halcon线扫描相机平面交点检测--

* This example shows the inspection of planar intersections of
* 3D objects.  The intersections are derived by intersecting the
* reconstructed 3D object models with suitable planes, using the
* operator intersect_plane_object_model_3d.
* 
* The objects, which are metal parts in this example, are
* scanned with an uncalibrated sheet of light setup that returns
* disparities for each scan line. The disparities are
* transformed into a 3D object model. In this example, the
* transformation is based on simple scalings of the three
* dimensions that were chosen such that the reconstructed 3D
* object model is given approximately in mm.
* 
* The nominal dimensions and the tolerance limits are derived
* from a reference sample of the metal part. For this,
* intersections derived at predefined positions are analysed.
* Note that if the nominal dimension and tolerance limits should
* be specified numerically, the reconstruction must be done with
* a fully calibrated setup to ensure that the specified values
* are meaningfull with respect to the reconstructed 3D object
* model.
* 
* For the inspection, 3D object models of the metal parts are
* reconstructed in the same way as described for the reference
* sample.  With the help of surface based matching, the
* intersection planes, which are defined with respect to the
* reference sample, are aligned with the parts to be inspected.
* The resulting intersections are then analysed to check whether
* the dimensions of the objects to be inspected are within the
* allowed tolerance limits.
* 
* 
* 
* Part 1: Reconstruction of the reference sample and derivation
*         of nominal dimensions and tolerance limits
* 
* Set up the sheet of light model
NumDisparityProfiles := 441
read_image (DisparityProfile, 'sheet_of_light/metal_part_1_disparity_line_000')
create_sheet_of_light_model (DisparityProfile, 'calibration', 'offset_scale', SheetOfLightModelID)
* Set the scaling factors for the calibration method 'offset_scale'
* such that the reconstructed 3D object model is given approximately
* in mm
ScaleX := 1
ScaleY := 4
ScaleZ := 0.5
set_sheet_of_light_param (SheetOfLightModelID, 'scale_x', ScaleX)
set_sheet_of_light_param (SheetOfLightModelID, 'scale_y', ScaleY)
set_sheet_of_light_param (SheetOfLightModelID, 'scale_z', ScaleZ)
* 
* Define the z coordinate at which the object can be separated from
* the background
MinZ := 220
* 
* Initialize display
dev_update_off ()
set_system ('clip_region', 'false')
dev_close_window ()
get_image_size (DisparityProfile, DisparityProfileWidth, DisparityProfileHeight)
WindowEnlargement := 350
WindowWidth := DisparityProfileWidth + WindowEnlargement
WindowHeight := NumDisparityProfiles
dev_open_window (0, 0, WindowWidth, WindowHeight, 'black', WindowHandle)
dev_set_part (0, 0, WindowHeight - 1, WindowWidth - 1)
get_part (WindowHandle, PartRow1, PartColumn1, PartRow2, PartColumn2)
set_display_font (WindowHandle, 16, 'mono', 'true', 'false')
dev_set_draw ('fill')
* 
* Define some visualization parameters
VisualizationPlaneSize := 150
gen_cam_par_area_scan_division (0.01, 0, 6e-6, 6e-6, WindowWidth / 2, WindowHeight / 2, WindowWidth, WindowHeight, VisualizationCamParam)
create_pose (-1550, 680, 5390, 122, 1, 357, 'Rp+T', 'gba', 'point', VisualizationPose)
VisualizationColors := ['magenta','blue','orange']
* 
* Create the reference sample by collecting the measured
* disparity profiles in a sheet-of-light model and
* transforming them to a 3D object model
gen_image_const (DisparityImageVis, 'uint2', DisparityProfileWidth, NumDisparityProfiles)
