halcon实现二维ICP算法

read_object(Title_MapX,'./data/ho_Title_MapX.hobj')
read_object(Title_MapY,'./data/ho_Title_MapY.hobj')
get_image_size (Title_MapX, Width, Height)
gen_image_const (Image, 'real', Width, Height)
Id_Row:=0
get_contour_from_xy_COPY_1 (Title_MapX, Title_MapY, Contour, Id_Row, Rows, Columns)

get_contour_xld (Contour, y, x)
Indices := [y [<] 0] 
tuple_find (Indices, 1, Indices)
y := y[Indices]
x := x[Indices]
gen_contour_polygon_xld (Contour1, y, x)
X_Model:=x
Y_Model:=y

hom_mat2d_identity (HomMat2D)
hom_mat2d_translate (HomMat2D, -10, -20, HomMat2D)
hom_mat2d_rotate (HomMat2D, rad(-90), 0, 0, HomMat2D)
affine_trans_contour_xld (Contour1, Contour2, HomMat2D)
get_contour_xld (Conto