单目结构光 halcon代码

以下是基于HALCON的单目结构光代码示例：

* 初始化相机和光源
dev_open_framegrabber('GigEVision', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', 'default', 'default', 'default', 'default', AcqHandle)
dev_set_framegrabber_param(AcqHandle, 'PixelFormat', 'Mono8')
dev_set_framegrabber_param(AcqHandle, 'GevSCPD', 1000.0)
dev_set_framegrabber_param(AcqHandle, 'GevSCFT', 'Continuous')
dev_set_framegrabber_param(AcqHandle, 'GevSCPSPacketSize', 1500)
dev_set_framegrabber_param(AcqHandle, 'GevSCPS', 'Unicast')
open_framegrabber(1, 0, 0, 0, 0, 0, 0, 'default', -1, GenParamName, GenParamValue)
dev_set_framegrabber_param(AcqHandle, 'ExposureTime', 1000.0)
dev_set_framegrabber_param(AcqHandle, 'Gain', 1.0)
dev_set_framegrabber_param(AcqHandle, 'TriggerMode', 'Off')
dev_set_framegrabber_param(AcqHandle, 'AcquisitionMode', 'SingleFrame')
gen_i11const(0, StructuredLightPattern)
gen_i11const(1, LightFlag)
gen_i11const(1, InvertFlag)

* 读取图像和标定数据
read_image(Image, 'image.tif')
read_cam_par('calib.camparam', CameraParam)
read_object_model('calib.p3d', ObjectModel3D)

* 进行点云重建
shape_from_structured_light(Image, StructuredLightPattern, LightFlag, InvertFlag, ObjectModel3D, CameraParam, Pose, Cloud)

* 可视化点云
dev_open_window(0, 0, 512, 512, 'Visible', WindowHandle)
dev_display_object_model_3d(ObjectModel3D, CameraParam, Pose, [], [], [], WindowHandle, [], 'true', [])
dev_display_shape_matching_results(Image, StructuredLightPattern, LightFlag, InvertFlag, ObjectModel3D, CameraParam, Pose, WindowHandle)
dev_display_shape_matching_results(Image, StructuredLightPattern, LightFlag, InvertFlag, ObjectModel3D, CameraParam, Pose, WindowHandle)

请注意，需要根据实际硬件和场景进行参数设置和调整。