for Index := 0 to NumDisparityProfiles - 1 by 1* Add the next disparity profile to the sheet of light modelread_image (ImageModel, 'sheet_of_light/metal_part_1_disparity_line_' + Index$'03d')set_profile_sheet_of_light (ImageModel, SheetOfLightModelID, [])* Accumulated profiles for visualizationget_grayval (ImageModel, gen_tuple_const(DisparityProfileWidth,0), [0:DisparityProfileWidth - 1], Disparities)set_grayval (DisparityImageVis, gen_tuple_const(DisparityProfileWidth,Index), [0:DisparityProfileWidth - 1], Disparities)if (Index % 5 == 4)dev_display (DisparityImageVis)Message := 'Disparity image of the reference sample'Message[1] := 'Adding disparity profile ' + (Index + 1) + '/' + NumDisparityProfilesdisp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')endif
endfor
* Display the disparity image of the reference sample
dev_display (DisparityImageVis)
disp_message (WindowHandle, 'Disparity image of the reference sample', 'window', 12, 12, 'black', 'true')
* Get the 3D reconstruction of the reference sample and eliminate
* the background from the respective 3D object model
get_sheet_of_light_result_object_model_3d (SheetOfLightModelID, Model3DFull)
get_object_model_3d_params (Model3DFull, 'bounding_box1', BoundingBox1)
MaxZ := BoundingBox1[5]
select_points_object_model_3d (Model3DFull, 'point_coord_z', MinZ, MaxZ, Model3D)
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Prepare the 3D object model for the intersection with
* the planes and to allow the alignment of the intersection
* planes to the objects to be inspected
dev_clear_window ()
dev_set_part (PartRow1, PartColumn1, PartRow2, PartColumn2)
disp_object_model_3d (WindowHandle, Model3D, VisualizationCamParam, VisualizationPose, [], [])
Message := 'Prepare the reference model'
Message[1] := ' - triangulate 3D object model and'
Message[2] := ' - create surface model for alignment'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
* Triangulate the 3D object model
surface_normals_object_model_3d (Model3D, 'mls', 'mls_force_inwards', 'true', ObjectModel3DNormals)
triangulate_object_model_3d (ObjectModel3DNormals, 'greedy', 'greedy_remove_small_surfaces', 200, ObjectModel3DReference, Information)
* Create a surface model for alignment
create_surface_model (ObjectModel3DReference, 0.03, 'model_invert_normals', 'true', SurfaceModelID)
* 
* Define the intersection planes relative to the reference sample,
* calculate the intersections and derive nominal dimensions and
* tolerance limits from these intersections
* 
* Define the intersection planes
create_pose (300, 230, 250, -90, 0, 0, 'Rp+T', 'gba', 'point', PoseIntersectionPlane1)
create_pose (300, 900, 250, -90, 0, 0, 'Rp+T', 'gba', 'point', PoseIntersectionPlane2)
create_pose (300, 1570, 250, -90, 0, 0, 'Rp+T', 'gba', 'point', PoseIntersectionPlane3)
gen_plane_object_model_3d (PoseIntersectionPlane1, [-1,-1,1,1] * VisualizationPlaneSize, [-1,1,1,-1] * VisualizationPlaneSize, IntersectionPlane1)
gen_plane_object_model_3d (PoseIntersectionPlane2, [-1,-1,1,1] * VisualizationPlaneSize, [-1,1,1,-1] * VisualizationPlaneSize, IntersectionPlane2)
gen_plane_object_model_3d (PoseIntersectionPlane3, [-1,-1,1,1] * VisualizationPlaneSize, [-1,1,1,-1] * VisualizationPlaneSize, IntersectionPlane3)
dev_clear_window ()
dev_set_part (PartRow1, PartColumn1, PartRow2, PartColumn2)
disp_object_model_3d (WindowHandle, [ObjectModel3DReference,IntersectionPlane1,IntersectionPlane2,IntersectionPlane3], VisualizationCamParam, VisualizationPose, ['color_1','color_2','color_3','alpha','alpha_0'], [VisualizationColors,0.75,1])
Message := 'Reference sample with predefined intersection planes'
MessageWrapped := regexp_replace(Message + ' ',['(.{0,25})\\s','replace_all'],'$1\n')
disp_message (WindowHandle, MessageWrapped, 'window', 12, 12, 'black', 'true')
* 
* Calculate the intersections of the reference sample with the above
* defined planes
