Halcon:刮胡刀锯齿缺陷检测

图像处理结果：

主要思想：
1.创建模板，建立检测区域
2.在待检测区域，使用measure_pairs检测每一对锯齿的距离
3.使用距离进行OK,NG判断

代码如下：
*基于形状匹配的检测
*测刮胡刀的锯齿，断还是没断
USING_TRANSLATE_MEASURE := 0
dev_update_window (‘off’)
*读取图像
read_image (ModelImage, ‘razors1’)
*获取图像的数据信息
get_image_pointer1 (ModelImage, Pointer, Type, Width, Height)
dev_close_window ()
*打开窗口
dev_open_window (0, 0, Width, Height, ‘white’, WindowHandle)
dev_set_part (0, 0, Height - 1, Width - 1)
*显示图像
dev_display (ModelImage)
*设置颜色
dev_set_color (‘cyan’)
*填充方式
dev_set_draw (‘margin’)
*设置线宽为2个像素
dev_set_line_width (2)
stop ()
*画
Row1 := 46
Column1 := 57
Row2 := 79
Column2 := 94
*手动画一个区域，将这个区域的图像做模板匹配
gen_rectangle1 (ROIPart1, Row1, Column1, Row2, Column2)
*手动画一个区域，将这个区域的图像做模板匹配
gen_rectangle1 (ROIPart2, Row1 + 364, Column1 + 13, Row2 + 364, Column2 + 13)
*两个区域的联合
union2 (ROIPart1, ROIPart2, ModelROI)
*获得区域的中心坐标
area_center (ModelROI, Area, CenterROIRow, CenterROIColumn)
dev_display (ModelImage)
*显示模板区域
dev_display (ModelROI)
stop ()
*图像选择
reduce_domain (ModelImage, ModelROI, ImageROI)
*将刚刚上面确定的两个区域，联合起来，做为一个区域，做一个模板
create_shape_model (ImageROI, 4, 0, 0, ‘auto’, ‘none’, ‘use_polarity’, 30, 10, ModelID)
*创建形状模型的表示，可以理解为模板的骨架
inspect_shape_model (ImageROI, ShapeModelImage, ShapeModelRegion, 1, 30)
*获得模板的区域轮廓
get_shape_model_contours (ShapeModel, ModelID, 1)
*清空窗口
dev_clear_window ()
*设置颜色
dev_set_color (‘blue’)
*显示模板轮廓
dev_display (ShapeModelRegion)
stop ()

