HALCON示例程序measure_metal_part_id.hdev使用xld边缘拟合检测零件加工是否合格

HALCON示例程序measure_metal_part_id.hdev使用xld边缘拟合检测零件加工是否合格

示例程序源码（加注释）

• 关于显示类函数解释
  dev_update_off ()
  Imagefiles := [‘metal-parts/metal-part-model-01’,‘metal-parts/metal-parts-01’,‘metal-parts/metal-part-distorted-01’,‘metal-parts/metal-part-distorted-02’,‘metal-parts/metal-part-distorted-03’]
  for k := 0 to |Imagefiles| - 1 by 1
  read_image (Image, Imagefiles[k])
  get_image_size (Image, Width, Height)
  dev_close_window ()
  dev_open_window (0, 0, Width, Height, ‘light gray’, WindowID)
  dev_set_part (0, 0, Height - 1, Width - 1)
  dev_set_line_width (2)
  dev_set_draw (‘margin’)
  dev_display (Image)
  set_display_font (WindowID, 16, ‘mono’, ‘true’, ‘false’)
  disp_message (WindowID, ‘Image’ + k, ‘window’, 10, 10, ‘white’, ‘false’)
  stop ()
  dev_set_draw (‘fill’)

  • 二值化、膨胀，减少定义域、求取边界
    threshold (Image, Region, 90, 255)
    dilation_rectangle1 (Region, RegionDilation, 10, 10)
    reduce_domain (Image, RegionDilation, ImageReduced)
  • 提取水平阈值的交叉点
    threshold_sub_pix (ImageReduced, Edges, 75)
  • 转正检测产品
    orientation_region (Region, OrientationRegion)
    area_center (Region, Area, RowCenter, ColumnCenter)
  • 创建一个以旋转中心与旋转角度为基础的旋转变换矩阵
    vector_angle_to_rigid (RowCenter, ColumnCenter, OrientationRegion, RowCenter, ColumnCenter, 0, HomMat2DRotate)
  • 对XLD轮廓应用任意仿射2D变换。
    affine_trans_contour_xld (Edges, ContoursAffinTrans, HomMat2DRotate)
  • 分割xld边缘轮廓
    segment_contours_xld (ContoursAffinTrans, ContoursSplit, ‘lines_circles’, 6, 4, 4)
  • 对XLD边缘轮廓进行排序
    sort_contours_xld (ContoursSplit, SortedContours, ‘upper_left’, ‘true’, ‘column’)
    dev_clear_window ()
    disp_message (WindowID, ‘Circles in a local coordinate system’, ‘window’, 10, 10, ‘white’, ‘false’)
    dev_set_color (‘black’)
    dev_display (SortedContours)
    dev_set_color (‘white’)
    count_obj (SortedContours, NumberSegments)
    RowsE := []
    ColsE := []
    RadiiE := []
    gen_empty_obj (Lines)

  for i := 1 to NumberSegments by 1
      select_obj (SortedContours, ObjectSelected, i)
      * 获取xld边缘轮廓属性
      get_contour_global_attrib_xld (ObjectSelected, 'cont_approx', Attrib)
      if (Attrib == 1)
      * 拟合圆形
          fit_circle_contour_xld (ObjectSelected, 'algebraic', -1, 0, 0, 3, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)
          * 绘制圆形
          gen_circle_contour_xld (ContCircle, Row, Column, Radius, StartPhi, EndPhi, PointOrder, 1.5)
          RowsE := [RowsE,Row]
          ColsE := [ColsE,Column]
          RadiiE := [RadiiE,Radius]
          dev_display (ContCircle)
      else
      * 拟合直线
          fit_line_contour_xld (ObjectSelected, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist)
          * 绘制边缘
          gen_contour_polygon_xld (Line, [RowBegin,RowEnd], [ColBegin,ColEnd])
          concat_obj (Lines, Line, Lines)
      endif
  endfor
  

  dev_set_color (‘white’)
  count_obj (Lines, NumberLines)

