https://github.com/oneoneliu/halcon_package
https://github.com/oneoneliu/halcon_package
Last synced: 3 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/oneoneliu/halcon_package
- Owner: OneOneLiu
- Created: 2024-05-11T01:56:35.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-06-28T11:59:04.000Z (almost 2 years ago)
- Last Synced: 2024-06-28T13:11:24.647Z (almost 2 years ago)
- Language: CMake
- Size: 1.84 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: license/license_eval_halcon_progress_2024_05.dat
Awesome Lists containing this project
README
# halcon_package
## 1. Download software source file
Download software source file and save it to the `downloads/` folder in this package (untracked). The folder should be like this after that:
```bash{.line-numbers}
downloads/
└── halcon-23.05.0.0-x64-linux
├── readme.txt
├── repository
│ └── packages.mvtec.com
│ ├── ai_acc
│ ├── halcon
│ │ └── halcon-23.05-progress
0-deep-learning-core-x64-win64_x64-linux_aarch64-linux_armv7a-linux.zip
│ │
│ ├── interfaces
│ ├── som.catalog
│ └── som.catalog.asc
├── som
├── som-register.sh
└── som.png
```
## 2. Set the environment and Partial files description
### 2.1 Set the environment
First, run the Docker environment:
```bash
cd catkin_ws/src/halcon_package/Docker
bash build.bash
bash noetic.bash
```
Install halcon：
```bash
cd catkin_ws/src/halcon_package/
bash install.bash
```
### 2.2 Partial files description
The directory structure of this package is as follows:
```
├── CMakeLists.txt
├── Docker
│ ├── Dockerfile
│ ├── build.bash
│ └── noetic.bash
├── README.md
├── downloads
│ ├── halcon-23.05.0.0-x64-linux/...
│ └── license_eval_halcon_progress_2024_05.dat
├── install.bash
├── package.xml
├── pcd
│ ├── bowl.stl
│ ├── matrix.txt
│ └── scence.ply
└── src
└── registration_test.py
```
> 其中 `matrix.txt` 为手眼变换矩阵，
>
> `bowl.stl`为配准的模型文件，
>
> `scence.ply`为获取的点云场景文件，
>
> `license_eval_halcon_progress_2024_05.dat`为halcon授权文件，需每月更新。
## 3. Test registration
Start ROS on the current terminal:
```bash
roscore
```
Create a new terminal and test the registration program:
```bash
rosrun halcon_package registration_test
```