Halcon示例：check_blister.hdev

        一种简单的通过物体轮廓的中心及某条边为方向来进行定位的一种方法，容易受其他物体的干扰，方向不好确定，不具备旋转不变性，适用于一些对称且移动位置小的物体定位。这里进行一些简单的思路记录。

 

dev_close_window()
read_image (ImageOrig, 'blister/blister_reference')
dev_open_window_fit_image(ImageOrig, 0, 0, -1, -1, WindowHandle)
*选中彩图中的红色通量
access_channel(ImageOrig, Image, 1)
*二值化选定药盘区域
threshold (Image, Regions, 90, 255)
*将区域形状设置为凸包
shape_trans(Regions, Blister, 'convex')
*确定该区域的方向
orientation_region(Blister, Phi)
*确定该区域的中心
area_center(Blister, Area, Row, Column)
*求出当前图片到药盘水平(即角度为0)时的刚体仿射矩阵
vector_angle_to_rigid(Row, Column, Phi, Row, Column, 0, HomMat2D)
*显示用，方便确定胶囊位置
*affine_trans_image(Image, ImageAffineTrans, HomMat2D, 'constant', 'false')
*确定每个胶囊的区域
gen_empty_obj (Chambers)
for I := 0 to 4 by 1
    Row := 88 + I * 70
    for J := 0 to 2 by 1
        Column := 163 + J * 150
        gen_rectangle2 (Rectangle, Row, Column, 0, 64, 30)
        *保存区域
        concat_obj (Chambers, Rectangle, Chambers)
    endfor
endfor
affine_trans_region (Blister, Blister, HomMat2D, 'nearest_neighbor')
union1 (Chambers, ChambersUnion)
*确定参考图片的参考点与参考方向
orientation_region (Blister, PhiRef)
PhiRef := rad(180) + PhiRef
area_center (Blister, Area2, RowRef, ColumnRef)

Count := 6
for Index := 1 to Count by 1
    read_image (Image, 'blister/blister_' + Index$'02')
    threshold (Image, Region, 90, 255)
    connection (Region, ConnectedRegions)
    select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 5000, 9999999)
    shape_trans (SelectedRegions, RegionTrans, 'convex')
    * 
    *将获取的图片根据药盘的轮廓与参考图片对齐
    orientation_region (RegionTrans, Phi)
    area_center (RegionTrans, Area3, Row, Column)
    vector_angle_to_rigid (Row, Column, Phi, RowRef, ColumnRef, PhiRef, HomMat2D)
    affine_trans_image (Image, ImageAffineTrans, HomMat2D, 'constant', 'false')
    * 
    * 分割出药片区域
    reduce_domain (ImageAffineTrans, ChambersUnion, ImageReduced)
    decompose3 (ImageReduced, ImageR, ImageG, ImageB)
    var_threshold (ImageB, Region, 7, 7, 0.2, 2, 'dark')
    connection (Region, ConnectedRegions0)
    closing_rectangle1 (ConnectedRegions0, ConnectedRegions, 3, 3)
    fill_up (ConnectedRegions, RegionFillUp)
    select_shape (RegionFillUp, SelectedRegions, 'area', 'and', 1000, 99999)
    opening_circle (SelectedRegions, RegionOpening, 4.5)
    connection (RegionOpening, ConnectedRegions)
    select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 1000, 99999)
    shape_trans (SelectedRegions, Pills, 'convex')
    * 
    * 通过面积与像素灰度值筛选OK与NG的药片
    count_obj (Chambers, Number)
    gen_empty_obj (WrongPill)
    gen_empty_obj (MissingPill)
    for I := 1 to Number by 1
        select_obj (Chambers, Chamber, I)
        intersection (Chamber, Pills, Pill)
        area_center (Pill, Area, Row1, Column1)
        if (Area > 0)
            min_max_gray (Pill, ImageB, 0, Min, Max, Range)
            if (Area < 3800 or Min < 60)
                concat_obj (WrongPill, Pill, WrongPill)
            endif
        else
            concat_obj (MissingPill, Chamber, MissingPill)
        endif
    endfor
    * 
    dev_clear_window ()
    dev_display (ImageAffineTrans)
    dev_set_color ('forest green')
    count_obj (Pills, NumberP)
    count_obj (WrongPill, NumberWP)
    count_obj (MissingPill, NumberMP)
    dev_display (Pills)
    if (NumberMP > 0 or NumberWP > 0)
        disp_message (WindowHandle, 'Not OK', 'window', 12, 12 + 600, 'red', 'true')
    else
        disp_message (WindowHandle, 'OK', 'window', 12, 12 + 600, 'forest green', 'true')
    endif
    * 
    Message := '# Correct pills: ' + (NumberP - NumberWP)
    Message[1] := '# Wrong pills  :  ' + NumberWP
    Message[2] := '# Missing pills:  ' + NumberMP
    * 
    Colors := gen_tuple_const(3,'black')
    if (NumberWP > 0)
        Colors[1] := 'red'
    endif
    if (NumberMP > 0)
        Colors[2] := 'red'
    endif
    disp_message (WindowHandle, Message, 'window', 12, 12, Colors, 'true')
    dev_set_color ('red')
    dev_display (WrongPill)
    dev_display (MissingPill)
    if (Index < Count)
        disp_continue_message (WindowHandle, 'black', 'true')
    endif
    stop ()
endfor