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halcon
read_image (Image, 'G:/SoftwareLearning/halcon/图像标定/01.jpg')
rgb1_to_gray (Image, GrayImage)
threshold (GrayImage, Regions, 24, 115)
connection (Regions, ConnectedRegions)
select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 2700.38, 3145.67)
area_center (SelectedRegions, Area, Row, Column)
*标定板9个圆心坐标
row := [180.212, 181.626, 182.228, 283.781, 284.656, 283.375, 385.542, 386.355, 387.047]
column := [562.387, 459.194, 355.794, 562.841, 460.134, 357.473, 563.199, 461.234, 359.232]
*机械手9个圆心坐标
Row_robot := [237.848,194.254,151.195,251.875,212.347,173.400,263.324,228.479,191.201]
Column_robot := [-112.538,-110.179,-110.478,-61.147,-59.316,-56.703,-10.906,-7.430,-0.965]
*求解变换矩阵，HomMat2D是图像坐标和机械手坐标之间的关系
vector_to_hom_mat2d (row, column, Row_robot, Column_robot, HomMat2D)
*由像素坐标和标定矩阵求出机器人基础坐标系中的坐标
*affine_trans_point_2d (HomMat2D, Column, Row, Qx, Qy)
affine_trans_point_2d (HomMat2D, 359, 387, Qx1, Qy1)
本文标签： Halcon
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