瑙嗚
==========================================
鏈珷鑺傚皢閽堝鍏蜂綋鍦烘櫙璇︾粏浠嬬粛瑙嗚鏈嶅姟鐨勯厤缃繃绋嬨€傚湪杩涜瑙嗚閰嶇疆鍓嶏紝璇峰厛鍙傝 :doc:`../../../basic_operation/robot`锛屽畬鎴愭満姊拌噦杩炴帴銆�
鍦烘櫙瑕佹眰
++++++++++
铦磋澏浠舵姄鍙栫殑鍦烘櫙閲囩敤 **3D 娣辩瓙涔卞簭鎶撳彇** 妯℃澘锛岃娴佸浘閫傜敤浜庡伐浣滅┖闂村唴鍚岀鐗╀綋涔卞簭鎽嗘斁锛屼笖鎷ユ湁鐗╀綋 STL 妯″瀷鐨勬儏鍐点€傜洰鍓嶅箍娉涘簲鐢ㄤ簬姹借溅闆朵欢銆�:term:`鏈哄姞宸ヤ欢` 绛夊绉嶅満鏅€�
- 鐩告満涓虹粨鏋勫厜鐩告満
- 闇€瑕佽绠楃偣浜戠鎾�
鏈珷鑺傛弿杩扮殑鐩稿叧閰嶇疆浠呬緵鍙傝€冿紝鍏蜂綋鎿嶄綔璇蜂互瀹為檯椤圭洰涓哄噯銆�
鍩烘湰閰嶇疆
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閰嶇疆鍓嶏紝璇蜂緷娆″畬鎴� :doc:`../../../../basic_operation/newproject`銆� :doc:`../../../../basic_operation/motion_operation/add_ws`锛屽苟浣跨敤 **3D娣辩瓙涔卞簭鎶撳彇** 妯℃澘鍒涘缓瑙嗚鏈嶅姟锛岃鍙傝 :doc:`../../../../basic_operation/vision_operation/flow`銆傚垱寤哄畬鎴愪箣鍚庝細鍦ㄥ乏涓婅鐢熸垚鑺傜偣鏍戯紝濡備笅鍥炬墍绀恒€�
.. image:: img/3dscene.png
:align: center
鏍规嵁闇€姹傦紝渚濇閰嶇疆杩欎簺妯″潡銆�
**姝ラ1\. 閰嶇疆鐩告満妯″潡**
1. 鍗曞嚮宸︿晶鑺傜偣鏍戜腑鐨� **鐩告満** 妯″潡锛岀劧鍚庡湪鍙充晶鍗曞嚮 :guilabel:`鐩告満璧勬簮绠＄悊鍣╜ 浠ヨ繛鎺ョ浉鏈猴紝鎺ョ潃鍦� **鐩告満閰嶇疆** 鍖哄煙璁剧疆鐩告満鍩烘湰淇℃伅锛岃鍙傝 :doc:`../../../../basic_operation/vision_operation/camera_connect`銆�
2. 鍦� **鐩告満鍙傛暟** 鍖哄煙鍗曞嚮 :guilabel:`楠岃瘉鐩告満绮惧害`銆�
.. image:: img/camconfig.png
:align: center
:width: 450px
3. 渚濇閫夋嫨鏍囧畾鏉裤€佹爣瀹氬唴鍙傛暟銆侀獙璇佹爣瀹氱粨鏋滅瓑姝ラ锛屼互楠岃瘉鐩告満绮惧害銆�
.. image:: img/intrcali.png
:align: center
:width: 450px
