Though both edge and orientation are resistant to disturbance,Įdge have only 1bit info(there is an edge or not), so it's hard to dig wanted shapes out if there are too many edges, but we have to have as many edges as possible if we want to find all the target shapes. The key of shape based matching, or linemod, is using gradient orientation only. You may want old codes without MIPP: old commit thoughts about the method NOTE: On windows, it's confirmed that visual studio 17 works fine, but there are some problems with MIPP in vs13. Particularly, scale_test are fully commented. To learn usage, see different tests in test.cpp. In cmakeList line 23, change /opt/ros/kinetic to somewhere opencv3 can be found(if opencv3 is installed in default env then don't need to)Ĭmake make & run. Halcon match solution guide for how to select matching methods( halcon documentation):Ĭhange test.cpp line 9 prefix to top level folder We find that shape based matching is the same as linemod. Try to implement halcon shape based matching, refer to machine vision algorithms and applications, page 317 3.11.5, written by halcon engineers Icp + subpixel + sim3(previous is so3) branch, deal with scale error Icp + subpixel branch, < 0.1 degree accuracy Pose refine with icp branch, 0.1-0.5 degree accuracy Icp is also refined to be faster and easier to use
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