Halcon 使用光流算子检测运动物体

文章目录

• 算子
• • optical_flow_mg 计算两个图像之间的光流
  • vector_field_length 计算向量场的向量长度
  • select_shape_std 选择给定形状的区域
  • vector_field_to_real 将矢量场图像转换为两个实值图像
  • intensity 计算灰度值的均值和偏差
  • local_max_sub_pix 以亚像素精度检测局部极大值
• Halcon 光流算子示例
• Halcon 获取移动物体的移动方向
• Halcon 卫星图获取移动物体的移动方向

算子

optical_flow_mg 计算两个图像之间的光流

optical_flow_mg(ImageT1, ImageT2 : VectorField : Algorithm, SmoothingSigma, IntegrationSigma, FlowSmoothness, GradientConstancy, MGParamName, MGParamValue : )
当使用光流计算函数时，以下是参数的解释：
    ImageT1：输入的第一幅图像。
    ImageT2：输入的第二幅图像。
    VectorField：计算得到的光流结果，会存储在这个变量中。
    Algorithm：用于计算光流的算法，可以选择 'clg', 'ddraw', 'fdrig' 中的一个。
    SmoothingSigma：初始高斯平滑的标准差。这个参数用于控制光流计算过程中的图像平滑程度。
    IntegrationSigma：积分滤波器的标准差。这个参数影响了光流场的积分过程。
    FlowSmoothness：平滑项相对于数据项的权重。它影响了光流场的平滑程度。
    GradientConstancy：梯度稳定性相对于灰度稳定性的权重。这个参数用于平衡梯度稳定性和灰度稳定性在光流计算中的影响。
    MGParamName：多网格算法的参数名称，可以指定不同的参数名来调整多网格算法的行为。
    MGParamValue：多网格算法的参数值，根据实际需求进行设置。

 
 

 
 

vector_field_length 计算向量场的向量长度

vector_field_length(VectorField : Length : Mode : )
以下是各个参数的解释：
VectorField：输入的矢量场，包含了需要计算长度的向量。
Length：计算得到的向量长度结果将会存储在这个变量中。
Mode：用于计算向量长度的模式选择参数。
    <span class="token char">'length'</span>：计算向量的长度。
    <span class="token char">'squared_length'</span>：计算向量的平方长度。

select_shape_std 选择给定形状的区域

select_shape_std(Regions : SelectedRegions : Shape, Percent : )
以下是各个参数的解释：
    Regions：输入的区域，包含需要进行选择的区域。
    SelectedRegions：经过选择后具有所需形状的区域将会存储在这个变量中。
    Shape：要检查的形状特征参数。
        'max_area'：检查最大面积。
        'rectangle1'：检查矩形1。
        'rectangle2'：检查矩形2。
    Percent：相似性度量参数，用于确定区域形状的相似度。
        默认值：70.0
        推荐值范围：10.0, 30.0, 50.0, 60.0, 70.0, 80.0, 90.0, 95.0, 100.0
        典型取值范围：0.0 ≤ Percent ≤ 100.0
        最小增量：0.1
        推荐增量：10.0

 
 

 
 

vector_field_to_real 将矢量场图像转换为两个实值图像

vector_field_to_real(VectorField : Row, Col : : )
    VectorField (输入对象): 这个参数代表一个矢量场，通常描述图像中每个点处矢量的方向和大小。
    Row (输出对象): 表示沿着行方向的矢量分量，指示图像中沿着行的矢量场分量。
    Col (输出对象): 表示沿着列方向的矢量分量，指示图像中沿着列的矢量场分量。

 
 

 
 

intensity 计算灰度值的均值和偏差

intensity(Regions, Image : : : Mean, Deviation)
参数如下：
    Regions (输入对象): 计算特征的区域。
    Image (输入对象): 灰度值图像，用于计算特征。
    Mean (输出控制): 区域的平均灰度值。
    Deviation (输出控制): 区域内灰度值的偏差

 
 