• 形成两个待测区域的矩形，待测区域的坐标是模板匹配的坐标，待测区域的长度是人工手动设定的
  Rect1Row := 244
  Rect1Col := 73
  DistColRect1Rect2 := 17
  Rect2Row := Rect1Row
  Rect2Col := Rect1Col + DistColRect1Rect2
  RectPhi := rad(90)
  RectLength1 := 122
  RectLength2 := 2
  *左边待测区域
  gen_rectangle2 (MeasureROI1, Rect1Row, Rect1Col, RectPhi, RectLength1, RectLength2)
  *右边待测区域
  gen_rectangle2 (MeasureROI2, Rect2Row, Rect2Col, RectPhi, RectLength1, RectLength2)
  *显示待测图片
  dev_display (ModelImage)
  dev_set_color (‘yellow’)
  dev_display (MeasureROI1)
  dev_display (MeasureROI2)
• translate measurement ROIs to lie on XLD model (without clipping!)
  get_system (‘clip_region’, OriginalClipRegion)
  set_system (‘clip_region’, ‘false’)
  move_region (MeasureROI1, MeasureROI1Ref, -CenterROIRow, -CenterROIColumn)
  move_region (MeasureROI2, MeasureROI2Ref, -CenterROIRow, -CenterROIColumn)
  set_system (‘clip_region’, OriginalClipRegion)
  DistRect1CenterRow := Rect1Row - CenterROIRow
  DistRect1CenterCol := Rect1Col - CenterROIColumn
  DistRect2CenterRow := Rect2Row - CenterROIRow
  DistRect2CenterCol := Rect2Col - CenterROIColumn
  if (USING_TRANSLATE_MEASURE != 0)
  • -> measure objects are created only once in advance and then translated later
    *建立测量区域的句柄
    gen_measure_rectangle2 (Rect1Row, Rect1Col, RectPhi, RectLength1, RectLength2, Width, Height, ‘bilinear’, MeasureHandle1)
    gen_measure_rectangle2 (Rect2Row, Rect2Col, RectPhi, RectLength1, RectLength2, Width, Height, ‘bilinear’, MeasureHandle2)
    endif
    stop ()
    *读取待测图像
    read_image (SearchImage, ‘razors2’)
    dev_display (SearchImage)
    *找到对应的模板
    find_shape_model (SearchImage, ModelID, 0, 0, 0.8, 0, 0.5, ‘least_squares’, 0, 0.7, RowCheck, ColumnCheck, AngleCheck, Score)
    *|Score|代表一共找到多少个对应的模板
    if (|Score| > 0)
    for i := 0 to |Score| - 1 by 1
    *创建一个待测区域的变换矩阵
    vector_angle_to_rigid (0, 0, 0, RowCheck[i], ColumnCheck[i], AngleCheck[i], MovementOfObject)
    *获取模板的轮廓
    affine_trans_contour_xld (ShapeModel, ModelAtNewPosition, MovementOfObject)
    *显示轮廓
    dev_display (ModelAtNewPosition)
    • 测试每个锯齿之间的距离
      *将左右的待测区域，变换到目前的测试图像上
      affine_trans_region (MeasureROI1Ref, MeasureROI1AtNewPosition, MovementOfObject, ‘constant’)
      affine_trans_region (MeasureROI2Ref, MeasureROI2AtNewPosition, MovementOfObject, ‘constant’)
      dev_display (MeasureROI1AtNewPosition)
      dev_display (MeasureROI2AtNewPosition)
      *应用仿射变换，变换到到像素坐标。
      affine_trans_pixel (MovementOfObject, DistRect1CenterRow, DistRect1CenterCol, Rect1RowCheck, Rect1ColCheck)
      affine_trans_pixel (MovementOfObject, DistRect2CenterRow, DistRect2CenterCol, Rect2RowCheck, Rect2ColCheck)
      if (USING_TRANSLATE_MEASURE != 0)
      • -> translate the already created measure objects
        translate_measure (MeasureHandle1, Rect1RowCheck, Rect1ColCheck)
        translate_measure (MeasureHandle2, Rect2RowCheck, Rect2ColCheck)
        measure_pairs (SearchImage, MeasureHandle1, 2, 25, ‘negative’, ‘all’, RowEdge11, ColEdge11, Amp11, RowEdge21, ColEdge21, Amp21, Width1, Distance1)
        measure_pairs (SearchImage, MeasureHandle2, 2, 25, ‘negative’, ‘all’, RowEdge12, ColEdge12, Amp12, RowEdge22, ColEdge22, Amp22, Width2, Distance2)
        else
        *建立测量的句柄
        RectPhiCheck := RectPhi + AngleCheck[i]
        gen_measure_rectangle2 (Rect1RowCheck, Rect1ColCheck, RectPhiCheck, RectLength1, RectLength2, Width, Height, ‘bilinear’, MeasureHandle1)
        gen_measure_rectangle2 (Rect2RowCheck, Rect2ColCheck, RectPhiCheck, RectLength1, RectLength2, Width, Height, ‘bilinear’, MeasureHandle2)
      • 使用measure_pairs，一对一对的测量
        measure_pairs (SearchImage, MeasureHandle1, 2, 25, ‘negative’, ‘all’, RowEdge11, ColEdge11, Amp11, RowEdge21, ColEdge21, Amp21, Width1, Distance1)
        measure_pairs (SearchImage, MeasureHandle2, 2, 25, ‘negative’, ‘all’, RowEdge12, ColEdge12, Amp12, RowEdge22, ColEdge22, Amp22, Width2, Distance2)
        close_measure (MeasureHandle1)
        *关闭测量句柄
        close_measure (MeasureHandle2)
        endif
        *左边的锯齿数量
        NumberTeeth1 := |Width1|
        *右边的锯齿数量
        NumberTeeth2 := |Width2|
        dev_set_color (‘red’)
        *如果左边的数量<37
        if (NumberTeeth1 < 37)
        for j := 0 to NumberTeeth1 - 2 by 1
        *计算每一对锯齿之间的角度
        if (Distance1[j] > 4.0)
        RowFault := round(0.5 * (RowEdge11[j + 1] + RowEdge21[j]))
        ColFault := round(0.5 * (ColEdge11[j + 1] + ColEdge21[j]))
        *将超过4像素的区域显示出来
        disp_rectangle2 (WindowHandle, RowFault, ColFault, 0, 4, 4)
        新开一个8080大小的窗口，显示在原来窗口的右边
        dev_open_window (0, Width + 20, 80, 80, ‘black’, WindowHandleZoom)
        *显示区域
        dev_set_part (RowFault - 10, ColFault - 10, RowFault + 10, ColFault + 10)
        *显示缺陷图像
        dev_display (SearchImage)
        *再在小窗口上显示缺牙区域
        disp_rectangle2 (WindowHandleZoom, RowFault, ColFault, 0, 4, 4)
        stop ()
        *关闭窗口
        dev_close_window ()
        dev_set_part (0, 0, Height - 1, Width - 1)
        endif
        endfor
        endif
        *和左边一样，看上文注释即可
        if (NumberTeeth2 < 37)
        for j := 0 to NumberTeeth2 - 2 by 1
        if (Distance2[j] > 4.0)
        RowFault := round(0.5 * (RowEdge12[j + 1] + RowEdge22[j]))
        ColFault := round(0.5 * (ColEdge12[j + 1] + ColEdge22[j]))
        disp_rectangle2 (WindowHandle, RowFault, ColFault, 0, 4, 4)
        dev_open_window (0, Width + 20, 80, 80, ‘black’, WindowHandleZoom)
        dev_set_part (RowFault - 10, ColFault - 10, RowFault + 10, ColFault + 10)
        dev_display (SearchImage)
        disp_rectangle2 (WindowHandleZoom, RowFault, ColFault, 0, 4, 4)
        stop ()
        dev_close_window ()
        dev_set_part (0, 0, Height - 1, Width - 1)
        endif
        endfor
        endif
        dev_set_color (‘yellow’)
        stop ()
        endfor
        endif
• ------------------- end of the application -----------------
• clean up
  if (USING_TRANSLATE_MEASURE != 0)
  *关闭测量句柄
  close_measure (MeasureHandle1)
  close_measure (MeasureHandle2)
  endif
  dev_update_window (‘on’)
  *清空模板
  clear_shape_model (ModelID)

对应示例程序：
align_measurements.hdev