Halcon读取海康机器人生成的ply点云数据文件

格式解析：

1. ply
   
2. format ascii 1.0           { ascii/binary, format version number }
   
3. comment made by Greg Turk  { comments keyword specified, like all lines }
   
4. comment this file is a cube
   
5. element vertex 8           { define "vertex" element, 8 of them in file }
   
6. property float x           { vertex contains float "x" coordinate }
   
7. property float y           { y coordinate is also a vertex property }
   
8. property float z           { z coordinate, too }
   
9. element face 6             { there are 6 "face" elements in the file }
   
10. property list uchar int vertex_index { "vertex_indices" is a list of ints }
    
11. end_header                 { delimits the end of the header }
    
12. 0 0 0                      { start of vertex list }
    
13. 0 0 1
    
14. 0 1 1
    
15. 0 1 0
    
16. 1 0 0
    
17. 1 0 1
    
18. 1 1 1
    
19. 1 1 0
    
20. 4 0 1 2 3                  { start of face list }
    
21. 4 7 6 5 4
    
22. 4 0 4 5 1
    
23. 4 1 5 6 2
    
24. 4 2 6 7 3
    
25. 4 3 7 4 0
    

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直接上代码：

1. read_object_model_3d ('C:/Users/Criss/Desktop/1-42 NO1.ply', 'mm', [], [], ObjectModel3D, Status)
   
2. *获取顶点数目
   
3. get_object_model_3d_params (ObjectModel3D, 'num_points', NumPoints)
   
4. 
   
5. *获取每个坐标系数据
   
6. get_object_model_3d_params (ObjectModel3D, 'point_coord_x', CoordX)
   
7. get_object_model_3d_params (ObjectModel3D, 'point_coord_y', CoordY)
   
8. get_object_model_3d_params (ObjectModel3D, 'point_coord_z', CoordZ)
   
9. write_tuple (CoordX, 'CoordX.tup')
   
10. write_tuple (CoordY, 'CoordY.tup')
    
11. write_tuple (CoordZ, 'CoordZ.tup')
    
12. 
    
13. *模拟图像显示交互
    
14. visualize_object_model_3d (3600, ObjectModel3D, [], [], [], [], [], [], [], PoseOut)

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文件下载：
链接：https://pan.baidu.com/s/1n8gJSpXE3DAP9PhkYphu2A
提取码：8jvj

感谢大佬分享