1. 使用point_coord_x、point_coord_y、point_coord_z阈值分割麻辣兔头

dev_open_window (0, 0, 500, 500, 'black', WindowHandle)
create_pose (-20, 0, 3000, 125, 0, 325, 'Rp+T', 'gba', 'point', VisPose1)

read_object_model_3d ('mvtec_bunny_normals', 'm', [], [], ObjectModel3D, Status)

visualize_object_model_3d (WindowHandle, ObjectModel3D, [], VisPose1, ['disp_pose','color','alpha'], ['true','white',1], [], [], [], PoseOut)

* 通过空间坐标系 x,y,z对点云进行分割
select_points_object_model_3d (ObjectModel3D, \
                               ['point_coord_x','point_coord_y','point_coord_z'], \
                               [0,20,-40], [60,100,20], \
                               ObjectModel3DThresholded)

visualize_object_model_3d (WindowHandle, ObjectModel3DThresholded, [], VisPose1, \
                           ['disp_pose','color','alpha'], ['true','red',1], [], [], [], PoseOut)

2. point_normal_x、point_normal_y、point_normal_z有什么区别？

• point_normal_x：三维点集的三维点法线的 x 分量
• point_normal_y：三维点集的三维点法线的 y 分量
• point_normal_z：三维点集的三维点法线的 z 分量
• 这种方式更容易分割同一个面上的点

* 通过法线分量对点云进行分割
select_points_object_model_3d (ObjectModel3D, \
                               ['point_normal_x','point_normal_y','point_normal_z'], \
                               [-0.5,-1,-1], [0.5,1,1], \
                               ObjectModel3DThresholded)

3. 去除离群点

• 在距离至多为 X 的范围内的邻居数量。它可用于去除三维物体模型中分布稀疏的部分，比如离群点或在三维表面之间进行平滑处理时产生的点。
• num_neighbors X
• num_neighbors_fast X

dev_close_window ()
dev_open_window (0, 0, 800, 800, 'gray', WindowHandle)

read_object_model_3d ('plant', 'm', [], [], Plant, Status)

select_points_object_model_3d (Plant, 'point_coord_z', 0, 0.607, ObjectModel3DThresholded)
select_points_object_model_3d (ObjectModel3DThresholded, 'num_neighbors_fast 0.01', 100, 1e+10, PlantThresholded)

PoseVis := [0.434603,-0.334464,2.41924,255.878,304.461,240.131,0]
visualize_object_model_3d (WindowHandle, PlantThresholded, [], PoseVis, ['intensity_red','intensity_green','intensity_blue','disp_pose'], ['coord_x','coord_y','coord_z','true'], 'Plant', [], [], PoseOut)