halcon跟随定位有误差

halcon跟随定位有误差

1. list_files ('F:/2023桌面/board', ['files','follow_links'], ImageFiles)
   
2. tuple_regexp_select (ImageFiles, ['\\.(tif|tiff|gif|bmp|jpg|jpeg|jp2|png|pcx|pgm|ppm|pbm|xwd|ima|hobj)$','ignore_case'], ImageFiles)
   
3. read_image (Image, ImageFiles[0])
   
4. 
   
5. dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle)
   
6. dev_display (Image)
   
7. get_image_pointer1 (Image, Pointer, Type, Width, Height)
   
8. *获取模板抠图
   
9. gen_rectangle1 (ROI_0, 196.724, 187.256, 290.883, 404.241)//抠图大小
   
10. area_center (ROI_0, Area, Row, Column) //获取抠图 中心的行列坐标
    
11. reduce_domain (Image, ROI_0, ImageReduced)//单区域抠图
    
12. *add_channels (ROI_0, ImageReduced, GrayRegions)//多区域抠图
    
13. *生成模板
    
14. inspect_shape_model (ImageReduced, ModelImages, ModelRegions, 4, [25,40])//查看模板
    
15. *create_shape_model (ImageReduced, 10, 0, 6.29, 0.03, 'none', 'use_polarity', [25,40], 10, ModelID)//已抠图区域生成模板
    
16. 
    
17. create_shape_model (ImageReduced, 5, rad(0), rad(360), rad(0.01), ['none','no_pregeneration'], 'use_polarity', [30,30,0], 10, ModelID)
    
18. 
    
19. get_shape_model_contours (ModelContours, ModelID, 1) //获取模板
    
20. hom_mat2d_identity (HomMat2DIdentity)//单位矩阵
    
21. gen_rectangle2 (ROI_000, 140, 152, 0, 8, 30) //区域跟随
    
22. *gen_rectangle2_contour_xld (Rectangle, 140, 302, 0, 163, 7) //XLD跟随　Y 140
    
23. dev_get_window (WindowHandle)
    
24. dev_set_line_width (2)
    
25. set_display_font (WindowHandle, 20, 'mono', 'true', 'false')
    
26. 
    
27. for Index := 0 to |ImageFiles| - 1 by 1
    
28. read_image (Image, ImageFiles[Index])
    
29. *find_shape_model (Image, ModelID, 0, rad(360), 0.5, 1, 0.5, 'least_squares', 0, 0.9, Row1, Column1, Angle, Score)
    
30. find_shape_model (Image, ModelID, rad(0), rad(360), 0.5, 0, 0.5, 'least_squares', [5,1], 0.95, Row1, Column1, Angle, Score)
    
31. if (|Score| > 0)
    
32.    
    
33. *模板仿射变换
    
34. hom_mat2d_translate (HomMat2DIdentity,Row1, Column1, HomMat2DTranslate)//平移矩阵
    
35. hom_mat2d_rotate (HomMat2DTranslate, Angle, Row1, Column1, HomMat2DRotate)//旋转矩阵
    
36. affine_trans_contour_xld (ModelContours, ContoursAffineTrans, HomMat2DRotate)
    
37. *跟随1,使用vector_angle_to_rigid算子 刚体变换
    
38. vector_angle_to_rigid ( Row, Column, 0, Row1, Column1, Angle, HomMat2D)
    
39. affine_trans_region (ROI_000, RegionAffineTrans, HomMat2D, 'nearest_neighbor')//区域跟随
    
40. 
    
41. dev_display (Image)
    
42. dev_set_color ('red')
    
43. dev_display (ContoursAffineTrans)
    
44. dev_set_color ('green')
    
45. dev_display (RegionAffineTrans)
    
46. 
    
47. stop ()
    
48. 
    
49. endif
    
50. endfor
    
51. clear_shape_model (ModelID)

复制代码

左图是右图旋转的吗？如果不是的话，焊脚也是有偏差的啊

Yanlf 发表于 2024-4-27 16:22
左图是右图旋转的吗？如果不是的话，焊脚也是有偏差的啊

同一张图角度变换

wh8888 发表于 2024-4-28 08:36
同一张图角度变换

U203下面那第二根白线怎么不见了

lanmp 发表于 2024-4-28 16:39
U203下面那第二根白线怎么不见了

是的，应该不是同一幅图像的，所以焊脚有误差很正常