halcon多个形状模板匹配

* Image Acquisition 01: Code generated by Image Acquisition 01
open_framegrabber ('GigEVision2', 0, 0, 0, 0, 0, 0, 'progressive', -1, 'default', -1, 'false', 'default', 'c42f90f5f892_Hikvision_MVCA06010GC', 0, -1, AcqHandle)
set_framegrabber_param (AcqHandle, 'DeviceUserID', '')
set_framegrabber_param (AcqHandle, 'RegionSelector', 'Region0')
set_framegrabber_param (AcqHandle, 'Width', 3072)
set_framegrabber_param (AcqHandle, 'Height', 2048)
set_framegrabber_param (AcqHandle, 'OffsetX', 0)
set_framegrabber_param (AcqHandle, 'OffsetY', 0)
set_framegrabber_param (AcqHandle, 'PixelFormat', 'YUV422_8')
set_framegrabber_param (AcqHandle, 'TestPattern', 'Off')
set_framegrabber_param (AcqHandle, 'AcquisitionMode', 'Continuous')
set_framegrabber_param (AcqHandle, 'AcquisitionBurstFrameCount', 1)
set_framegrabber_param (AcqHandle, 'AcquisitionFrameRate', 3.0)
set_framegrabber_param (AcqHandle, 'AcquisitionFrameRateEnable', 1)
set_framegrabber_param (AcqHandle, 'ExposureMode', 'Timed')
set_framegrabber_param (AcqHandle, 'ExposureAuto', 'Continuous')
set_framegrabber_param (AcqHandle, 'TriggerSelector', 'FrameBurstStart')
grab_image_start (AcqHandle, -1)

*使用上次的校验数据调整图像
read_cam_par ('MV_HIK_Division2.cal', CameraParam)
change_radial_distortion_cam_par ('adaptive', CameraParam, 0, CamParamOut)
gen_radial_distortion_map (Map, CameraParam, CamParamOut, 'bilinear')

dev_update_pc ('off')
dev_update_window ('off')
dev_update_var ('off')
dev_close_window ()
dev_open_window (0, 0, 3072, 2048, 'black', WindowHandle)
dev_set_draw ('margin')
dev_set_line_width (3)
IndexS := []
IndexE := []
gen_empty_obj (Models)
* The variable ModelIDs holds the different models that are created below.
ModelIDs := []
Colors := ['red','green','cyan']
for Index := 1 to 2 by 1
    read_shape_model ('shape_m'+Index$'01', ModelID)
    get_shape_model_contours (ModelContours, ModelID, 1)
    count_obj (ModelContours, NumModel)
    count_obj (Models, NumModels)
    concat_obj (Models, ModelContours, Models)
    IndexS := [IndexS,NumModels + 1]
    IndexE := [IndexE,NumModels + NumModel]
    ModelIDs := [ModelIDs,ModelID]
endfor

while (true)
    grab_image_async (Image, AcqHandle, -1)
     map_image (Image, Map, ImageMapped)
    rgb1_to_gray (ImageMapped, GrayImage)
    
    count_seconds (S1)
    find_shape_models (GrayImage, ModelIDs, rad(0), rad(360), 0.5, 0, 0.5, 'least_squares', 0, 0.8, Row, Column, Angle, Score, Model)
    count_seconds (S2)
    Time := (S2 - S1) * 1000
    dev_display (GrayImage)
    Num := |Score|
    for J := 0 to Num - 1 by 1
        * Select the correct XLD contours from the Models object.
        copy_obj (Models, ModelSelected, IndexS[Model[J]], IndexE[Model[J]] - IndexS[Model[J]] + 1)
        * Compute the transformation from the model object to the current instance.
        vector_angle_to_rigid (0, 0, 0, Row[J], Column[J], Angle[J], HomMat2D)
        affine_trans_contour_xld (ModelSelected, ModelTrans, HomMat2D)
        dev_set_color (Colors[Model[J]])
        dev_display (ModelTrans)
        *dev_disp_text (Row[J] + ',' + Column[J], 'window', Row[J], Column[J], 'black', [], [])
        set_tposition (WindowHandle, Row[J], Column[J]+200)
        write_string (WindowHandle, Row[J] + ',' + Column[J])
    endfor
    dev_set_color ('yellow')
    wait_seconds (0.4)
    * Image Acquisition 01: Do something
endwhile
for J := 0 to |ModelIDs| - 1 by 1
    clear_shape_model (ModelIDs[J])
endfor
close_framegrabber (AcqHandle)