“金属件上下料”场景中常用的步骤

点过滤

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点云聚类

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合并点云

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3D匹配

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翻转位姿的坐标轴方向

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位姿变换

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2D方法估计点云边缘

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3D方法估计点云边缘

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3D 位姿排序

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显示点云与位姿

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