当前位置：首页 > news >正文

知微传感Dkam系列3D相机SDK例程篇：CSharp点云滤波

news 2025/10/1 7:34:48

3D相机点云滤波

写在前面

本人从事机器视觉细分的3D相机行业。编写此系列文章主要目的有：
- 1、便利他人应用3D相机，本系列文章包含公司所出售相机的SDK的使用例程及详细注释；
- 2、促进行业发展及交流。
知微传感Dkam系列3D相机可以应用于定位分拣、焊接焊缝提取、逆向建模、检测测量等领域

点云滤波及API说明

点云滤波说明

知微传感为其3D相机输出的点云准备了滤波API，用于噪声或离群点的滤除
点云滤波功能在上位机完成
被滤除的点位置保留，指标值为0
滤波API在获取点云后使用

例程及注释

本例程基于WIN10+VisualStudio2022+DkamSDK_1.6.83
DkamSDK的配置方法请参考SDK说明书
本例程在D330XS型相机上验证

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;namespace filter
{internal class Program{static void Main(string[] args){Console.WriteLine("Hello ZhiSENSOR!");//**********************************************查询、连接相机****************************************************int camer_num = 0;int camera_ret = -1;//想要连接的相机IPString tarCameraIP = "192.168.40.91";//发现局域网内的相机camer_num = DkamSDK_CSharp.DiscoverCamera();Console.WriteLine("局域网内共有" + camer_num + "台3D相机");//显示局域网内相机IPfor (int i = 0; i < camer_num; i++){Console.WriteLine("局域网内相机的IP为：" + DkamSDK_CSharp.CameraIP(i));if (String.Compare(DkamSDK_CSharp.CameraIP(i), tarCameraIP) == 0){camera_ret = i;}}Console.WriteLine("连接IP为：" + tarCameraIP + "的相机");//连接相机SWIGTYPE_p_CAMERA_OBJECT camera = DkamSDK_CSharp.CreateCamera(camera_ret);int connect = DkamSDK_CSharp.CameraConnect(camera);if (connect == 0){Console.WriteLine("相机连接成功！");//获取当前红外相机的宽和高SWIGTYPE_p_int width_gray = DkamSDK_CSharp.new_intArray(0);DkamSDK_CSharp.GetCameraWidth(camera, width_gray, 0);int width = DkamSDK_CSharp.intArray_getitem(width_gray, 0);SWIGTYPE_p_int height_gray = DkamSDK_CSharp.new_intArray(0);DkamSDK_CSharp.GetCameraHeight(camera, height_gray, 0);int height = DkamSDK_CSharp.intArray_getitem(height_gray, 0);Console.WriteLine("红外图宽度：" + width + "    红外图高度：" + height);//**********************************************采集点云数据****************************************************//定义点云大小PhotoInfoCSharp PointCloud_data = new PhotoInfoCSharp();int pointsize = width * height * 6;byte[] point_pixel = new byte[pointsize];//开启数据流通道(0:红外 1:点云 2:RGB)//点云int streampoint = DkamSDK_CSharp.StreamOn(camera, 1);if (streampoint == 0){Console.WriteLine("点云通道打开成功！");}else{Console.WriteLine("点云通道打开失败！！！     错误码：" + streampoint);}//开始接受数据int start = DkamSDK_CSharp.AcquisitionStart(camera);if (start == 0){Console.WriteLine("可以开始接收数据！");}else{Console.WriteLine("不能接收数据！！！     错误码：" + start);}//刷新缓冲区DkamSDK_CSharp.FlushBuffer(camera, 1);Console.WriteLine("等待数据采集、传输。。。");//获取点云数据int capturepoint = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 1, PointCloud_data, point_pixel, pointsize, 10000000);if (capturepoint == 0){Console.WriteLine("点云数据接收成功！");}else{Console.WriteLine("点云数据接收失败！！！     错误码：" + capturepoint);}Console.WriteLine();//保存点云数据int savepoint = DkamSDK_CSharp.SavePointCloudToPcdCSharp(camera, PointCloud_data, point_pixel, pointsize, "pointcloud.pcd");if (savepoint == 0){Console.WriteLine("原始点云数据保存成功！");}else{Console.WriteLine("原始点云数据保存失败！！！     错误码：" + savepoint);}//*********************************************滤波****************************************************//滤波DkamSDK_CSharp.FilterPointCloudCSharp(camera, PointCloud_data, point_pixel, pointsize, 1);//保存滤波后点云数据savepoint = DkamSDK_CSharp.SavePointCloudToPcdCSharp(camera, PointCloud_data, point_pixel, pointsize, "pointcloud_Filter.pcd");if (savepoint == 0){Console.WriteLine("滤波点云数据保存成功！");}else{Console.WriteLine("滤波点云数据保存失败！！！     错误码：" + savepoint);}//*********************************************空间滤波****************************************************//空间滤波int spfilter = DkamSDK_CSharp.SpatialFilterPointcloudCSharp(camera, PointCloud_data, point_pixel, pointsize, 80);if (spfilter == 0){Console.WriteLine("空间滤波成功！");}else {Console.WriteLine("空间滤波失败！！！     错误码：" + savepoint);}//保存滤波后点云数据savepoint = DkamSDK_CSharp.SavePointCloudToPcdCSharp(camera, PointCloud_data, point_pixel, pointsize, "pointcloud_SpatialFilter.pcd");if (savepoint == 0){Console.WriteLine("空间滤波点云数据保存成功！");}else{Console.WriteLine("空间滤波点云数据保存失败！！！     错误码：" + savepoint);}//断开相机连接int disconnect = DkamSDK_CSharp.CameraDisconnect(camera);if (disconnect == 0){Console.WriteLine("成功断开相机！");}else{Console.WriteLine("断开相机失败！！！     错误码：" + disconnect);}//销毁相机参数DkamSDK_CSharp.DestroyCamera(camera);}//connect = 0else{Console.WriteLine("相机连接失败，失败代码：" + connect);}}//MAIN}//PROGRAM
}//NAMESPACE