Halcon 常用算子

图像过滤器应用reduce domain图像的问题

过滤器几乎是每个机器视觉应用程序的重要组成部分。例如，mean_image可用于平滑图像， edges_sub_pix提取子像素的精确边缘以及fft_image 计算图像的快速傅立叶变换。

在下面的内容中，我们将仔细研究特殊情况：将具有reduce domain的图像用作滤镜的输入，以及由图像域外部的灰度值引起的问题。

图像滤镜，蒙版和reduced domain缩小域
如果将使用蒙版的滤镜应用于reduced domain的图像，则沿域边界的结果可能会令人吃惊，因为位于边界外部的灰度值用作滤波过程的输入。要理解这一点，您必须在以下情况下考虑域的定义：对于过滤器，域定义了必须为哪些输入像素计算输出像素。但是可以将域外的像素（位于图像矩阵内）用于处理。

由Image域外部的灰度值引起的问题
将图像作为输出的运算符（大多数过滤器运算符）仅返回输入域中包含的像素的结果。

出于性能原因，位于图像域之外的像素将变为“未定义”。这些未定义的像素可能因系统而异，例如，是否激活并行化。如果在具有相同配置的系统上重复执行该程序，则仅保证值是一致的。在某些情况下，这些“未定义”像素可能会导致问题。使用命令full_domain将生成的图像扩展到整个域会导致伪像出现在先前的图像域之外。

导致问题的另一个原因是，如果连续应用两个或多个过滤器，则域外的未定义值也会被应用，因为这些过滤器也会将未定义值视为靠近域边界。这意味着从后面到中间，每个后续过滤器的误差都会增加。

在下文中，提出了解决这些问题的四种策略。

image.png

应用两个连续的过滤器后，在域边界的伪影。

例如，通过选择一个比实际需要的图像部分大很多的域，可以轻松地防止由未定义像素引起的错误。过滤器应用后，可以将图像域缩小到其原始大小（例如，使用erosion_rectangle1和reduce_domain）。这样做会切除图像中包含不正确值的那些部分，因此不会增加下一个滤镜操作的误差。

另一个选择是将域完全设置为图像中感兴趣部分的大小，然后在应用滤镜之前调用运算符expand_domain_gray 。此运算符将边界内的像素复制到边界外，因此避免了由域外未定义的像素引起的错误。随后，可以再次将域减小到其原始大小。接下来的每个过滤器操作都应重复此过程。但是请注意，此选项会大大增加运行时间。

image.png

看起来 expand_domain_gray的结果就像边界被多次复制并在外部添加一样。

1. 如果运行时不是问题，则可以在将第一个过滤器应用于图像之前调用full_domain运算符。这样，整个图像被定义为域，并且完全避免了未定义的像素。

2. 获得没有未定义像素的图像的另一种可能性是通过在应用滤镜之前调用crop_domaincrop_domain运算符。操作员将图像裁剪为域的大小，这意味着域将覆盖完整的较小图像。但是请注意，对于裁剪后的图像，坐标系相对于原始图像已更改，这将影响所有后续应用程序，具体取决于图像坐标系（例如，计算重心）。

halcon的常见过滤器（按功能分类）
（一）Arithmetic （算术）

abs_diff_image

Calculate the absolute difference of two images.

abs_image

Calculate the absolute value (modulus) of an image.

acos_image

Calculate the arccosine of an image.

add_image

Add two images.

asin_image

Calculate the arcsine of an image.

atan2_image

Calculate the arctangent of two images.

atan_image

Calculate the arctangent of an image.

cos_image

Calculate the cosine of an image.

div_image

Divide two images.

exp_image

Calculate the exponentiation of an image.

gamma_image

Perform a gamma encoding or decoding of an image.

invert_image

Invert an image.

log_image

Calculate the logarithm of an image.

max_image

Calculate the maximum of two images pixel by pixel.

min_image

Calculate the minimum of two images pixel by pixel.

mult_image

Multiply two images.

pow_image

Raise an image to a power.

scale_image

Scale the gray values of an image.

sin_image

Calculate the sine of an image.

sqrt_image

Calculate the square root of an image.

sub_image

Subtract two images.

tan_image

Calculate the tangent of an image.

（二）Bit （位）

bit_and

Bit-by-bit AND of all pixels of the input images.

bit_lshift

Left shift of all pixels of the image.

bit_mask

Logical “AND” of each pixel using a bit mask.

bit_not

Complement all bits of the pixels.

bit_or

Bit-by-bit OR of all pixels of the input images.

bit_rshift

Right shift of all pixels of the image.

bit_slice

Extract a bit from the pixels.

bit_xor

Bit-by-bit XOR of all pixels of the input images.

