“拆垛”场景中常用的步骤

获取深度图中最高的区域

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提取 3D ROI 内点云

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缩放 2D ROI 内的图像

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实例分割

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读取物体尺寸

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2D匹配

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将深度图3D ROI外的区域置为无效

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滤除掩膜外的多边形

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