intersect_plane_object_model_3d (ObjectModel3DReference, PoseIntersectionPlane1, ObjectModel3DIntersection1)
intersect_plane_object_model_3d (ObjectModel3DReference, PoseIntersectionPlane2, ObjectModel3DIntersection2)
intersect_plane_object_model_3d (ObjectModel3DReference, PoseIntersectionPlane3, ObjectModel3DIntersection3)
* 
* Determine the intersections and convert them into XLD contours
project_object_model_3d_lines_to_contour_xld (Intersection1, PoseIntersectionPlane1, ObjectModel3DIntersection1)
project_object_model_3d_lines_to_contour_xld (Intersection2, PoseIntersectionPlane2, ObjectModel3DIntersection2)
project_object_model_3d_lines_to_contour_xld (Intersection3, PoseIntersectionPlane3, ObjectModel3DIntersection3)
* 
* Determine the nominal dimensions and the tolerance limits by
* analysing the measurements from the reference sample
OrientationRef := 20
OrientationTolerance := 20
analyze_intersection (Intersection1, FittedLines1, OrientationRef, OrientationTolerance, MinDistance1, MaxDistance1, Angle1)
analyze_intersection (Intersection2, FittedLines2, OrientationRef, OrientationTolerance, MinDistance2, MaxDistance2, Angle2)
analyze_intersection (Intersection3, FittedLines3, OrientationRef, OrientationTolerance, MinDistance3, MaxDistance3, Angle3)
* 
* Visualize the object with the intersection planes and the respective
* intersections and measurement results
hom_mat2d_identity (HomMat2DIdentity)
* Display explanations
Message := 'Intersections with measurement lines'
MessageWrapped := regexp_replace(Message + ' ',['(.{0,20})\\s','replace_all'],'$1\n')
disp_message (WindowHandle, MessageWrapped, 'window', 12, 330, 'black', 'true')
Message := 'Measurement results'
MessageWrapped := regexp_replace(Message + ' ',['(.{0,20})\\s','replace_all'],'$1\n')
disp_message (WindowHandle, MessageWrapped, 'window', 12, 590, 'black', 'true')
* Display first intersection
hom_mat2d_translate (HomMat2DIdentity, 350, 390, HomMat2DTranslate1)
affine_trans_contour_xld (Intersection1, Intersection1Vis, HomMat2DTranslate1)
affine_trans_contour_xld (FittedLines1, FittedLines1Vis, HomMat2DTranslate1)
dev_set_color (VisualizationColors[0])
dev_set_line_width (5)
dev_display (Intersection1Vis)
dev_set_color ('white')
dev_set_line_width (1)
dev_display (FittedLines1Vis)
Message := 'Angle        = ' + Angle1$'.1f' + ' deg'
Message[1] := 'Min Distance = ' + MinDistance1$'.1f' + ' mm'
Message[2] := 'Max Distance = ' + MaxDistance1$'.1f' + ' mm'
disp_message (WindowHandle, Message, 'window', 310, 600, VisualizationColors[0], 'false')
* Display second intersection
hom_mat2d_translate (HomMat2DIdentity, 250, 410, HomMat2DTranslate2)
affine_trans_contour_xld (Intersection2, Intersection2Vis, HomMat2DTranslate2)
affine_trans_contour_xld (FittedLines2, FittedLines2Vis, HomMat2DTranslate2)
dev_set_color (VisualizationColors[1])
dev_set_line_width (5)
dev_display (Intersection2Vis)
dev_set_color ('white')
dev_set_line_width (1)
dev_display (FittedLines2Vis)
Message := 'Angle        = ' + Angle2$'.1f' + ' deg'
Message[1] := 'Min Distance = ' + MinDistance2$'.1f' + ' mm'
Message[2] := 'Max Distance = ' + MaxDistance2$'.1f' + ' mm'
disp_message (WindowHandle, Message, 'window', 210, 600, VisualizationColors[1], 'false')
* Display third intersection
hom_mat2d_translate (HomMat2DIdentity, 150, 430, HomMat2DTranslate3)
affine_trans_contour_xld (Intersection3, Intersection3Vis, HomMat2DTranslate3)
affine_trans_contour_xld (FittedLines3, FittedLines3Vis, HomMat2DTranslate3)
dev_set_color (VisualizationColors[2])
dev_set_line_width (5)
dev_display (Intersection3Vis)
dev_set_color ('white')
dev_set_line_width (1)
dev_display (FittedLines3Vis)
Message := 'Angle        = ' + Angle3$'.1f' + ' deg'
Message[1] := 'Min Distance = ' + MinDistance3$'.1f' + ' mm'