**姝ラ2\. 閰嶇疆鍔犺浇鏍囧畾淇℃伅妯″潡**
1. 鍗曞嚮宸︿晶鑺傜偣鏍戜腑鐨� **鍔犺浇鏍囧畾淇℃伅** 妯″潡锛岀劧鍚庡湪鍙充晶渚濇鏍囧畾鐩告満鍜屽伐浣滅┖闂淬€�
.. image:: img/caliconfig.png
:align: center
:width: 450px
2. 鍗曞嚮 **鐩告満鏍囧畾** 鍖哄煙涓殑 :guilabel:`鏂板缓鏍囧畾鏁版嵁`锛岃缃爣瀹氭暟鎹悕绉帮紝鐒跺悗鍦� :guilabel:`鐩告満鏍囧畾` 椤电璁剧疆鏍囧畾鏂规硶鍜屽叾瀹冩爣瀹氫俊鎭紝璇峰弬瑙� :doc:`../../../../basic_operation/vision_operation/calibration/handeye` 銆�
.. image:: img/excali.png
:align: center
:width: 450px
3. 渚濇鍗曞嚮 :guilabel:`寮€濮媊 鍜� :guilabel:`璁＄畻鏍囧畾缁撴灉` 瀹屾垚鏁版嵁鏍囧畾锛岀劧鍚庡崟鍑� :guilabel:`涓嬩竴姝 杩涘叆 **妫€鏌ユ爣瀹氱粨鏋�** 椤电銆�
.. image:: img/excali2.png
:align: center
:width: 450px
4. 妫€鏌ュ苟鏍规嵁鐣岄潰鎻愮ず纭鏍囧畾璇樊鍚庯紝鍗曞嚮 **瀹屾垚**锛屽嵆鍙畬鎴愮浉鏈烘爣瀹氥€�
.. image:: img/excali3.png
:align: center
:width: 650px
5. 鑻ヨ鎻愰珮绮惧害锛屽垯鍕鹃€� :guilabel:`鐐逛簯鏍囧畾`锛屽畬鎴愮偣浜戞爣瀹氾紝璇峰弬瑙� :doc:`../../../../basic_operation/vision_operation/calibration/handeye` 涓殑姝ラ5鐐逛簯鏍囧畾鐨勭浉鍏冲唴瀹广€�
6. 鏍囧畾宸ヤ綔绌洪棿锛岃鍙傝 :doc:`../../../../basic_operation/vision_operation/calibration/workspace`銆�3D鐩告満浣跨敤3D鎷栨嫿鐨勬柟寮忔爣瀹氬伐浣滅┖闂淬€�
**姝ラ3\. 閰嶇疆鍘婚櫎鏂欑瓙澶栫偣浜戞ā鍧�**
1. 鍗曞嚮宸︿晶鑺傜偣鏍戜腑鐨� **鍘婚櫎鏂欐澶栫偣浜�** 妯″潡锛岀劧鍚庡湪鍙充晶閰嶇疆鐐逛簯鍒囧壊鍙傛暟锛岀劧鍚庡崟鍑婚瑙堢獥鍙ｄ腑鐨� :guilabel:`瑙﹀彂`銆�
.. image:: img/toteout.png
:align: center
:width: 350px
- X鏂瑰悜鏀剁缉闀垮害锛氭枡绛愭部X鏂瑰悜鐨勬敹缂╅暱搴︼紝璐熷€煎垯鎰忓懗鐫€鎵╁紶銆�
- Y鏂瑰悜鏀剁缉闀垮害锛氭枡绛愭部Y鏂瑰悜鐨勬敹缂╅暱搴︼紝璐熷€煎垯鎰忓懗鐫€鎵╁紶銆�
- 搴曢儴鎶崌楂樺害锛氭枡绛愬簳閮ㄦ姮鍗囬珮搴︼紝璐熷€煎垯鎰忓懗鐫€涓嬮檷銆�
- 椤堕儴涓嬮檷楂樺害锛氭枡绛愰《閮ㄤ笅闄嶉珮搴︼紝璐熷€煎垯鎰忓懗鐫€鎶崌銆�
2. 鍦ㄩ瑙堣鍥句腑绉诲姩鏂欑瓙妯″瀷锛屼娇涔嬩笌鐐逛簯涓殑鏂欑瓙浣嶇疆鍚诲悎銆�
3. 鍦� **鍙鍖栨樉绀�** 鍖哄煙閫夋嫨闇€瑕佹煡鐪嬬殑鍥惧儚銆�
- 鏈垏鍓茬偣浜戝浘锛氫粎鏄剧ず鏈幓闄ゆ枡绛愬鐐逛簯鐨勫浘鍍忋€�
.. image:: img/cloud1.png
:align: center
:width: 350px
- 鍒囧壊瀵规瘮鍥撅細瀵规瘮鏄剧ず鍒囧壊鍓嶅悗鐨勫浘鍍忥紝琚垏鍓茬殑鐐逛簯鐢ㄧ櫧鑹叉樉绀恒€�
.. image:: img/cloud2.png
:align: center
:width: 350px
- 鍒囧壊瀹岀偣浜戝浘锛氫粎鏄剧ず鍘婚櫎鏂欑瓙澶栫偣浜戠殑鍥惧儚銆�
.. image:: img/cloud3.png
:align: center
:width: 350px
**姝ラ4\. 閰嶇疆闄嶉噰鏍风偣浜戞ā鍧�**
1. 鍗曞嚮宸︿晶鑺傜偣鏍戜腑鐨� **闄嶉噰鏍风偣浜�** 妯″潡锛岀劧鍚庡湪鍙充晶閰嶇疆闄嶉噰鏍峰弬鏁般€�
.. image:: img/desample.png
:align: center
:width: 350px
- 鏍呮牸杈归暱锛氬皢鐐逛簯涓殑鐐瑰垝鍒嗗埌鎸囧畾澶у皬鐨勪笁缁存爡鏍硷紙鍗虫鏂逛綋锛変腑锛屾爡鏍艰竟闀胯秺澶э紝杈撳嚭鐨勭偣浜戣秺绋€鐤忋€�
- 杈撳嚭鐐逛簯灏哄涓婇檺鍊硷細濡傛灉璇ュ€煎ぇ浜�0锛屽皢浼氳繘琛屼袱娆￠噰鏍凤紝绗簩娆￠檷閲囨牱鎿嶄綔灏嗕細鍩轰簬绗竴娆¤繘琛屻€�
2. 鍦� **鍙鍖栨樉绀�** 鍖哄煙閫夋嫨闇€瑕佹煡鐪嬬殑鍥惧儚銆�
- 闄嶉噰鏍风偣浜戝墠锛氫粎鏄剧ず闄嶉噰鏍峰墠鐨勫浘鍍忋€�
.. image:: img/desample1.png
:align: center
:width: 350px
- 闄嶉噰鏍风偣浜戝姣斿浘锛氬姣旀樉绀洪檷閲囨牱鍓嶅悗鐨勫浘鍍忥紝琚幓闄ょ殑鐐逛簯閮ㄥ垎鐢ㄧ櫧鑹叉樉绀恒€�
.. image:: img/desample2.png
:align: center
:width: 350px
- 闄嶉噰鏍风偣浜戝悗锛氫粎鏄剧ず闄嶉噰鏍峰悗鐨勫浘鍍忋€�
.. image:: img/desample3.png
:align: center
:width: 350px
**姝ラ5\. 閰嶇疆鍘婚櫎鐐逛簯鍣０妯″潡**
1. 鍗曞嚮宸︿晶鑺傜偣鏍戜腑鐨� **鍘婚櫎鐐逛簯鍣０** 妯″潡锛岀劧鍚庡湪鍙充晶閰嶇疆鍘诲櫔澹板弬鏁帮紝鍣０鍗崇缇ょ偣銆傝繃婊ゆ柟娉曞垎涓篠tatistical鍜孯adius涓ょ銆�
**Statistical** 鏄熀浜庣粺璁＄殑绂荤兢鐐硅繃婊わ紝杩愯鏃堕棿姣斿熀浜庤窛绂荤殑绂荤兢鐐硅繃婊ゆ柟娉曟洿涔咃紝鍏跺弬鏁伴厤缃涓嬶細
.. image:: img/statistical.png
