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1.基于halcon算法平台； 2.提供深度图源文件以及解压密码； 3.代码预览： * read_image (imageReal, 'https://blog.csdn.net/weixin_40355340/article/details/replay_38893_2021-6-7.tif') xResolution:=0.06 yResolution:=0.06 zResolution:=0.001 ScaleFactor:=[xResolution,yResolution,zResolution] *深度图装点云 IntensityImageToPiontsCloudImage_0 (imageReal, ScaleFactor, 1, ObjectModel3D, scale) *创建3DROI ........ * ROI区域 create_drawing_object_rectangle2 (270, 270, rad(90), 30, 20, DrawID) set_drawing_object_params (DrawID, 'color', 'yellow') set_drawing_object_params (DrawID, 'line_width', 1) attach_drawing_object_to_window (WindowHandle, DrawID) stop () dev_set_color ('yellow') get_drawing_object_params (DrawID, ['row','column','phi','length1','length2'], GenParamValue) gen_rectangle2 (Rectangle,GenParamValue[0], GenParamValue[1], GenParamValue[2], GenParamValue[3], GenParamValue[4]) detach_drawing_object_from_window (WindowHandle, DrawID) *生成3DROI gen_3d_roi (Rectangle, TriangulatedObjectModel3D, CameraParam, Pose, scale, WindowHandle, ObjectModel3D)