Message[2] := 'Max Distance = ' + MaxDistance3$'.1f' + ' mm'
disp_message (WindowHandle, Message, 'window', 110, 600, VisualizationColors[2], 'false')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* Define the nominal dimensions and the tolerance limits based
* on the measurements of the reference sample
AngleRef := mean([Angle1,Angle2,Angle3])
MaxAngleDev := 2
MinAngle := AngleRef - MaxAngleDev
MaxAngle := AngleRef + MaxAngleDev
MinDistance := 0.95 * mean([MinDistance1,MinDistance2,MinDistance3])
MaxDistance := 1.05 * mean([MaxDistance1,MaxDistance2,MaxDistance3])
* Display the nominal dimensions and the tolerance limits
dev_clear_window ()
Message := 'Tolerance limits for the angle and the distance of the mounting tabs, derived from the three measurements on the reference sample:'
MessageWrapped := regexp_replace(Message + ' ',['(.{0,75})\\s','replace_all'],'$1\n')
Message := MessageWrapped
Message[1] := ' '
Message[2] := 'Min Angle    = ' + MinAngle$'.1f' + ' deg'
Message[3] := 'Max Angle    = ' + MaxAngle$'.1f' + ' deg'
Message[4] := ' '
Message[5] := 'Min Distance = ' + MinDistance$'.1f' + ' mm'
Message[6] := 'Max Distance = ' + MaxDistance$'.1f' + ' mm'
disp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
* 
* 
* Part 2: Reconstruction of test objects and
*            checking of the respective dimensions
* 
* Inspection loop
NumScenes := 4
for SceneIndex := 1 to NumScenes by 1dev_clear_window ()dev_set_part (PartRow1, PartColumn1, PartRow2, PartColumn2)* Reset the dispartities in the sheet of light model; all other settings can be reusedreset_sheet_of_light_model (SheetOfLightModelID)* * Create the test object by collecting the measured* disparity profiles in a sheet-of-light model and* transforming them to a 3D object modelgen_image_const (DisparityImageVis, 'uint2', DisparityProfileWidth, NumDisparityProfiles)for Index := 0 to NumDisparityProfiles - 1 by 1* Add the next disparity profile to the sheet of light modelread_image (ImageSearch, 'sheet_of_light/metal_part_' + (SceneIndex + 1) + '_disparity_line_' + Index$'03d')set_profile_sheet_of_light (ImageSearch, SheetOfLightModelID, [])* Accumulated profiles for visualizationget_grayval (ImageSearch, gen_tuple_const(DisparityProfileWidth,0), [0:DisparityProfileWidth - 1], Disparities)set_grayval (DisparityImageVis, gen_tuple_const(DisparityProfileWidth,Index), [0:DisparityProfileWidth - 1], Disparities)if (Index % 5 == 4 or Index == (NumDisparityProfiles - 1))dev_display (DisparityImageVis)Message := 'Disparity image of test object ' + SceneIndexMessage[1] := 'Adding disparity profile ' + (Index + 1) + '/' + NumDisparityProfilesdisp_message (WindowHandle, Message, 'window', 12, 12, 'black', 'true')endifendfor* Get the 3D reconstruction of the test object and eliminate* the background from the respective 3D object modelget_sheet_of_light_result_object_model_3d (SheetOfLightModelID, Scene3DFull)get_object_model_3d_params (Scene3DFull, 'bounding_box1', BoundingBox1)MaxZ := BoundingBox1[5]select_points_object_model_3d (Scene3DFull, 'point_coord_z', MinZ, MaxZ, Scene3D)* * Align the intersection planes to the actual position and orientation* of the test object and prepare the test object for the intersectiondev_clear_window ()dev_set_part (PartRow1, PartColumn1, PartRow2, PartColumn2)disp_object_model_3d (WindowHandle, Scene3D, VisualizationCamParam, VisualizationPose, [], [])Message := 'Prepare the 3D object model of the test object'Message[1] := ' - perform surface based matching for alignment'Message[2] := ' - triangulate 3D object model'disp_message (WindowHandle, Message[0], 'window', 12, 12, 'black', 'true')* * Match the test object with the reference sample.* Note that the RelSamplingDistance has been set fairly small.