halcon 的表面模版匹配 CAD模版问题

根据CAD模版匹配3D图像中的区域，结果匹配出的结果没有达到效果，求大神帮忙看看是什么原因引起的？

这个是程序：decompose3 (Image3D , Image11, Image21, Image31)
xyz_to_object_model_3d (Image11, Image21, Image31, ObjectModel3D)
read_surface_model ('C:/Users/Administrator/Desktop/K8_AO/K8_AO.sfm',SurfaceModelIDF)
get_surface_model_param(SurfaceModelIDF, 'sampled_model', GenParamValueF)
read_object_model_3d('C:/Users/Administrator/Desktop/K8_AO/K8_AO.om3','mm', [], [], ObjectModel3DNormalsF, Status)
visualize_object_model_3d(WindowHandle, GenParamValueF, [], [], ['disp_normals','color','disp_pose'], ['true','cyan','true'], [], [], [], PoseOut)

find_surface_model(SurfaceModelIDF, ObjectModel3D, 0.05, 0.4, 0.4, 'true', ['num_matches','scene_normal_computation'], [10,'mls'], hv_Pose, hv_Score, SurfaceMatchingResultIDF)
ObjectModel3DAffineTransF := []
distanceDiff := 8
pose_to_hom_mat3d(hv_Pose[14:20], HomMat3DF)
affine_trans_object_model_3d(ObjectModel3DNormalsF ,HomMat3DF, ObjectModel3DAffineTransFT)
ObjectModel3DAffineTransF := [ObjectModel3DAffineTransF,ObjectModel3DAffineTransFT]
distance_object_model_3d(ObjectModel3D, ObjectModel3DAffineTransFT, [0,0,0,0,0,0,0], 0, [], [])
select_points_object_model_3d(ObjectModel3D, '&distance', 5, distanceDiff, ObjectModel3DThresholdedF)

object_model_3d_to_xyz (X, Y, Z, ObjectModel3DThresholdedF, 'from_xyz_map',[], [])