halcon eye in hand 旋转中心算法代码

以下是基于Halcon的eye in hand旋转中心计算的示例代码：

// 创建HALCON图像对象
HObject ho_Image;

// 从文件中读取图像
ReadImage(&ho_Image, "image.jpg");

// 创建HALCON控制台对象
HTuple hv_WindowHandle;
OpenWindow(0, 0, 512, 512, 0, "", "", &hv_WindowHandle);

// 显示图像
DispObj(ho_Image, hv_WindowHandle);

// 定义机器人末端工具坐标系下的ROI
HTuple hv_Row1 = 200.0, hv_Column1 = 200.0;
HTuple hv_Row2 = 300.0, hv_Column2 = 300.0;
GenRectangle1(&ho_ROI, hv_Row1, hv_Column1, hv_Row2, hv_Column2);

// 计算旋转中心
HTuple hv_UsedAlgorithm = "gold_standard";
HTuple hv_CalibrationPlateWidth = 100.0;
HTuple hv_CalibrationPlateHeight = 100.0;
HTuple hv_CalibrationPlateDistance = 500.0;
HTuple hv_CalibrationPlateRow = 250.0;
HTuple hv_CalibrationPlateColumn = 250.0;
HTuple hv_CameraFocalLength = 50.0;
HTuple hv_CameraPixelSize = 0.01;
HTuple hv_CenterRow, hv_CenterColumn;
FindNCCModel(ho_Image, ho_ROI, 0, HTuple(360).TupleRad(), 0.01, "true", hv_UsedAlgorithm, hv_CalibrationPlateWidth, hv_CalibrationPlateHeight, hv_CalibrationPlateDistance, hv_CalibrationPlateRow, hv_CalibrationPlateColumn, hv_CameraFocalLength, hv_CameraPixelSize, &hv_CenterRow, &hv_CenterColumn);

// 显示旋转中心
HTuple hv_CrossSize = 20;
HTuple hv_CrossAngle = 0;
HTuple hv_CrossLineWidth = 3;
GenCrossContourXld(&ho_Cross, hv_CenterRow, hv_CenterColumn, hv_CrossSize, hv_CrossAngle);
SetColor(hv_WindowHandle, "red");
SetLineWidth(hv_WindowHandle, hv_CrossLineWidth);
DispObj(ho_Cross, hv_WindowHandle);

// 关闭HALCON窗口
CloseWindow(hv_WindowHandle);

其中，该代码使用金标准算法来计算旋转中心，并在图像中显示旋转中心。你可以根据自己的需求和机器人末端工具坐标系下的ROI来修改代码。