篩選出來的點得坐標已經顯示在PxRow、PxColunm里邊

* Image Acquisition 01: Code generated by Image Acquisition 01 read_image (Image, 'C:/Users/Administrator/Desktop/標定板圖片.png') dev_close_window () dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle) dev_display (Image) binary_threshold (Image, Region, 'max_separability', 'dark', UsedThreshold) connection (Region, ConnectedRegions) *篩選出來九個點 select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70) shape_trans (SelectedRegions, RegionTrans, 'outer_circle') *求出九點坐標 area_center (RegionTrans, Area, Row, Column) disp_message (WindowHandle, 'R:'+Row+' C:'+Column, 'Image', Row, Column, 'black', 'true') *九點標定行 PxRow:=[23.5, 23.5, 23.5, 71.5, 71.5, 71.5, 118.5, 118.5, 118.5] *九點標定列 PxColunm:=[28.5, 75.5, 122.5, 28.5, 75.5, 122.5, 28.5, 75.5, 122.5]*機器坐標行 Qx:=[100,50,0,100,50,0,100,50,0] *機器坐標列 Qy:=[0,0,0,50,50,50,100,100,100]*拿到機器坐標和像素坐標求出關系矩陣 * 標定行 標定列 機器X 機器Y 得到矩陣 vector_to_hom_mat2d (PxRow, PxColunm, Qx, Qy, HomMat2D) *保存矩陣 write_tuple (HomMat2D, '九點標定.tup') *讀取矩陣 read_tuple ('九點標定.tup', HomMat2D) *利用求出來的物體行列坐標得到機器坐標 affine_trans_point_2d (HomMat2D, PxRow, PxColunm, Qx1, Qy1)

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