 
 

local_max_sub_pix 以亚像素精度检测局部极大值

local_max_sub_pix(Image : : Filter, Sigma, Threshold : Row, Column)
参数说明如下：
Image（输入对象）：单通道图像，表示输入图像。
Filter（输入控制）：字符串，用于计算局部导数的方法。
    默认值：<span class="token char">'facet'</span>
    可选值：<span class="token char">'facet'</span>、<span class="token char">'gauss'</span>
Sigma（输入控制）：实数，高斯核的标准差。如果Filter为<span class="token char">'facet'</span>，则Sigma可以设为<span class="token number">0.0</span>，以避免对输入图像进行平滑处理。
    建议值：<span class="token number">0.7</span><span class="token punctuation">,</span> <span class="token number">0.8</span><span class="token punctuation">,</span> <span class="token number">0.9</span><span class="token punctuation">,</span> <span class="token number">1.0</span><span class="token punctuation">,</span> <span class="token number">1.2</span><span class="token punctuation">,</span> <span class="token number">1.5</span><span class="token punctuation">,</span> <span class="token number">2.0</span><span class="token punctuation">,</span> <span class="token number">3.0</span>
    约束：Sigma <span class="token operator">&gt;=</span> <span class="token number">0.0</span>
Threshold（输入控制）：实数，Hessian矩阵特征值的绝对值最小值。
    默认值：<span class="token number">5.0</span>
    建议值：<span class="token number">2.0</span><span class="token punctuation">,</span> <span class="token number">3.0</span><span class="token punctuation">,</span> <span class="token number">4.0</span><span class="token punctuation">,</span> <span class="token number">5.0</span><span class="token punctuation">,</span> <span class="token number">6.0</span><span class="token punctuation">,</span> <span class="token number">7.0</span><span class="token punctuation">,</span> <span class="token number">8.0</span>
    约束：Threshold <span class="token operator">&gt;=</span> <span class="token number">0.0</span>
Row（输出控制）：点y数组，检测到的极大值的行坐标。
Column（输出控制）：点x数组，检测到的极大值的列坐标。

Halcon 光流算子示例

dev_update_off ()
dev_close_window ()
* Initialize the image sequence.
read_image (Image1, 'xing/xing000')
dev_open_window_fit_image (Image1, 0, 0, -1, -1, WindowHandle)
* Set the display parameters for the vector field.
dev_set_paint (['vector_field',6,1,2])
dev_set_draw ('margin')
for I := 1 to 587 by 1
    * Read the current image of the image sequence.
    read_image (Image2, 'xing/xing' + I$'03')
    * Compute the optical flow.
    * 计算光流
    optical_flow_mg (Image1, Image2, VectorField, 'fdrig', 0.8, 1, 8, 5, 'default_parameters', 'accurate')
    * Segment the optical flow vector field.
    * 阈值处理
    threshold (VectorField, Region, 1, 10000)
    * Display the current image of the sequence.  Note that this means that
    * the optical flow vectors will also be displayed at the "end" of the movement
    * of the objects in the image.
    * 显示
    dev_display (Image2)
    * Display the optical flow.
    dev_set_color ('yellow')
    dev_set_line_width (1)
    dev_display (VectorField)
    * Display the segmented optical flow.
    dev_set_color ('green')
    dev_set_line_width (3)
    dev_display (Region)
    * Copy the current image to the previous image of the sequence.
    * 将当前图像复制到序列的前一个图像
    copy_obj (Image2, Image1, 1, 1)
endfor

 
 

 
 

  
  
 
 
 
 

