haclcon_钢坯表面检测

• This program demonstrates the use of the photometric stereo technique
• for the inspection of the flooring panels.
• Input are 4 images taken from flooring panels
• with light coming from different orientations.
• Initialization
  dev_close_window ()
  dev_update_off ()
  dev_open_window (0, 0, 640, 512, ‘black’, WindowHandle)
  set_display_font (WindowHandle, 14, ‘mono’, ‘true’, ‘false’)
  Message := ‘Inspect the label of flooring panels’
  Message[1] := ‘using photometric stereo. In this case four’
  Message[2] := ‘different light orientations were used.’
  disp_message (WindowHandle, Message, ‘window’, 12, 12, ‘black’, ‘true’)
  disp_continue_message (WindowHandle, ‘black’, ‘true’)
  stop ()
  for Index := 1 to 2 by 1
  *
  • Show input images with different illumination
    read_image (Images, ‘photometric_stereo/flooring_’ + Index + ‘_0’ + [1:4])
    for I := 1 to 4 by 1
    Message := ‘Acquire image ’ + I + ’ of 4’
    select_obj (Images, ObjectSelected, I)
    dev_display (ObjectSelected)
    disp_message (WindowHandle, Message, ‘window’, 12, 12, ‘black’, ‘true’)
    wait_seconds (0.5)
    endfor
  • Apply photometric stereo to determine the albedo
  • and the surface gradient.
    Slants := [39.4,40.5,39.5,38.4]
    Tilts := [-6.0,83.7,172.9,-98.2]
    ResultType := [‘gradient’,‘albedo’]
    photometric_stereo (Images, HeightField, Gradient, Albedo, Slants, Tilts, ResultType, ‘poisson’, [], [])
  • Display the albedo image
    dev_display (Albedo)
    disp_message (WindowHandle, ‘Albedo image’, ‘window’, 12, 12, ‘black’, ‘true’)
    disp_continue_message (WindowHandle, ‘black’, ‘true’)
    stop ()
  • Calculate the gaussian curvature of the surface
  • using the gradient field as input for the operator
  • derivate_vector_field.
  • Defects are usually easy to detect in the curvature image.
    derivate_vector_field (Gradient, MeanCurvature, 1.0, ‘mean_curvature’)
  • Detect defects
  • Segment the tablet areas in the curvature image
    threshold (MeanCurvature, Region, 0.02, 1000)
    connection (Region, Defects)
    area_center (Defects, Area, Row, Column)
    gen_circle (Circle, Row, Column, sqrt(Area) + 10)
  • Display the defects in curvature image
    dev_set_draw (‘margin’)
    dev_set_color (‘red’)
    dev_set_line_width (2)
    dev_display (MeanCurvature)
    dev_display (Circle)
    Message := ‘The defects can easily be detected’
    Message[1] := ‘in the surface curvature image’
    disp_message (WindowHandle, Message, ‘window’, 12, 12, ‘black’, ‘true’)
    stop ()
  • Display the defects in the albedo image
    dev_set_draw (‘margin’)
    dev_set_color (‘red’)
    dev_display (Albedo)
    dev_display (Circle)
    disp_message (WindowHandle, ‘Defects in albedo image’, ‘window’, 12, 12, ‘black’, ‘true’)
    if (Index < 2)
    disp_continue_message (WindowHandle, ‘black’, ‘true’)
    stop ()
    endif
    endfor