* This is necessary because the object has only little 3D variations* that can be used by the matching process.disp_message (WindowHandle, Message[0:1], 'window', 12, 12, 'black', 'true')find_surface_model (SurfaceModelID, Scene3D, 0.005, 0.2, 0, 'false', [], [], Pose, Score, SurfaceMatchingResultID)* Align the intersection planes to the test objectrigid_trans_object_model_3d (IntersectionPlane1, Pose, IntersectionPlane1Aligned)rigid_trans_object_model_3d (IntersectionPlane2, Pose, IntersectionPlane2Aligned)rigid_trans_object_model_3d (IntersectionPlane3, Pose, IntersectionPlane3Aligned)get_object_model_3d_params (IntersectionPlane1Aligned, 'primitive_parameter_pose', IntersectionPlane1AlignedPose)get_object_model_3d_params (IntersectionPlane2Aligned, 'primitive_parameter_pose', IntersectionPlane2AlignedPose)get_object_model_3d_params (IntersectionPlane3Aligned, 'primitive_parameter_pose', IntersectionPlane3AlignedPose)* Triangulate the 3D object modeldisp_message (WindowHandle, Message[0:2], 'window', 12, 12, 'black', 'true')triangulate_object_model_3d (Scene3D, 'greedy', [], [], Scene3DTest, Information)dev_clear_window ()disp_object_model_3d (WindowHandle, [Scene3DTest,IntersectionPlane1Aligned,IntersectionPlane2Aligned,IntersectionPlane3Aligned], VisualizationCamParam, VisualizationPose, ['color_1','color_2','color_3','alpha','alpha_0'], [VisualizationColors,0.75,1])Message := 'Test object ' + SceneIndex + ' with aligned intersection planes'MessageWrapped := regexp_replace(Message + ' ',['(.{0,25})\\s','replace_all'],'$1\n')disp_message (WindowHandle, MessageWrapped, 'window', 12, 12, 'black', 'true')* * Calculate the intersections of the test object with the respectively* aligned planesintersect_plane_object_model_3d (Scene3DTest, IntersectionPlane1AlignedPose, ObjectModel3DIntersection1)intersect_plane_object_model_3d (Scene3DTest, IntersectionPlane2AlignedPose, ObjectModel3DIntersection2)intersect_plane_object_model_3d (Scene3DTest, IntersectionPlane3AlignedPose, ObjectModel3DIntersection3)* * Determine the intersections and convert them into XLD contoursproject_object_model_3d_lines_to_contour_xld (Intersection1, IntersectionPlane1AlignedPose, ObjectModel3DIntersection1)project_object_model_3d_lines_to_contour_xld (Intersection2, IntersectionPlane2AlignedPose, ObjectModel3DIntersection2)project_object_model_3d_lines_to_contour_xld (Intersection3, IntersectionPlane3AlignedPose, ObjectModel3DIntersection3)* * Determine the actual dimensions by analysing the measurements* from the test objectanalyze_intersection (Intersection1, FittedLines1, OrientationRef, OrientationTolerance, MinDistance1, MaxDistance1, Angle1)analyze_intersection (Intersection2, FittedLines2, OrientationRef, OrientationTolerance, MinDistance2, MaxDistance2, Angle2)analyze_intersection (Intersection3, FittedLines3, OrientationRef, OrientationTolerance, MinDistance3, MaxDistance3, Angle3)* * Visualize the object with the intersection planes and the respective* intersections and measurement results* Display headingsOverallCheckPassed := trueMessage := 'Intersections with measurement lines'MessageWrapped := regexp_replace(Message + ' ',['(.{0,20})\\s','replace_all'],'$1\n')disp_message (WindowHandle, MessageWrapped, 'window', 12, 310, 'black', 'true')Message := 'Measurement results'MessageWrapped := regexp_replace(Message + ' ',['(.