C# winform界面显示3D点云图像（halcon+VTK）

最新推荐文章于 2025-06-15 18:32:37 发布

Isaac320

最新推荐文章于 2025-06-15 18:32:37 发布

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文章标签： c# 显示3d点云 vtk halcon Activiz

本文链接：https://blog.youkuaiyun.com/Isaac320/article/details/131639303

本文介绍了如何通过在VisualStudio中使用NuGet包Activiz和VTK库，将Halcon的3D点云数据展示在C#软件的RenderWindowControl控件上。作者详细阐述了从hv_ObjectModel3D中提取点云信息并转换为VTK兼容格式的过程，以及设置颜色和渲染参数的方法，实现了3D图像的旋转、平移和缩放功能。

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前一段时间研究了下halcon里的3d算法，想着把3d图像显示在C#编写的软件界面上，试了下halcon的控件，没成功。后来学习了一点VTK的知识，实现了3d图像的显示，可旋转，平移，缩放观察，当然也能按照自己喜欢的风格进行渲染。

具体实现步骤

在VS里，工具->NuGet包管理器->管理解决方案的NuGet程序包，搜索Activiz 安装上去，工具箱多了个RenderWindowControl控件，这个控件用来显示3d图像的。

我在halcon里处理完点云数据，halcon里的3d模型是hv_ObjectModel3D，在此模型里获取各个点的时候,可以顺带把各个点的渲染参数也加上，获取的点转换的vtk里的数据格式

代码

static vtkPoints h2v_cloud(HTuple hv_ObjectModel3D,out vtkUnsignedCharArray colors_rgb)
        {
            HTuple hv_x = new HTuple();
            HTuple hv_y = new HTuple();
            HTuple hv_z = new HTuple();
            HTuple hv_num = new HTuple();

            HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D, "point_coord_x", out hv_x);
            HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D, "point_coord_y", out hv_y);
            HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D, "point_coord_z", out hv_z);
            HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D, "num_points", out hv_num);

            double x_mid=(hv_x.TupleMax().D+hv_x.TupleMin().D)/2;
            double y_mid=(hv_y.TupleMax().D+hv_y.TupleMin().D)/2;
            double z_mid = (hv_z.TupleMax().D + hv_z.TupleMin().D) / 2;


            int num = hv_num[0].I;
            vtkPoints points = new vtkPoints();

            for (int i = 1; i < num; i++)
            {
                points.InsertPoint(i, hv_x.DArr[i]-x_mid, hv_y.DArr[i]-y_mid, hv_z.DArr[i]-z_mid);
            }

            colors_rgb = vtkUnsignedCharArray.New();
            colors_rgb.SetNumberOfComponents(3);
            double zMax = hv_z.TupleMax().D;
            double zMin = hv_z.TupleMin().D;
            double z=zMax - zMin;
            double z_median = z * 1.0 / 2;
            double r = 0, g = 0, b = 0;
            for(int i = 0; i < num;i++)
            {
                if (hv_z.DArr[i]-zMin>z_median)
                {
                    r = 255 * ((hv_z.DArr[i] - zMin - z_median) / z_median);
                    g= 255 * (1-((hv_z.DArr[i] - zMin - z_median) / z_median));
                    b = 0;
                    colors_rgb.InsertNextTuple3(r, g, b);
                }
                else
                {
                    r = 0;
                    g = 255 * ((hv_z.DArr[i] - zMin - z_median) / z_median);
                    b = 255 * (1 - ((hv_z.DArr[i] - zMin - z_median) / z_median));
                    colors_rgb.InsertNextTuple3(r, g, b);
                }
            }

            return points;
        }

显示在控件上的代码

public void show_cloud(vtkPoints points, vtkUnsignedCharArray colors_rgb, double r = 1.0, double g = 1.0, double b = 1.0, float size = 4f)
        {
            m_points = null;
            m_points = points;

            vtkPolyData polydata = vtkPolyData.New();
            polydata.SetPoints(points);


            //// 设置点云的渲染标量
            polydata.GetPointData().SetScalars(colors_rgb);

            vtkVertexGlyphFilter glyphFilter = vtkVertexGlyphFilter.New();
            glyphFilter.SetInputConnection(polydata.GetProducerPort());

            vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
            mapper.SetInputConnection(glyphFilter.GetOutputPort());


            // 开启颜色渲染
            mapper.ScalarVisibilityOn();

            // 设置渲染范围
            mapper.SetScalarRange(0, 500);


            vtkActor actor = vtkActor.New();
            actor.SetMapper(mapper);
            //actor.GetProperty().SetPointSize(size);
            //actor.GetProperty().SetColor(r, g, b);

            //vtkScalarBarActor scalarBar = vtkScalarBarActor.New();
            //scalarBar.SetLookupTable(mapper.GetLookupTable());
            //scalarBar.SetTitle("Point Cloud");
            //scalarBar.SetHeight(0.7);
            //scalarBar.SetWidth(0.1);
            //scalarBar.SetNumberOfLabels(10);
            //scalarBar.GetLabelTextProperty().SetFontSize(4);
            vtkRenderer render = renderWindowControl1.RenderWindow.GetRenderers().GetFirstRenderer();

            //// 清空点云
            for (int i = 0; i < render.GetActors().GetNumberOfItems(); i++)
            {
                var item = render.GetActors().GetItemAsObject(i);
                render.RemoveActor((vtkActor)item);
                item.Dispose();
            }

            render.AddActor(actor);
            //render.AddActor(scalarBar);
            render.SetViewport(0.0, 0.0, 1, 1);
            render.ResetCamera();
            this.Refresh();
        }