halcon 几何定位实现跟随效果

鸿翔机器人

1. *几何定位加仿射变换的联合应用
   
2. 
   
3. *读取图像
   
4. read_image (Image, '图片/1-1.bmp')
   
5. 
   
6. *绘制圆和矩形
   
7. gen_circle (Circle, 621.442, 867.321, 60.3191)
   
8. gen_rectangle2 (Rectangle, 202.659, 391.7, rad(12.5414), 91.8371, 23.2433)
   
9. 
   
10. *创建模板区域
    
11. gen_rectangle2 (ModelRegion, 329.79, 653.167, rad(31.9349), 155.516, 153.043)
    
12. 
    
13. *减小定义域
    
14. reduce_domain (Image, ModelRegion, ImageReduced)
    
15. 
    
16. *创建模板
    
17. create_shape_model (ImageReduced, 'auto', rad(-90), rad(180), 'auto', 'auto', 'use_polarity', 'auto', 'auto', ModelID)
    
18. 
    
19. *获取模板轮廓
    
20. get_shape_model_contours (ModelContours, ModelID, 1)
    
21. 
    
22. *获取模板中心
    
23. area_center (ModelRegion, Area, Row, Column)
    
24. 
    
25. *显示模板轮廓
    
26. dev_display_shape_matching_results (ModelID, 'red', Row, Column, 0, 1, 1, 0)
    
27. 
    
28. * Image Acquisition 01: Code generated by Image Acquisition 01
    
29. list_files ('图片', ['files','follow_links'], ImageFiles)
    
30. tuple_regexp_select (ImageFiles, ['\\.(tif|tiff|gif|bmp|jpg|jpeg|jp2|png|pcx|pgm|ppm|pbm|xwd|ima|hobj)$','ignore_case'], ImageFiles)
    
31. for Index := 0 to |ImageFiles| - 1 by 1
    
32.     read_image (Image, ImageFiles[Index])
    
33.    
    
34.     *查找模板
    
35.     find_shape_model (Image, ModelID,  rad(-90), rad(180), 0.8, 1, 0.5, 'least_squares', 0, 0.9, Row1, Column1, Angle, Score)
    
36.    
    
37.     *计算仿射变换矩阵
    
38.     vector_angle_to_rigid (Row, Column, 0, Row1, Column1, Angle, HomMat2D)
    
39.      
    
40.      affine_trans_contour_xld (ModelContours, ContoursAffineTrans, HomMat2D)
    
41. 
    
42.     *显示模板匹配结果
    
43.     dev_display_shape_matching_results (ModelID, 'red', Row1, Column1, Angle, 1, 1, 0)
    
44.    
    
45.     *实现跟随
    
46.     affine_trans_region (Circle, RegionAffineTrans1, HomMat2D, 'nearest_neighbor')
    
47.     affine_trans_region (Rectangle, RegionAffineTrans2, HomMat2D, 'nearest_neighbor')
    
48. 
    
49. *显示跟随
    
50.      dev_display (RegionAffineTrans1)
    
51.      dev_display (RegionAffineTrans2)
    
52.    
    
53.     stop ()     
    
54. endfor
    

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