{0,20})\\s','replace_all'],'$1\n')disp_message (WindowHandle, MessageWrapped, 'window', 12, 590, 'black', 'true')* Display first intersectionaffine_trans_contour_xld (Intersection1, Intersection1Vis, HomMat2DTranslate1)affine_trans_contour_xld (FittedLines1, FittedLines1Vis, HomMat2DTranslate1)dev_set_color (VisualizationColors[0])dev_set_line_width (5)dev_display (Intersection1Vis)dev_set_color ('white')dev_set_line_width (1)dev_display (FittedLines1Vis)Message := 'Angle        = ' + Angle1$'.1f' + ' deg'Message[1] := 'Min Distance = ' + MinDistance1$'.1f' + ' mm'Message[2] := 'Max Distance = ' + MaxDistance1$'.1f' + ' mm'disp_message (WindowHandle, Message, 'window', 310, 600, VisualizationColors[0], 'false')ErrorIndicator := gen_tuple_const(3,'OK')ErrorIndicatorColor := gen_tuple_const(3,'dim gray')if (Angle1 [<] MinAngle or Angle1 [>] MaxAngle)ErrorIndicator[0] := 'NOK'ErrorIndicatorColor[0] := 'red'OverallCheckPassed := falseendifif (MinDistance1 [<] MinDistance)ErrorIndicator[1] := 'NOK'ErrorIndicatorColor[1] := 'red'OverallCheckPassed := falseendifif (MaxDistance1 [>] MaxDistance)ErrorIndicator[2] := 'NOK'ErrorIndicatorColor[2] := 'red'OverallCheckPassed := falseendifdisp_message (WindowHandle, ErrorIndicator, 'window', 310, 880, ErrorIndicatorColor, 'false')* Display second intersectionaffine_trans_contour_xld (Intersection2, Intersection2Vis, HomMat2DTranslate2)affine_trans_contour_xld (FittedLines2, FittedLines2Vis, HomMat2DTranslate2)dev_set_color (VisualizationColors[1])dev_set_line_width (5)dev_display (Intersection2Vis)dev_set_color ('white')dev_set_line_width (1)dev_display (FittedLines2Vis)Message := 'Angle        = ' + Angle2$'.1f' + ' deg'Message[1] := 'Min Distance = ' + MinDistance2$'.1f' + ' mm'Message[2] := 'Max Distance = ' + MaxDistance2$'.1f' + ' mm'disp_message (WindowHandle, Message, 'window', 210, 600, VisualizationColors[1], 'false')ErrorIndicator := gen_tuple_const(3,'OK')ErrorIndicatorColor := gen_tuple_const(3,'dim gray')if (Angle2 [<] MinAngle or Angle2 [>] MaxAngle)ErrorIndicator[0] := 'NOK'ErrorIndicatorColor[0] := 'red'OverallCheckPassed := falseendifif (MinDistance2 [<] MinDistance)ErrorIndicator[1] := 'NOK'ErrorIndicatorColor[1] := 'red'OverallCheckPassed := falseendifif (MaxDistance2 [>] MaxDistance)ErrorIndicator[2] := 'NOK'ErrorIndicatorColor[2] := 'red'OverallCheckPassed := falseendifdisp_message (WindowHandle, ErrorIndicator, 'window', 210, 880, ErrorIndicatorColor, 'false')* Display third intersectionaffine_trans_contour_xld (Intersection3, Intersection3Vis, HomMat2DTranslate3)affine_trans_contour_xld (FittedLines3, FittedLines3Vis, HomMat2DTranslate3)dev_set_color (VisualizationColors[2])dev_set_line_width (5)dev_display (Intersection3Vis)dev_set_color ('white')dev_set_line_width (1)dev_display (FittedLines3Vis)Message := 'Angle        = ' + Angle3$'.1f' + ' deg'Message[1] := 'Min Distance = ' + MinDistance3$'.1f' + ' mm'Message[2] := 'Max Distance = ' + MaxDistance3$'.1f' + ' mm'disp_message (WindowHandle, Message, 'window', 110, 600, VisualizationColors[2], 'false')ErrorIndicator := gen_tuple_const(3,'OK')ErrorIndicatorColor := gen_tuple_const(3,'dim gray')if (Angle3 [<] MinAngle or Angle3 [>] MaxAngle)ErrorIndicator[0] := 'NOK'ErrorIndicatorColor[0] := 'red'OverallCheckPassed := falseendifif (MinDistance3 [<] MinDistance)ErrorIndicator[1] := 'NOK'ErrorIndicatorColor[1] := 'red'OverallCheckPassed := falseendifif (MaxDistance3 [>] MaxDistance)ErrorIndicator[2] := 'NOK'ErrorIndicatorColor[2] := 'red'OverallCheckPassed := falseendifdisp_message (WindowHandle, ErrorIndicator, 'window', 110, 880, ErrorIndicatorColor, 'false')* Display overall check resultif (OverallCheckPassed)dev_set_color ('green')gen_rectangle1 (Rectangle, 0, WindowWidth - 120, 80, WindowWidth)dev_display (Rectangle)disp_message (WindowHandle, 'OK', 'window', 30, 900, 'black', 'false')elsedev_set_color ('red')gen_rectangle1 (Rectangle, 0, WindowWidth - 120, 80, WindowWidth)dev_display (Rectangle)disp_message (WindowHandle, 'NOK', 'window', 30, 900, 'white', 'false')endifif (SceneIndex < NumScenes)disp_continue_message (WindowHandle, 'black', 'true')stop ()endif
endfor