Halcon 获取移动物体的移动方向

* This example demonstrates the use of the optical flow for
* the detection of moving objects in an image sequence.
* The region of interest is analyzed to detect moving objects.
* If a moving object is detected, the exit gate is opened automatically.
* 
* Initialize output window
dev_update_off ()
read_image (Image1, 'bicycle/bicycle_01')
ZoomFactor := 0.5
* 按照指定倍数放大图像
zoom_image_factor (Image1, Image1, ZoomFactor, ZoomFactor, 'constant')
dev_close_window ()
dev_open_window_fit_image (Image1, 0, 0, -1, -1, WindowHandle)
dev_set_draw ('margin')
* 
* Generate ROI
* 产生一个xld多边形区域
gen_contour_polygon_xld (ROI, [0,0,283,348,479,479] * ZoomFactor, [0,379,379,434,639,0] * ZoomFactor)
* 产生轮廓
gen_region_contour_xld (ROI, RegionROI, 'filled')
* 裁剪
reduce_domain (Image1, RegionROI, Image1ROI)
* 
* Main loop: Calculate optical flow and display moving area
* 
for I := 2 to 27 by 1
    read_image (Image2, 'bicycle/bicycle_' + I$'.2')
    * 
    * Zoom images to speed-up calculation of optical flow
    * 图片放大
    zoom_image_factor (Image2, Image2, ZoomFactor, ZoomFactor, 'constant')
    * 按照xld轮廓裁剪
    reduce_domain (Image2, RegionROI, Image2ROI)
    * 光流计算
    optical_flow_mg (Image1ROI, Image2ROI, VectorField, 'fdrig', 0.8, 1, 10, 5, ['default_parameters','warp_zoom_factor'], ['fast',0.8])
    * 计算向量场的平方长度
    vector_field_length (VectorField, LengthImage, 'squared_length')
    * 
    * Segment regions with moving objects in the defined ROI
    * 计算最小灰度值
    min_max_gray (RegionROI, LengthImage, 0.1, Min, Max, Range)
    dev_display (Image2)
    if (Max > 2)
        * 阈值处理向量场
        threshold (LengthImage, RegionMovement, 2, Max)
        * 形成单独的连通域
        connection (RegionMovement, ConnectedRegions)
        * Select largest moving region
        * 筛选出移动的区域
        select_shape_std (ConnectedRegions, RegionMovement, 'max_area', 70)
        area_center (RegionMovement, Area, RCenterNew, CCenterNew)
        * 移动区域大于0
        if (Area > 0)
            * 形成一个外轮廓
            shape_trans (RegionMovement, ConvexHullregion, 'convex')
            * 外轮廓和ROI区域求交集
            intersection (RegionROI, ConvexHullregion, RegionMovementInROI)
            * 将光流图片和外轮廓裁剪
            reduce_domain (VectorField, ConvexHullregion, VectorReduced)
            * 矢量图转换为实际图
            vector_field_to_real (VectorReduced, Row, Column)
            * 
            * Estimate the movement direction and the speed
            * 计算方向和速度
            intensity (RegionMovementInROI, Row, MeanRow, Deviation)
            intensity (RegionMovementInROI, Column, MeanColumn, Deviation1)
            * 
            * Display results
            dev_set_line_width (1)
            dev_set_color ('yellow')
            dev_display (VectorReduced)
            * Display region of interest
            dev_set_line_width (3)
            dev_set_color ('magenta')
            dev_display (RegionROI)
            * Display region of moving object in the region of interest
            dev_set_color ('green')
            dev_display (RegionMovementInROI)
            * 产生右箭头的轮廓
            gen_arrow_contour_xld (Arrow, RCenterNew, CCenterNew, RCenterNew + MeanRow, CCenterNew + MeanColumn, 10, 10)
            dev_display (Arrow)
        endif
    endif
    * 
    copy_obj (Image2ROI, Image1ROI, 1, 1)
endfor

 
 

 
 

  
  
 
 
 
 

