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前言

本文实现基于图像进行边缘或者骨架的识别，可实现让机器人画画

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一、原图

1.边缘图

2.骨架图

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二、实现思路

1.边缘图

• 提取边缘算子，edges_sub_pix
• 二值化获取区域
• 根据xld区域获取点

2.骨架图

• 首先对图像进行二值化，区域筛选出需要的位置
• 使用skeleton算子把区域变成了线条
• 使用gen_contours_skeleton_xld算子把整个区域线条变成话比xld
• 使用get_polygon_xld获取坐标

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三、halcon脚本实现

1.边缘图

read_image (image, '1.jpg')   //读取图像
edges_sub_pix (image, Edges, 'canny', 1, 5, 40)
binary_threshold (image, Region, 'max_separability', 'dark', UsedThreshold)
gen_contour_region_xld (Region, Contours, 'border_holes')
gen_region_contour_xld(Contours,a,'margin')
union_cotangential_contours_xld (Contours, UnionContours1, 0, 30, 0.785398, 25, 10, 2, 'attr_forget')
count_obj (UnionContours1, Number1)
union_adjacent_contours_xld (Contours, UnionContours2, 10, 1, 'attr_keep')
count_obj (UnionContours2, Number2)
sort_contours_xld (Contours, SortedContours, 'upper_left', 'true', 'column')
count_obj (SortedContours, Number)
for Index := 1 to Number by 1select_obj (SortedContours, ObjectSelected, Index)*gen_region_contour_xld (ObjectSelected, Region1, 'filled')*get_region_points (Region1, Rows, Columns)gen_polygons_xld (ObjectSelected, Polygons, 'ramer', 1)get_polygon_xld (Polygons, Row, Col, Length, Phi)*stop ()
endfor

2.骨架图

read_image (Writing, '1.png')
binary_threshold (Writing, Region, 'max_separability', 'dark', UsedThreshold)
select_shape (Region, SelectedRegions, 'area', 'and', 20, 99999999)
skeleton (SelectedRegions, Skeleton)
gen_contours_skeleton_xld (Skeleton, Contours, 1, 'filter')
union_cotangential_contours_xld (Contours, UnionContours1, 0, 30, 0.785398, 25, 10, 2, 'attr_forget')
count_obj (UnionContours1, Number1)
union_adjacent_contours_xld (Contours, UnionContours2, 10, 1, 'attr_keep')
count_obj (UnionContours2, Number2)
sort_contours_xld (Contours, SortedContours, 'upper_left', 'true', 'column')
dev_clear_window ()
count_obj (SortedContours, Number)
for Index := 1 to Number by 1select_obj (SortedContours, ObjectSelected, Index)gen_polygons_xld (ObjectSelected, Polygons, 'ramer', 2)get_polygon_xld (Polygons, Row, Col, Length, Phi)
*    stop ()
endfor

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四、实现效果

1.边缘图

从颜色上可区分出这里绘制需要4笔，
数据在变量：Row, Col, Length, Phi
如图：

2.骨架图

数据在变量：Row, Col, Length, Phi
如图：