逐句解释

NumDisparityProfiles := 441

定义变量NumDisparityProfiles，其值为441。

read_image (DisparityProfile, 'sheet_of_light/metal_part_1_disparity_line_000')

从文件'sheet_of_light/metal_part_1_disparity_line_000'中读取图像，并将其存储在变量DisparityProfile中。

create_sheet_of_light_model (DisparityProfile, 'calibration', 'offset_scale', SheetOfLightModelID)

使用函数create_sheet_of_light_model创建sheet of light模型，该模型基于视差图像DisparityProfile进行校准，并使用“offset_scale”方法进行缩放。SheetOfLightModelID是输出参数，存储所创建模型的ID。

ScaleX := 1
ScaleY := 4
ScaleZ := 0.5
set_sheet_of_light_param (SheetOfLightModelID, 'scale_x', ScaleX)
set_sheet_of_light_param (SheetOfLightModelID, 'scale_y', ScaleY)
set_sheet_of_light_param (SheetOfLightModelID, 'scale_z', ScaleZ)

设置校准方法“offset_scale”的缩放因子，以便重建的三维物体模型大约以毫米为单位表示。这里设置了X轴的缩放因子为1，Y轴的缩放因子为4，Z轴的缩放因子为0.5。

MinZ := 220

定义一个变量MinZ，表示光板上的物体与背景分离的z坐标。

dev_update_off ()
set_system ('clip_region', 'false')
dev_close_window ()

关闭当前窗口并关闭更新显示。

get_image_size (DisparityProfile, DisparityProfileWidth, DisparityProfileHeight)

获取视差图像DisparityProfile的大小，并将其存储在变量DisparityProfileWidth和DisparityProfileHeight中。

WindowEnlargement := 350
WindowWidth := DisparityProfileWidth + WindowEnlargement
WindowHeight := NumDisparityProfiles

定义一个变量WindowEnlargement，表示窗口的宽度增量。然后根据视差图像和NumDisparityProfiles的大小确定窗口的宽度和高度。

dev_open_window (0, 0, WindowWidth, WindowHeight, 'black', WindowHandle)
dev_set_part (0, 0, WindowHeight - 1, WindowWidth - 1)
get_part (WindowHandle, PartRow1, PartColumn1, PartRow2, PartColumn2)

打开一个新窗口并将其分割为一个矩形区域。然后获取该区域的位置和大小。

set_display_font (WindowHandle, 16, 'mono', 'true', 'false')
dev_set_draw ('fill')

设置显示字体和绘图模式。

VisualizationPlaneSize := 150
gen_cam_par_area_scan_division (0.01, 0, 6e-6, 6e-6, WindowWidth / 2, WindowHeight / 2, WindowWidth, WindowHeight, VisualizationCamParam)
create_pose (-1550, 680, 5390, 122, 1, 357, 'Rp+T', 'gba', 'point', VisualizationPose)
VisualizationColors := ['magenta','blue','orange']

定义一些可视化参数，包括可视化平面大小、相机参数、姿态和颜色。