  • 根据线的方向筛选xld轮廓
    select_contours_xld (Lines, LinesVertical, ‘direction’, rad(88), rad(92), 0, 0)
    count_obj (LinesVertical, NumberLV)
  • 根据线的方向筛选xld轮廓
    select_contours_xld (Lines, LinesHorizontal, ‘direction’, rad(-2), rad(2), 0, 0)
    count_obj (LinesHorizontal, NumberLH)
    ColVmin := 0
    RowHmax := 0
    for i := 1 to NumberLV by 1
    select_obj (LinesVertical, SelectedV, i)
    get_contour_xld (SelectedV, RowV, ColV)
    if (i == 1)
    ColVmin := ColV[0]
    RowA1 := RowV[0]
    ColA1 := ColV[0]
    RowA2 := RowV[1]
    ColA2 := ColV[1]
    else
    if (ColV[0] < ColVmin)
    ColVmin := ColV[0]
    RowA1 := RowV[0]
    ColA1 := ColV[0]
    RowA2 := RowV[1]
    ColA2 := ColV[1]
    endif
    endif
    endfor
    for j := 1 to NumberLH by 1
    select_obj (LinesHorizontal, SelectedH, j)
    get_contour_xld (SelectedH, RowH, ColH)
    if (RowH[0] > RowHmax)
    RowHmax := RowH[0]
    RowB1 := RowH[0]
    ColB1 := ColH[0]
    RowB2 := RowH[1]
    ColB2 := ColH[1]
    endif
    endfor
  • 求两直线交点
    intersection_lines (RowA1, ColA1, RowA2, ColA2, RowB1, ColB1, RowB2, ColB2, RowO, ColO, IsOverlapping)
    gen_cross_contour_xld (Cross, RowO, ColO, 10, 0.785398)
    dev_display (Cross)
    disp_arrow (WindowID, RowO, ColO, RowO - 100, ColO, 2)
    disp_arrow (WindowID, RowO, ColO, RowO, ColO + 100, 2)
  • 仿射变换的齐次矩阵
    hom_mat2d_identity (HomMat2DIdentityResults)
  • 添加旋转
    hom_mat2d_slant (HomMat2DIdentityResults, rad(180), ‘x’, 0, 0, HomMat2DSlantResults)
  • 添加平移
    hom_mat2d_translate (HomMat2DSlantResults, RowO, -ColO, HomMat2DTranslateResults)
  • 进行像素的仿射变换
    affine_trans_pixel (HomMat2DTranslateResults, RowsE, ColsE, RowsELocal, ColsELocal)
    if (k == 0)
    RowsELocalRef := RowsELocal
    ColsELocalRef := ColsELocal
    RadiiERef := RadiiE
    NumberRowsERef := |RowsELocal|
    for i := 0 to |RadiiE| - 1 by 1
    disp_message (WindowID, i + 1, ‘window’, RowsE[i] + 10, ColsE[i] + RadiiE[i], ‘white’, ‘false’)
    endfor
    disp_message (WindowID, ‘Reference Object’, ‘window’, 50, 10, ‘white’, ‘false’)

  else
  ID_Deviation := []
  ID_Missing := []
  NumberRowsE := |RowsE|
  if (NumberRowsE == NumberRowsERef)
  distance_pp (RowsELocalRef, ColsELocalRef, RowsELocal, ColsELocal, DistanceEllipseCenters)
  DiffRadius := abs(RadiiE - RadiiERef)
  for i := 0 to |DistanceEllipseCenters| - 1 by 1
  if (DistanceEllipseCenters[i] > 2 or DiffRadius[i] > 2)
  ID_Deviation := [ID_Deviation,i + 1]
  endif
  endfor
  endif
  if (NumberRowsE < NumberRowsERef)
  j := 0
  for i := 0 to NumberRowsE - 1 by 1
  ok := 0
  while (ok == 0)
  distance_pp (RowsELocalRef[j], ColsELocalRef[j], RowsELocal[i], ColsELocal[i], Distance)
  DiffRadius := abs(RadiiE[i] - RadiiERef[j])
  if ((Distance < 10) and (DiffRadius < 10))
  if (Distance > 2 or DiffRadius > 2)
  ID_Deviation := [ID_Deviation,j + 1]
  endif
  ok := 1
  else
  ID_Missing := [ID_Missing,j + 1]
  endif
  if (j == NumberRowsERef - 1)
  ok := 1
  endif
  j := j + 1
  endwhile
  endfor
  endif
  if (NumberRowsE > NumberRowsERef)
  disp_message (WindowID, ‘There are more circles than in the reference model!’, ‘window’, 350, 150, ‘white’, ‘false’)
  endif
  dev_set_draw (‘margin’)
  NumCircleDeviation := |ID_Deviation|
  NumCircleMissing := |ID_Missing|
  counter := 0
  * 仿射变换的反变换
  hom_mat2d_invert (HomMat2DTranslateResults, HomMat2DInvert)
  for i := 0 to NumCircleDeviation - 1 by 1
  index := ID_Deviation[i]
  counter := counter + 1
  disp_message (WindowID, 'Deviation (>2 pixels) for circle with index ’ + index, ‘window’, 30 + counter * 20, 10, ‘red’, ‘false’)
  affine_trans_pixel (HomMat2DInvert, RowsELocalRef[index - 1], ColsELocalRef[index - 1], RowsEVis, ColsEVis)
  gen_circle (Circle, RowsEVis, ColsEVis, RadiiERef[index - 1])
  dev_display (Circle)
  endfor
  for i := 0 to NumCircleMissing - 1 by 1
  index := ID_Missing[i]
  counter := counter + 1
  disp_message (WindowID, 'Missing: circle with index ’ + index, ‘window’, 30 + counter * 20, 10, ‘red’, ‘false’)
  affine_trans_pixel (HomMat2DInvert, RowsELocalRef[index - 1], ColsELocalRef[index - 1], RowsEVis, ColsEVis)
  gen_circle (Circle, RowsEVis, ColsEVis, RadiiERef[index - 1])
  dev_display (Circle)
  endfor
  endif
  stop ()
  endfor
  dev_update_window (‘on’)

处理思路

这个例子是主要讲解了xld轮廓的拟合和xld轮廓的仿射变换。

后记

大家有什么问题可以向我提问哈，我看到了第一时间回复，希望在学习的路上多多结交良师益友。