:align: center
:width: 350px
- 鏍囧噯宸€嶆暟锛氳繃婊ゆ帀涓庢渶閭昏繎鐐瑰钩鍧囪窛绂诲ぇ浜庡钩鍧囧€�+鍊嶆爣鍑嗘暟*鏍囧噯宸互澶栫殑鐐癸紝璇ュ€艰秺灏忓垯杩囨护鐐硅秺澶氥€�
- 鐢ㄤ簬缁熻鐨勪复杩戠偣涓暟锛氳鍊艰秺澶у垯缁熻瓒婂噯纭紝浣嗚绠楁椂闂存洿涔呫€�
**Radius** 琛ㄧず鍩轰簬璺濈鐨勭缇ょ偣杩囨护锛屽缓璁粡楠屼赴瀵岀殑宸ョ▼甯堜娇鐢紝鍏跺弬鏁伴厤缃涓嬶細
.. image:: img/radius.png
:align: center
:width: 350px
- 涓磋繎鐐规悳绱㈠崐寰勶細缁熻涓磋繎鐐规暟閲忔椂锛屽彧鑰冭檻璇ュ崐寰勮寖鍥村唴鐨勭偣锛岃鍊艰秺澶у垯璁＄畻鏃堕棿瓒婇暱銆�
- 鏈€灏忎复杩戠偣涓暟锛氬鏋滀竴涓偣闄勮繎鐨勪复杩戠偣鏁伴噺灏忎簬璇ュ€硷紝鍒欎細琚涓哄櫔澹拌繃婊わ紝璇ュ€艰秺澶у垯杩囨护寮哄害瓒婇珮銆�
2. 鍦� **鍙鍖栨樉绀�** 鍖哄煙閫夋嫨闇€瑕佹煡鐪嬬殑鍥惧儚銆�
- 鍘婚櫎鐐逛簯鍣０鍓嶏細浠呮樉绀哄幓闄ょ偣浜戝櫔澹板墠鐨勫浘鍍忋€�
.. image:: img/denoise1.png
:align: center
:width: 350px
- 鍘婚櫎鐐逛簯鍣０瀵规瘮鍥撅細瀵规瘮鏄剧ず鍘婚櫎鍣０鍓嶅悗鐨勫浘鍍忥紝琚幓闄ょ殑鐐逛簯鐢ㄧ櫧鑹叉樉绀恒€�
.. image:: img/denoise2.png
:align: center
:width: 350px
- 鍘婚櫎鐐逛簯鍣０鍚庯細浠呮樉绀哄幓闄ょ偣浜戝櫔澹板悗鐨勫浘鍍忋€�
.. image:: img/denoise3.png
:align: center
:width: 350px
**姝ラ6\. 閰嶇疆3D妯℃澘鍖归厤妯″潡**
1. 鍗曞嚮 :guilabel:`鍒涘缓妯℃澘`锛岄€夋嫨涓€涓凡鏈夌殑鎴栬€呮柊寤轰竴涓伐鍏风被鍨嬶紝鏂板缓宸ュ叿绫诲瀷鏃朵笉鍙噸鍚嶏紝涓斿伐浠剁被鍨嬪繀椤诲拰娉ㄥ唽鎶撳彇鏃朵娇鐢ㄧ殑宸ヤ欢鍚嶇О涓€鑷淬€傜劧鍚庨€夋嫨妯″瀷鏂囦欢锛屽苟缁欐ā鏉垮懡鍚嶅嵆鍙€傞渶瑕佷慨鏀规ā鍨嬫椂锛屽彲鍗曞嚮 :guilabel:`缂栬緫妯″瀷鏂囦欢` 缂栬緫妯″瀷銆�
.. image:: img/3dmatch2.png
:align: center
:width: 350px
.. hint:: 濡傛灉宸叉湁妯℃澘锛屽崟鍑� :guilabel:`閫夋嫨妯℃澘`锛岀洿鎺ラ€夋嫨鍖呭惈妯″瀷鐨勬枃浠跺す鍗冲彲銆�
2. 鏍规嵁闇€瑕侀€夋嫨 :guilabel:`鐗瑰緛绫诲瀷`锛屽鏋滄ā鍨嬭〃闈㈡暣浣撹緝涓烘墎骞筹紝涓斿钩闈㈠拰鐩寸嚎杈冨锛屽缓璁皾璇昬dge-I/edge-II妯″紡銆�:guilabel:`闄愬埗鐗╀綋鏈濆悜` 寤鸿浣跨敤no_limit锛屽叾浣滅敤鏄鍔犲彲鎶撳彇鐨勬湞鍚戝拰瑙掑害锛屾彁鍗囨姄鍙栨鐜囥€�
3. 鏍规嵁闇€瑕佽缃娴嬪弬鏁般€傛ā鏉垮尮閰嶆椂锛屽皬浜� :guilabel:`鏈€灏忓垎鏁癭 鐨勭粨鏋滃皢琚繃婊ゃ€傝秴杩� :guilabel:`鏈€澶ф娴嬫暟閲廯 鐨勭粨鏋滐紝涔熷皢琚繃婊ゃ€�
.. image:: img/3dmatch3.png
:align: center
:width: 350px
4. 璁剧疆涓嶅悓妫€娴嬮樁娈电殑鍙傛暟锛岀郴缁熶細鏍规嵁鐗╀綋妯″瀷鍦ㄧ偣浜戜腑瀵绘壘鍖归厤缁撴灉銆�
.. image:: img/3dmatch4.png
:align: center
:width: 450px
鐢ㄦ埛涔熷彲浠ユ煡鐪嬪垎姝ユ墽琛岀殑妫€娴嬬粨鏋滐紝鍚勯樁娈靛弬鏁拌缃涓嬨€�
- 閫氳繃 **鎶曠エ** 闃舵锛岀偣浜戜腑鐨勬瘡涓叧閿偣閮戒細寰楀埌涓€涓渶鍙兘瀵瑰簲鐨勬ā鍨嬪叧閿偣鍜屽搴旂殑浣嶅Э缁撴灉锛岃闃舵鍚勫弬鏁伴厤缃涓嬨€�
.. image:: img/vote.png
:align: center
:width: 450px
璇ユ楠よ繍琛岀粨鏋滃涓嬪浘鎵€绀恒€�
.. image:: img/voteexe.png
:align: center
:width: 450px
- 閫氳繃 **鑱氱被** 闃舵锛屽悎骞剁浉杩戠殑浣嶅Э缁撴灉锛屽幓闄ゅ緱绁ㄦ暟杈冨皯鐨勭粨鏋滐紝璇ラ樁娈靛悇鍙傛暟閰嶇疆濡備笅銆�
.. image:: img/cluster.png
:align: center
:width: 450px
璇ユ楠よ繍琛岀粨鏋滃涓嬪浘鎵€绀恒€�
.. image:: img/clusterout.png
:align: center
:width: 450px
- 閫氳繃 **绮楅厤鍑�** 闃舵锛屼娇鐢↖CP杩唬锛屼紭鍖栫粨鏋滅殑绮惧害銆佸幓闄よ宸緝澶х殑缁撴灉锛岃闃舵鍚勫弬鏁伴厤缃涓嬨€�
.. image:: img/sparse.png
:align: center
:width: 450px
璇ユ楠よ繍琛岀粨鏋滃涓嬪浘鎵€绀恒€�
.. image:: img/sparseout.png
:align: center
:width: 450px
- 閫氳繃 **绮鹃厤鍑�** 闃舵锛屼娇鐢↖CP杩唬锛屼紭鍖栫粨鏋滅殑绮惧害銆佸幓闄よ宸緝澶х殑缁撴灉锛岃闃舵鍚勫弬鏁伴厤缃涓嬨€�
.. image:: img/dense.png
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娴佸浘璇﹁В
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