halcon排序算法

【实例简介】视觉拿到多个物体,进行排序的一种算法
【实例截图】
【核心代码】
dev_set_draw('margin')
RowNum:=7
ColNum:=7
CameraParameters := [0,-1.33075,1.45517e-005,1.45637e-005,1059.31,1131.03,2448,2050]
CameraPose := [0.00488092,0.00267067,0,0.218203,357.806,271.178,0]
read_image(Image, '2.bmp')
gen_rectangle1 (ROI_0, 118.041, 1027.96, 1034.04, 2147.71)
reduce_domain(Image, ROI_0, ImageReduced)
fast_threshold(Image, Region, 80, 255, 20)
connection(Region, ConnectedRegions)
select_shape(ConnectedRegions, SelectedRegions, 'area', 'and', 150, 999999)
select_shape(SelectedRegions, SelectedRegions, 'circularity', 'and', 0.5, 1)
sort_region(SelectedRegions, SortedRegions, 'first_point', 'true', 'column')
count_obj(SortedRegions, Number)
if(Number#RowNum*ColNum)
    disp_message(3600, '没有找到正确数量的mark点', 'window', 12, 12, 'black', 'true')
endif
gen_empty_obj(SortedObject)
for i:=1 to RowNum by 1
     gen_empty_obj(SortObject)
     for j:=1 to ColNum by 1
     select_obj(SortedRegions, ObjectSelected, (i-1)*RowNum j)
     concat_obj(SortObject,ObjectSelected,SortObject)
     endfor
     sort_region(SortObject, SortObject, 'first_point', 'true', 'row')
     concat_obj(SortedObject,SortObject,SortedObject)
endfor
select_obj(SortedObject, SortedObject1, 12)
area_center(SortedObject, Area, Row, Column)
image_points_to_world_plane (CameraParameters, CameraPose, Row, Column, 'mm', row_World, col_World)
Distance1:=[]
for i:=1 to RowNum*ColNum-1 by 1
     distance_pp(row_World[i-1], col_World[i-1], row_World[i], col_World[i], Distance)
     Distance1:=[Distance1,Distance]
endfor