halcon九点标定

dev_close_window ()

dev_open_window (0, 0, 512, 512, 'white', WindowHandle)
dev_set_draw ('margin')
dev_set_color ('red')
gen_circle (Circle, 150, 150, 10)
gen_circle (Circle, 150, 200, 10)
gen_circle (Circle, 150, 250, 10)
gen_circle (Circle, 200, 150, 10)
gen_circle (Circle, 200, 200, 10)
gen_circle (Circle, 200, 250, 10)
gen_circle (Circle, 250, 150, 10)
gen_circle (Circle, 250, 200, 10)
gen_circle (Circle, 250, 250, 10)


dev_set_color ('green')
gen_circle (Circle, 170, 150, 10)
gen_circle (Circle, 170, 200, 10)
gen_circle (Circle, 170, 250, 10)
gen_circle (Circle, 220, 150, 10)
gen_circle (Circle, 220, 200, 10)
gen_circle (Circle, 220, 250, 10)
gen_circle (Circle, 270, 150, 10)
gen_circle (Circle, 270, 200, 10)
gen_circle (Circle, 270, 250, 10)

Px:=[150,150,150,200,200,200,250,250,250] 
Py:=[150,200,250,150,200,250,150,200,250] 


Qx:=[170,170,170,220,220,220,270,270,270]
Qy:=[150,200,250,150,200,250,150,200,250]
dev_set_color ('blue')

vector_to_hom_mat2d (Px,Py,Qx, Qy, HomMat2D)

gen_cross_contour_xld (Cross,200,150, 6, 0.785398)
affine_trans_point_2d (HomMat2D,200,150, Qx1, Qy1)

gen_cross_contour_xld (Cross, Qx1, Qy1, 6, 0.785398)



gen_circle (Circle1, 150, 170, 10)
affine_trans_region (Circle1, RegionAffineTrans, HomMat2D, 'nearest_neighbor')