大津二值 halcon实现

给出需要二值化的参数，比如灰度，带入Weight
参考文章
https://www.cnblogs.com/kensporger/p/11270452.html

w1 := 0
k := 0
thresIndex := 0
maxVariance := 0
* 
tuple_sort_index (Weight, Indices)
tuple_histo_range (int(Weight[Indices]), 0, 255, 256, SortedHisto, BinSize)
Normalized := SortedHisto / real(sum(SortedHisto))
u0 := sum(SortedHisto * [0 : 1 : 255]) / real(|Weight|)
for I := 0 to 255 by 1
    w1 := w1 + Normalized[I]
    k := k + I * Normalized[I]
    if ((w1 == 0) or (w1 == 1))
        continue
    endif
    u1 := k / w1
    grayDiff := u1 - u0
    variance := w1 / (1 - w1) * grayDiff * grayDiff
    if (variance > maxVariance)
        maxVariance := variance
        thresIndex := thresIndex + SortedHisto[I]
    endif
endfor
return ()