Halcon练手：定位并找圆
模板图片：
测试图片：
代码：
list_image_files ('.', 'default', [], ImageFiles)
read_image (ImageModel, ImageFiles[0])
dev_set_draw ('margin')
gen_rectangle1 (ROI_0, 75.2981, 481.751, 507.636, 898.23)
reduce_domain (ImageModel, ROI_0, ImageReduced)
dev_display (ImageReduced)
*亚像素轮廓
edges_sub_pix (ImageReduced, Edges, 'canny', 1, 40, 70)
*创建轮廓模板
create_shape_model_xld (Edges, 'auto', rad(-180), rad(360), 'auto', 'auto', 'ignore_local_polarity', 5, ModelID)
*找模板图片的轮廓位置
* get_shape_model_contours (ModelContours, ModelID, 1)
find_shape_model (ImageModel, ModelID, rad(-180), rad(360), 0.5, 1, 0.5, 'least_squares', 0, 0.9, RowModel, ColumnModel, AngleModel, Score)
for Index := 0 to |ImageFiles|-1 by 1
read_image (Image, ImageFiles[Index])
find_shape_model (Image, ModelID, rad(-180), rad(360), 0.5, 1, 0.5, 'least_squares', 0, 0.9, RowCur, ColumnCur, AngleCur, Score)
*得到现在图片与模板图 矩阵变化
vector_angle_to_rigid (RowModel, ColumnModel, AngleModel, RowCur, ColumnCur, AngleCur, HomMat2D)
* hom_mat2d_identity (HomMat2DIdentity)
* hom_mat2d_rotate (HomMat2DIdentity, AngleCur, 0, 0, HomMat2DRotate)
* hom_mat2d_translate (HomMat2DRotate, RowCur, ColumnCur, HomMat2DTranslate)
*将模板轮廓 根据矩阵变化 贴合现在图片显示
affine_trans_contour_xld (Edges, ContoursAffineTrans, HomMat2D)
*创建测量模型
create_metrology_model (MetrologyHandle)
*模板图的圆位置ROI
* gen_circle (ROI_1, 527.164, 705.082, 255.129)
circleRowModel:=527.164
circleColumnModel:=705.082
circleParam:=[527.164, 705.082, 255.129]
*圆位置变换关系
affine_trans_point_2d (HomMat2D, circleRowModel, circleColumnModel,circleRow, circleColumn)
*添加当前圆的测量模型
*（1）_generic 通用工具 可为圆 矩形 等 'circle' 找圆
* add_metrology_object_generic (MetrologyHandle, 'circle', circleParam, 20, 5, 1, 30, [], [], Index1)
*（2）_circle 添加圆工具 'measure_select' 'measure_select'
add_metrology_object_circle_measure (MetrologyHandle, circleRow, circleColumn, 255.129, 20, 5, 1, 30, 'measure_select', 'first', Index1)
*适应模型
apply_metrology_model (Image, MetrologyHandle)
*获取结果
get_metrology_object_result (MetrologyHandle, Index1, 'all', 'result_type', 'all_param', Parameter)
*获取模型用到的点
get_metrology_object_measures (Contours, MetrologyHandle, 'all', 'all', Row, Column)
*取每个卡尺取到的点
gen_cross_contour_xld (Cross, Row, Column, 6, 0.785398)
*点——>轮廓
gen_contour_polygon_xld (Contour, Row, Column)
*拟合圆
fit_circle_contour_xld (Contour, 'algebraic', -1, 0, 0, 3, 2, Row1, Column1, Radius, StartPhi, EndPhi, PointOrder)
gen_circle (Circle, Row1, Column1, Radius)
dev_display (Circle)
stop()
endfor
