平面校正点云 halcon代码

下面是使用 HDevelop 实现平面校正点云的代码示例：

1. 读取点云数据

read_object_model_3d ('PointCloud.p3dml', ObjectModel3DID)

2. 提取点云表面的平面

fit_shape_model_3d (ObjectModel3DID, 'plane', 0.01, 100, 10, ShapeModel3DID)

3. 计算平面的旋转矩阵和平移向量

get_shape_model_3d_params (ShapeModel3DID, 'plane', [CamParamID, Pose], [PlaneParams])
get_pose_data (Pose, [Rotation], [Translation])

4. 应用平面的旋转矩阵和平移向量对点云进行转换

affine_trans_object_model_3d (ObjectModel3DID, ObjectModel3DID_Transformed, CamParamID, 'point', Translation, Rotation)

完整代码如下：

read_object_model_3d ('PointCloud.p3dml', ObjectModel3DID)

fit_shape_model_3d (ObjectModel3DID, 'plane', 0.01, 100, 10, ShapeModel3DID)

get_shape_model_3d_params (ShapeModel3DID, 'plane', [CamParamID, Pose], [PlaneParams])
get_pose_data (Pose, [Rotation], [Translation])

affine_trans_object_model_3d (ObjectModel3DID, ObjectModel3DID_Transformed, CamParamID, 'point', Translation, Rotation)

其中，'PointCloud.p3dml' 是点云数据文件的路径，可以根据实际情况进行修改。