九点标定进行仿射变换halcon仿真代码

筛选出来的点得坐标已经显示在PxRow、PxColunm里边

* Image Acquisition 01: Code generated by Image Acquisition 01 read_image (Image, 'C:/Users/Administrator/Desktop/标定板图片.png') dev_close_window () dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle) dev_display (Image) binary_threshold (Image, Region, 'max_separability', 'dark', UsedThreshold) connection (Region, ConnectedRegions) *筛选出来九个点 select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70) shape_trans (SelectedRegions, RegionTrans, 'outer_circle') *求出九点坐标 area_center (RegionTrans, Area, Row, Column) disp_message (WindowHandle, 'R:'+Row+' C:'+Column, 'Image', Row, Column, 'black', 'true') *九点标定行 PxRow:=[23.5, 23.5, 23.5, 71.5, 71.5, 71.5, 118.5, 118.5, 118.5] *九点标定列 PxColunm:=[28.5, 75.5, 122.5, 28.5, 75.5, 122.5, 28.5, 75.5, 122.5]*机器坐标行 Qx:=[100,50,0,100,50,0,100,50,0] *机器坐标列 Qy:=[0,0,0,50,50,50,100,100,100]*拿到机器坐标和像素坐标求出关系矩阵 * 标定行 标定列 机器X 机器Y 得到矩阵 vector_to_hom_mat2d (PxRow, PxColunm, Qx, Qy, HomMat2D) *保存矩阵 write_tuple (HomMat2D, '九点标定.tup') *读取矩阵 read_tuple ('九点标定.tup', HomMat2D) *利用求出来的物体行列坐标得到机器坐标 affine_trans_point_2d (HomMat2D, PxRow, PxColunm, Qx1, Qy1)

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