Halcon点匹配函数详解及图像处理实践

dev_update_pc ('off')//程序运行的时候，界面是否跟着程序移动

dev_update_window ('off')
dev_update_var ('off')
dev_close_window ()
dev_open_window (0, 0, 978, 324, 'black', WindowHandle)
dev_set_part (0, 0, 647, 1955)
get_system ('operating_system', OS)
if (OS{0:2}='Win')
    set_font (WindowHandle, '-Courier New-16-*-*-*-*-1-')
else
    set_font (WindowHandle, '-*-courier-bold-r-normal--20-*-*-*-*-*-iso8859-1')
endif
dev_set_color ('yellow')

set_tposition (WindowHandle, 20, 20)//设置文本在窗口中的位置
write_string (WindowHandle, 'Reading images...')//向窗口中写入字符

* Read the 128 images that make up the mosaic.
Images := []
for J := 1 to 128 by 1
    read_image (Image, 'panorama/sankt_martin_automatic_'+J$'03d')
    Images := [Images,Image] //把读到的图像放到Images矩阵中
endfor

get_image_pointer1 (Image, Pointer, Type, Width, Height)
//算子get_image_pointer1 返回一个C语言指针Pointer，这个指针指向Image图像的第一个通道。另外，图像的类型（Type=byte, integer, float 等等）和图像的尺寸（Width,Height）会被返回


* Construct the tuples that determine which images should be matched.  The

* mosaic images were acquired as 16 vertical strips of 8 images each.
* For each image, we match the image below the current image in the same
* strip and the image to the left of the current image in the adjacent strip.
FF := [1,1,2,2,3,3,4,4,5,5,6,6,7,7,8]
TT := [2,9,3,10,4,11,5,12,6,13,7,14,8,15,16]
From := [] //定义矩阵
To := []
for J := 0 to 15 by 1
    From := [From,(FF-1+8*J)%128+1]     //矩阵运算
    To := [To,(TT-1+8*J)%128+1]
endfor
* Initialize the data that is required for the self-calibration.
HomMatrices2D := []
Rows1 := []
Cols1 := []
Rows2 := []
Cols2 := []
NumMatches := []
for J := 0 to |From|-1 by 1
*     Select the images to match.
    ImageF := Images[From[J]]
    ImageT := Images[To[J]]
*     Perform the point extraction of the images.
    points_foerstner (ImageF, 1, 2, 3, 50, 0.1, 'gauss', 'true', RowsF, ColsF, _, _, _, _, _, _, _, _)
//points_foerstner extracts significant points from an image；运用foerstner算子进行特征点提取
    points_foerstner (ImageT, 1, 2, 3, 50, 0.1, 'gauss', 'true', RowsT, ColsT, _, _, _, _, _, _, _, _)
    ImageTF := [ImageT,ImageF]
    tile_images_offset (ImageTF, TiledImage, [0,0], [0,Width+20], [-1,-1], [-1,-1], [-1,-1], [-1,-1], 2*Width+20, Height)
    gen_cross_contour_xld (PointsF, RowsF, ColsF+Width+20, 6, rad(45))
//产生交叉线，用于标记