Halcon 卫星图获取移动物体的移动方向

* This example demonstrates the use of the optical flow operators.
* By calculating the optical flow between two images, the
* position, speed, and movement direction of particles are calculated.
* 1. 读取图片
dev_update_off ()
dev_close_window ()
* 
read_image (Image1, 'hydraulic_engineering/hydraulic_engineering_01')
dev_open_window_fit_image (Image1, 0, 0, -1, -1, WindowHandle)
* 
dev_set_draw ('margin')
RCenter := -1
CCenter := -1
MeanR := 0
MeanC := 0
tanDir := 0
ArrowLength := 15
MinLength := 0.375
* 
for Index := 2 to 50 by 1
    read_image (Image2, 'hydraulic_engineering/hydraulic_engineering_' + Index$'02')
    * 2.估计移动粒子的区域
    * Calculate the optical flow between two images
    * 计算光流
    optical_flow_mg (Image1, Image2, VectorField, 'clg', 1, 1, 1000, 5, 'default_parameters', 'fast')
    * 计算向量场
    vector_field_length (VectorField, LengthImage, 'squared_length')
    * 
    * Estimate the region with moving particles using the length
    * of the vectors of the calculated vector field
    *
    * 计算灰度值
    min_max_gray (LengthImage, LengthImage, 0, Min, MaxLength, Range)
    if (MaxLength > MinLength)
        threshold (LengthImage, ROI, MinLength, MaxLength)
        * 
        * Find the position of particles in the original image using
        * an estimated ROI
        dilation_circle (ROI, RegionDilation, 3.5)
        reduce_domain (Image2, RegionDilation, ImageReduced)
        * 获取裁剪后图片的亚像素极大值点的行列坐标
        local_max_sub_pix (ImageReduced, 'facet', 1.0, 4, Row, Column)
        * 
        dev_set_color ('cyan')
        dev_set_line_width (2)
        if (|Row| > 0)
            * 产生区域点
            gen_region_points (Points, Row, Column)
            * 将点形成单独的连通域
            connection (Points, ConnectedRegions)
            * 将点膨胀
            dilation_circle (ConnectedRegions, PointsDilated, 2.5)
            * 
            * Display found particles and their movement directions
             * 3.获取移动方向
            count_obj (PointsDilated, NumberReg)
            dev_display (Image2)
            dev_display (PointsDilated)
            for J := 1 to NumberReg by 1
            <span class="token function">select_obj</span> <span class="token punctuation">(</span>PointsDilated<span class="token punctuation">,</span> SelectedRegions<span class="token punctuation">,</span> J<span class="token punctuation">)</span>
            <span class="token operator">*</span> 
            <span class="token operator">*</span> Estimate the speed of the particles
            <span class="token function">reduce_domain</span> <span class="token punctuation">(</span>VectorField<span class="token punctuation">,</span> SelectedRegions<span class="token punctuation">,</span> ImageReducedVF<span class="token punctuation">)</span>
            <span class="token operator">*</span> 将矢量图转换为两个有方向的实值图像
            <span class="token function">vector_field_to_real</span> <span class="token punctuation">(</span>ImageReducedVF<span class="token punctuation">,</span> RowImage<span class="token punctuation">,</span> ColumnImage<span class="token punctuation">)</span>
            <span class="token operator">*</span> 计算 行列坐标的平均灰度值和偏差
            <span class="token function">intensity</span> <span class="token punctuation">(</span>ColumnImage<span class="token punctuation">,</span> ColumnImage<span class="token punctuation">,</span> MeanC<span class="token punctuation">,</span> Deviation<span class="token punctuation">)</span>
            <span class="token function">intensity</span> <span class="token punctuation">(</span>RowImage<span class="token punctuation">,</span> RowImage<span class="token punctuation">,</span> MeanR<span class="token punctuation">,</span> Deviation<span class="token punctuation">)</span>
            Length <span class="token operator">:</span><span class="token operator">=</span> <span class="token function">sqrt</span><span class="token punctuation">(</span>MeanR <span class="token operator">*</span> MeanR <span class="token operator">+</span> MeanC <span class="token operator">*</span> MeanC<span class="token punctuation">)</span>
            <span class="token operator">*</span> 绘制箭头
            <span class="token function">gen_arrow_contour_xld</span> <span class="token punctuation">(</span>Arrow<span class="token punctuation">,</span> Row<span class="token punctuation">[</span>J <span class="token operator">-</span> <span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">,</span> Column<span class="token punctuation">[</span>J <span class="token operator">-</span> <span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">,</span> Row<span class="token punctuation">[</span>J <span class="token operator">-</span> <span class="token number">1</span><span class="token punctuation">]</span> <span class="token operator">+</span> MeanR <span class="token operator">/</span> Length <span class="token operator">*</span> ArrowLength<span class="token punctuation">,</span> Column<span class="token punctuation">[</span>J <span class="token operator">-</span> <span class="token number">1</span><span class="token punctuation">]</span> <span class="token operator">+</span> MeanC <span class="token operator">/</span> Length <span class="token operator">*</span> ArrowLength<span class="token punctuation">,</span> <span class="token number">5</span><span class="token punctuation">,</span> <span class="token number">10</span><span class="token punctuation">)</span>
            <span class="token function">dev_display</span> <span class="token punctuation">(</span>Arrow<span class="token punctuation">)</span>
        endfor
    endif
endif
<span class="token function">copy_obj</span> <span class="token punctuation">(</span>Image2<span class="token punctuation">,</span> Image1<span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">)</span>

endfor

转载自：https://blog.csdn.net/weixin_45672157/article/details/136627358