Halcon九点标定与旋转标定

9点标定是通过9个点计算出相机坐标系到机械手坐标系的一个仿射变换，（实际上空间中的二维平面的仿射变换最低只需要3个点就可以，但是为了保证矩阵的准确性，数据点一般采用9-12点）。在实际应用过程中，需要获取像素下特征点的坐标和对应机械手的坐标。联立方程组求解即可得到对应仿射变换的矩阵，实际应用场景主要分为眼在手上和眼在手外，下面具体介绍使用过程：

vector_to_hom_mat2d(Row,Column,Row_robot,Column_robot,HomMat2D)
%求解变换矩阵，HomMat2D是图像坐标和机械手坐标之间的关系

读取空白图片

read_image (Image33, 'E:/Halcon数据/资源图片/33.png')

绘制九点

get_image_size (Image33, Width, Height)
dev_get_window (WindowHandle)
query_font (WindowHandle, Font)
FontWithSize := Font[0]+'-40'
dev_set_color ('green')
dev_set_line_width (3)
set_font (WindowHandle, FontWithSize)
gen_arrow_contour_xld (Arrow, 100, 100, 100, Width-100, 15, 15)
set_tposition (WindowHandle, 75, Width-50)
write_string (WindowHandle, 'X')
gen_arrow_contour_xld (Arrow, 100, 100,  Height-100,100, 15, 15)
set_tposition (WindowHandle,  Height-70,100)
write_string (WindowHandle, 'Y')
stop ()
dev_set_color ('red')
R:=[]
C:=[]
R_Robot:=[]
C_Robot:=[]
for Index := 0 to 2 by 1
    for Index1 := 0 to 2 by 1
        R_Robot:=[R_Robot,1+Index*2]
        C_Robot:=[C_Robot,1+Index1*2]
        R:=[R,200+Index*200]
        C:=[C,200+Index1*200]
    endfor
endfor

tuple_gen_const (9, 10, Radios)
gen_circle (Circle, R, C, Radios)

for Index2 := 0 to 8 by 1
    set_tposition (WindowHandle, R[Index2]-100, C[Index2]-20)
    write_string (WindowHandle, Index2+1)
endfor
col:=[0,0,0]
overpaint_region (Image33, Circle, col, 'fill')
rgb1_to_gray (Image33, GrayImage)

本次采用运动轨迹如图所示

获取图像与机械坐标

R_Image:=[]
C_Image:=[]
gen_empty_obj (EmptyObject)
draw_circle (WindowHandle, Row, Column, Radius)
for Index := 0 to 2 by 1
    for Index1 := 0 to 2 by 1
      
      gen_circle (Circle1, Row+Index*200, Column+Index1*200, Radius)
      reduce_domain (GrayImage, Circle1, ImageReduced)
      threshold (ImageReduced, Region, 0, 120)
      connection (Region, ConnectedRegions)
      select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 150, 450)
      area_center (SelectedRegions, Area, Row1, Column1)
      gen_cross_contour_xld (Cross, Row1, Column1, 20, 0.785398)
      concat_obj ( Cross,EmptyObject, EmptyObject)
      dev_display (GrayImage)
      dev_display (EmptyObject)
      R_Image:=[R_Image,Row1]
      C_Image:=[C_Image,Column1]
      stop ()
    endfor
endfor

计算标定矩阵

 vector_to_hom_mat2d(C_Image,R_Image, C_Robot,R_Robot, HomMat2Dcalib)
 FontWithSize := Font[0]+'-20'
dev_set_color ('blue')

set_font (WindowHandle, FontWithSize)
 set_tposition (WindowHandle, 700, 100)
 write_string (WindowHandle, '矩阵参数：'+HomMat2Dcalib[0]+','+HomMat2Dcalib[1]+','+HomMat2Dcalib[2]+','+HomMat2Dcalib[3]+','+HomMat2Dcalib[4]+','+HomMat2Dcalib[5])
 affine_trans_point_2d (HomMat2Dcalib, Column1, Row1, Qx, Qy)

获取旋转标定点位

在旋转轴工具上放置一个Mark点，旋转角度，获得三个点，三点拟合圆，获得圆心坐标和旋转半径（默认已经做完九点标定，这三个点转为世界坐标后再计算圆心坐标和旋转半径）。

dev_set_color ('green')
*计算旋转目标
 YY:=[]
 XX:=[]
 *以图像坐标第一点位为原点，以200为半径拟合圆，方便反推验证
 gen_circle_contour_xld (ContCircle, R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', 1)
 *点1
 intersection_line_circle (R_Image[0], C_Image[0],R_Image[2], C_Image[2], R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', Row2, Column2)
 YY:=[YY,Row2[0]]
 XX:=[XX,Column2[0]]
 *点2
 intersection_line_circle (R_Image[0], C_Image[0],R_Image[5], C_Image[5], R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', Row2, Column2)
 YY:=[YY,Row2[0]]
 XX:=[XX,Column2[0]]
  *点3
  intersection_line_circle (R_Image[0], C_Image[0],R_Image[8], C_Image[8], R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', Row2, Column2)
 YY:=[YY,Row2[0]]
 XX:=[XX,Column2[0]]
  *点4
  intersection_line_circle (R_Image[0], C_Image[0],R_Image[7], C_Image[7], R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', Row2, Column2)
 YY:=[YY,Row2[0]]
 XX:=[XX,Column2[0]]
   *点5
  intersection_line_circle (R_Image[0], C_Image[0],R_Image[6], C_Image[6], R_Image[0], C_Image[0], 300, 0, 6.28318, 'positive', Row2, Column2)
 YY:=[YY,Row2[0]]
 XX:=[XX,Column2[0]]
 tuple_gen_const (5, 20, Radios1)
gen_circle (Circle1, YY, XX, Radios1)
 dev_display (Image33)
 dev_display (Circle1)
 Xx:=[]
 Yy:=[]
 for Index3 := 0 to 4 by 1
     affine_trans_point_2d (HomMat2Dcalib, XX[Index3], YY[Index3], X1, Y1)
      Xx:=[Xx,X1]
       Yy:=[Yy,Y1]
 endfor
 *拟合圆，求取旋转中心
 gen_contour_polygon_xld (Contour, Yy, Xx)
 fit_circle_contour_xld (Contour, 'algebraic', -1, 0, 0, 3, 2, Y_center, X_center, Radius1, StartPhi, EndPhi, PointOrder)
 gen_circle_contour_xld (ContCircle1, Y_center, X_center, Radius1, StartPhi, EndPhi, 'positive', 1)
 

 *求取目标旋转角度，可与初始模板/欲贴合模板对比
 Angle:=0
 
 
 hom_mat2d_identity (HomMat2DIdentity)
hom_mat2d_rotate (HomMat2DIdentity, rad(Angle), X_center, Y_center, HomMat2DRotate)
 set_tposition (WindowHandle, 700, 100)
 write_string (WindowHandle, '旋转矩阵参数：'+HomMat2DRotate[0]+','+HomMat2DRotate[1]+','+HomMat2DRotate[2]+','+HomMat2DRotate[3]+','+HomMat2DRotate[4]+','+HomMat2DRotate[5])