u5907
\n*<\/span> \u8bfb\u53d6\u7ba1\u63a5\u5934CAD\u6a21\u578b(<\/span>\u5355\u4f4d:<\/span>m)<\/span>
\nread_object_model_3d<\/span> (<\/span>'pipe_joint.stl'<\/span>,<\/span> 'm'<\/span>,<\/span> RefModel)<\/span>
\n*<\/span> \u521b\u5efa\u8868\u9762\u5339\u914d\u6a21\u578b(<\/span>0.03<\/span>m\u91c7\u6837\u8ddd\u79bb)<\/span>
\ncreate_surface_model<\/span> (<\/span>RefModel,<\/span> 0.03<\/span>,<\/span> SurfModelID)<\/span><\/p>\n

*<\/span> 3.<\/span> \u591a\u89c6\u89d2\u91cd\u5efa\u4e0e\u68c0\u6d4b
\nfor<\/span> scene_idx :<\/span>=<\/span> 1<\/span> to 15<\/span>
\n *<\/span> \u8bfb\u53d6\u56db\u76f8\u673a\u56fe\u50cf
\n Images :<\/span>=<\/span> [<\/span>]<\/span>
\n for<\/span> cam :<\/span>=<\/span> 0<\/span> to 3<\/span>
\n img_path :<\/span>=<\/span> ImagePath +<\/span> 'scene_'<\/span> +<\/span> scene_idx$'02d'<\/span> +<\/span> '_cam_'<\/span> +<\/span> cam
\n read_image<\/span> (<\/span>img,<\/span> img_path)<\/span>
\n Images :<\/span>=<\/span> [<\/span>Images,<\/span> img]<\/span>
\n endfor<\/p>\n

*<\/span> \u8868\u9762\u91cd\u5efa
\n reconstruct_surface_stereo<\/span> (<\/span>Images,<\/span> StereoModelID,<\/span> SceneModel)<\/span><\/p>\n

*<\/span> \u8868\u9762\u5339\u914d\u68c0\u6d4b
\n find_surface_model<\/span> (<\/span>SurfModelID,<\/span> SceneModel,<\/span>
\n 0.03<\/span>,<\/span> \/\/ \u91c7\u6837\u8ddd\u79bb<\/span>
\n 0.05<\/span>,<\/span> \/\/ \u6700\u5c0f\u5206\u6570\u9608\u503c<\/span>
\n MinScore,<\/span>
\n 'false'<\/span>,<\/span>
\n [<\/span>'num_matches'<\/span>,<\/span>'pose_ref_scoring_dist_rel'<\/span>]<\/span>,<\/span>
\n [<\/span>5<\/span>,<\/span> 0.02<\/span>]<\/span>,<\/span>
\n Poses,<\/span> Scores,<\/span> ResultID)<\/span><\/p>\n

*<\/span> \u53ef\u89c6\u5316\u7ed3\u679c
\n for<\/span> each pose in Poses
\n *<\/span> \u8ba1\u7b97\u76f8\u673a\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u59ff
\n pose_invert<\/span> (<\/span>pose,<\/span> world_to_obj)<\/span>
\n pose_compose<\/span> (<\/span>world_to_obj,<\/span> Cam0Pose,<\/span> cam_to_obj)<\/span>
\n pose_invert<\/span> (<\/span>cam_to_obj,<\/span> obj_in_cam0)<\/span><\/p>\n

*<\/span> \u663e\u793a\u5750\u6807\u7cfb
\n disp_3d_coord_system<\/span> (<\/span>Window,<\/span> Cam0Param,<\/span> obj_in_cam0,<\/span> 0.03<\/span>)<\/span><\/p>\n

*<\/span> \u6295\u5f713<\/span>D\u6a21\u578b\u8f6e\u5ed3
\n rigid_trans_object_model_3d<\/span> (<\/span>RefModel,<\/span> pose,<\/span> TransModel)<\/span>
\n project_object_model_3d<\/span> (<\/span>ModelContours,<\/span> TransModel,<\/span> Cam0Param,<\/span> .<\/span>.<\/span>.<\/span>)<\/span>
\n dev_display<\/span> (<\/span>ModelContours)<\/span> \/\/ \u7eff\u8272\u663e\u793a\u6a21\u578b\u8f6e\u5ed3<\/span>
\n endfor
\nendfor<\/p>\n

\u4ee3\u7801\u529f\u80fd\u8be6\u7ec6\u89e3\u6790<\/h4>\n

1. \u591a\u89c6\u89d2\u7acb\u4f53\u89c6\u89c9\u7cfb\u7edf<\/h5>\n