线阵相机取点云出问题了

我换成线阵相机后，取的点云是横向排列的了。变成一条点云图像了。
代码如下：

1. dev_close_window ()
   
2. dev_open_window(0,0,600,400,'black',WindowHandle1)
   
3. dev_set_draw ('margin') //设置轮廓
   
4. dev_set_line_width (3) //设置线宽
   
5. dev_set_color ('green') //设置颜色为绿色
   
6. dev_set_lut ('default') //
   
7. * 设置相机内外参，光平面位姿，移动位姿
   
8. 
   
9. CamParam := [0.00922382,-1194.63,2.67343e-006,3.2e-006,396.822,244.077,720,480]
   
10. Campose  :=[0.000185546,0.00743155,0.0657843,317.33,355.751,267.007,0]
    
11. LightplanePose :=[0.00817876, 0.0173276, -0.000317222, 179.997, 358.681, 360.0, 0]
    
12. MovementPose :=[0.0529332, 0.00642633, 0.0561776, 0, 0, 0, 0]
    
13. *建立sheetoflight模型，并设置参数
    
14. gen_rectangle1 (ProfileRegion,25.5, 1.1875, 310.833, 569.313)
    
15. dev_update_off()
    
16. create_sheet_of_light_model (ProfileRegion,['min_gray','num_profiles','ambiguity_solving'],[60,1450,'brightest'],SheetOfLightModelID)
    
17. set_sheet_of_light_param (SheetOfLightModelID, 'calibration', 'xyz') //将标定变形应用在不同的图像中
    
18. set_sheet_of_light_param (SheetOfLightModelID, 'scale', 'mm') //单位
    
19. set_sheet_of_light_param (SheetOfLightModelID, 'camera_parameter', CamParam) //相机内部参数
    
20. set_sheet_of_light_param (SheetOfLightModelID, 'camera_pose', Campose) //相机坐标系统
    
21. set_sheet_of_light_param (SheetOfLightModelID, 'lightplane_pose', LightplanePose) //相机姿态，如果与测的物体相同平面
    
22. set_sheet_of_light_param (SheetOfLightModelID, 'movement_pose', MovementPose) //移动姿态，移动过程中通常为大地坐标
    
23. *连续读图，计算中心并保存
    
24. i:=1
    
25. open_framegrabber ('DirectShow', 1, 1, 0, 0, 0, 0, 'default', 8, 'rgb', -1, 'false', 'default', '[1] AV TO USB2.0', 0, -1, AcqHandle)
    
26. set_framegrabber_param (AcqHandle,'gamma',7)
    
27. 
    
28. dev_update_off()
    
29. grab_image_start (AcqHandle, -1)
    
30. while (i<1450)
    
31.     grab_image_async (Image, AcqHandle, -1)
    
32.     measure_profile_sheet_of_light(Image,SheetOfLightModelID,[])
    
33.     dev_display (Image)
    
34.     dev_display(ProfileRegion)
    
35.     i:=i+1
    
36. endwhile
    
37. close_framegrabber (AcqHandle)
    
38. * 获取片光图像
    
39. 
    
40. get_sheet_of_light_result (Disparity, SheetOfLightModelID, 'disparity') //返回片光深度距离
    
41. get_sheet_of_light_result (X, SheetOfLightModelID, 'x') //返回片光x数据
    
42. get_sheet_of_light_result (Y, SheetOfLightModelID, 'y') //返回片光y数据
    
43. get_sheet_of_light_result (Z, SheetOfLightModelID, 'z') //返回片光z数据
    
44. get_sheet_of_light_result_object_model_3d (SheetOfLightModelID, ObjectModel3DID) //返回片光3D模型数据
    
45. clear_sheet_of_light_model (SheetOfLightModelID) //清除指定片光模型
    
46. 
    
47. * 显示视差图像
    
48. get_image_size (Disparity, Width, Height) //获取图像大小
    
49. dev_set_window_extents (0, 0, Width, Height) //调整大小
    
50. dev_set_lut ('temperature') //
    
51. set_display_font (WindowHandle1, 16, 'mono', 'true', 'false') //设置字体
    
52. dev_clear_window () //清除窗体
    
53. dev_display (Disparity)
    
54. disp_message (WindowHandle1, '重建片光生产的视差图像', 'window', -1, -1, 'black', 'true') //显示信息
    
55. disp_continue_message (WindowHandle1, 'black', 'true') //显示暂停信息
    
56. stop () //暂停
    
57. 
    
58. * 显示Z坐标
    
59. dev_close_window () //关闭窗体
    
60. dev_open_window (Height + 10, 0, Width * .5, Height * .5, 'black', WindowHandle3) //打开窗体3
    
61. set_display_font (WindowHandle3, 16, 'mono', 'true', 'false')//设置字体
    
62. dev_display (Z) //显示Z信息
    
63. disp_message (WindowHandle3, '标定的 Z 坐标', 'window', -1, -1, 'black', 'true') //显示信息
    
64. 
    
65. * 显示Y坐标
    
66. dev_open_window ((Height + 10) * .5, 0, Width * .5, Height * .5, 'black', WindowHandle2) //打开窗体2
    
67. set_display_font (WindowHandle2, 16, 'mono', 'true', 'false')//设置字体
    
68. dev_display (Y)//显示Z信息
    
69. disp_message (WindowHandle2, '标定的 Y 坐标', 'window', -1, -1, 'black', 'true')
    
70. 
    
71. * 显示X坐标
    
72. dev_open_window (0, 0, Width * .5, Height * .5, 'black', WindowHandle1) //打开窗体1
    
73. dev_display (X)//显示Z信息
    
74. dev_set_lut ('default')
    
75. set_display_font (WindowHandle1, 16, 'mono', 'true', 'false')//设置字体
    
76. disp_message (WindowHandle1, '标定的 X 坐标', 'window', -1, -1, 'black', 'true') //显示信息
    
77. disp_continue_message (WindowHandle3, 'black', 'true') //显示暂停信息
    
78. 
    
79. stop () //暂停
    
80. get_object_model_3d_params(ObjectModel3DID,'point_coord_z',zvalue)
    
81. get_object_model_3d_params(ObjectModel3DID,'point_coord_y',yvalue)
    
82. get_image_size(Z,Width1,Height1)
    
83. 
    
84. * Display the 3d object model
    
85. CameraParam1 := [0.00922382,-1194.63,2.67343e-006,3.2e-006,396.822,244.077,720,480] //相机内部参数
    
86. Instructions[0] := '旋转: Left 鼠标左键'
    
87. Instructions[1] := '缩放: Shift + 鼠标左键'
    
88. Instructions[2] := '移动Move: Ctrl + 鼠标左键'
    
89. PoseIn := [0,-10,300,-30,0,-30,0]
    
90. dev_close_window () //关闭窗体2
    
91. dev_close_window () //关闭窗体3
    
92. dev_close_window () //关闭窗体12
    
93. dev_open_window (0, 0, CameraParam1[6], CameraParam1[7], 'black', WindowHandle) //打开新窗体
    
94. set_display_font (WindowHandle, 16, 'mono', 'true', 'false')//设置字体
    
95. visualize_object_model_3d (WindowHandle,ObjectModel3DID ,CameraParam1 , PoseIn, 'color', 'blue', \
    
96.                            '重建', '', Instructions, PoseOut)//显示信息
    
97. write_object_model_3d(ObjectModel3DID,'om3','D:/3d',[],[])

复制代码