reconstruct_connection_rod_uncalib

• This program demonstrates how to perform a non calibrated
• measurement by using the sheet-of-light technique

• 用激光三角测量技术实现一个无标定的测量，主要为一下三步

• At first, a sheet-of light model is created and suitable parameters are set.
  *第一步，创建一个激光三角测量模型和设置合适的参数

• Then, a series of profile images is processed successively.
  *第二步，连续的处理一系列的profile图像
• Lastly, the resulting disparity and score images are retrieved from the model and displayed.
• 第三步，从模型中恢复出差异图像和得分图像，展示
  *————————————————————————————–
• Perform some initializations
  dev_update_off ()
  dev_close_window ()
  read_image (ProfileImage, ‘sheet_of_light/connection_rod_001’)
  dev_open_window_fit_image (ProfileImage, 0, 0, 1024, 768, WindowHandle)
  dev_set_draw (‘margin’)
  dev_set_line_width (3)
  dev_set_color (‘lime green’)
  dev_set_lut (‘default’)
• 
  
  • Create the rectangular region in which the profiles are measured.
• 创建矩形区域，该区域包含profiles
  gen_rectangle1 (ProfileRegion, 120, 75, 195, 710)
• 
  
  • Create a model in order to measure profiles according to the sheet-of-light technique. Simultaneously set some parameters for the model.
    *根据激光三角测量技术创建一个模型去测量profiles
    create_sheet_of_light_model (ProfileRegion, [‘min_gray’,’num_profiles’,’ambiguity_solving’,’score_type’], [70,290,’first’,’width’], SheetOfLightModelID)
• 
  for Idx := 1 to 3 by 1
  
  • 从连续的图像中测量profile
  • Measure the profile from successive images
    for Index := 1 to 290 by 1
    read_image (ProfileImage, ‘sheet_of_light/connection_rod_’ + Index$’.3’)
    dev_display (ProfileImage)
    dev_display (ProfileRegion)
    *处理输入的Profile图像，并将产生的差异储存在模型中
    measure_profile_sheet_of_light (ProfileImage, SheetOfLightModelID, [])
    endfor
  • 得到差异图像和得分图像
  • Get the resulting disparity and score images
    get_sheet_of_light_result (Disparity, SheetOfLightModelID, ‘disparity’)
    get_sheet_of_light_result (Score, SheetOfLightModelID, ‘score’)
  • 进一步处理差异图像和得分图像
  • Further process the disparity and score images to remove
  • unreliable values and improve the representation
    if (Idx == 1)
    *使用阈值进行分割
    threshold (Score, ScoreRegion, 1.5, 7.5)
    *保留图像区域，依次是输入图像，定义的区域，保留指定区域的图像
    reduce_domain (Disparity, ScoreRegion, DisparityReduced)
    
    • 
      
      • Display the resulting disparity
        get_image_size (DisparityReduced, Width, Height)
        dev_set_window_extents (0, 0, Width, Height)
        dev_set_part (0, 0, Height - 1, Width - 1)
        dev_clear_window ()
        endif
        dev_set_lut (‘temperature’)
        dev_clear_window ()
        dev_display (DisparityReduced)
        dev_set_lut (‘default’)
  • reset the model for the next measurement重置sheet-of-light模型
    reset_sheet_of_light_model (SheetOfLightModelID)
    wait_seconds (3)
    endfor
• 
  
  • Close the sheet-of-light handle once the measurement has been performed
    clear_sheet_of_light_model (SheetOfLightModelID)