（三）Color （颜色）

apply_color_trans_lut

Color space transformation using pre-generated look-up-table.

cfa_to_rgb

Convert a single-channel color filter array image into an RGB image.

clear_color_trans_lut

Release the look-up-table needed for color space transformation.

create_color_trans_lut

Creates the look-up-table for transformation of an image from the RGB color space to an arbitrary color space.

gen_principal_comp_trans

Compute the transformation matrix of the principal component analysis of multichannel images.

linear_trans_color

Compute an affine transformation of the color values of a multichannel image.

principal_comp

Compute the principal components of multichannel images.

rgb1_to_gray

Transform an RGB image into a gray scale image.

rgb3_to_gray

Transform an RGB image to a gray scale image.

trans_from_rgb

Transform an image from the RGB color space to an arbitrary color space.

trans_to_rgb

Transform an image from an arbitrary color space to the RGB color space.

（四）Edges （边缘）

close_edges

Close edge gaps using the edge amplitude image.

close_edges_length

Close edge gaps using the edge amplitude image.

derivate_gauss

Convolve an image with derivatives of the Gaussian.

diff_of_gauss

Approximate the LoG operator (Laplace of Gaussian).

edges_color

Extract color edges using Canny, Deriche, or Shen filters.

edges_color_sub_pix

Extract subpixel precise color edges using Deriche, Shen, or Canny filters.

edges_image

Extract edges using Deriche, Lanser, Shen, or Canny filters.

edges_sub_pix

Extract sub-pixel precise edges using Deriche, Lanser, Shen, or Canny filters.

frei_amp

Detect edges (amplitude) using the Frei-Chen operator.

frei_dir

Detect edges (amplitude and direction) using the Frei-Chen operator.

highpass_image

Extract high frequency components from an image.

info_edges

Return the filter coefficients of a filter in edges_image.

kirsch_amp

Detect edges (amplitude) using the Kirsch operator.

kirsch_dir

Detect edges (amplitude and direction) using the Kirsch operator.

laplace

Calculate the Laplace operator by using finite differences.

laplace_of_gauss

LoG-Operator (Laplace of Gaussian).

prewitt_amp

Detect edges (amplitude) using the Prewitt operator.

prewitt_dir

Detect edges (amplitude and direction) using the Prewitt operator.

roberts

Detect edges using the Roberts filter.

robinson_amp

Detect edges (amplitude) using the Robinson operator.

robinson_dir

Detect edges (amplitude and direction) using the Robinson operator.

sobel_amp

Detect edges (amplitude) using the Sobel operator.

sobel_dir

Detect edges (amplitude and direction) using the Sobel operator.

（五）Enhancement （增强功能）

coherence_enhancing_diff

Perform a coherence enhancing diffusion of an image.

emphasize

Enhance contrast of the image.

equ_histo_image

Histogram linearization of images

illuminate

Illuminate image.

mean_curvature_flow

Apply the mean curvature flow to an image.

scale_image_max

Maximum gray value spreading in the value range 0 to 255.

shock_filter

Apply a shock filter to an image.

（六）FFT （快速傅立叶变换）

convol_fft

Convolve an image with a filter in the frequency domain.

convol_gabor

Convolve an image with a Gabor filter in the frequency domain.

correlation_fft

Compute the correlation of two images in the frequency domain.

deserialize_fft_optimization_data

Deserialize FFT speed optimization data.

energy_gabor

Calculate the energy of a two-channel image.

fft_generic

Compute the fast Fourier transform of an image.

fft_image

Compute the fast Fourier transform of an image.

fft_image_inv

Compute the inverse fast Fourier transform of an image.

gen_bandfilter

Generate an ideal band filter.

gen_bandpass

Generate an ideal bandpass filter.

gen_derivative_filter

Generate a derivative filter in the frequency domain.

gen_filter_mask

Store a filter mask in the spatial domain as a real-image.

gen_gabor

Generate a Gabor filter.

gen_gauss_filter

Generate a Gaussian filter in the frequency domain.

gen_highpass

Generate an ideal highpass filter.

gen_lowpass

Generate an ideal lowpass filter.

gen_mean_filter

Generate a mean filter in the frequency domain.

gen_sin_bandpass

Generate a bandpass filter with sinusoidal shape.

gen_std_bandpass

Generate a bandpass filter with Gaussian or sinusoidal shape.

optimize_fft_speed

Optimize the runtime of the FFT.

optimize_rft_speed

Optimize the runtime of the real-valued FFT.

phase_correlation_fft

Compute the phase correlation of two images in the frequency domain.

phase_deg

Return the phase of a complex image in degrees.

phase_rad

Return the phase of a complex image in radians.

power_byte

Return the power spectrum of a complex image.

power_ln

Return the power spectrum of a complex image.

power_real

Return the power spectrum of a complex image.

read_fft_optimization_data

Load FFT speed optimization data from a file.

rft_generic

Compute the real-valued fast Fourier transform of an image.

serialize_fft_optimization_data

Serialize FFT speed optimization data.

write_fft_optimization_data

Store FFT speed optimization data in a file.

（七）Geometric Transformations （几何变换）

affine_trans_image

对图像应用任意仿射二维变换.

affine_trans_image_size

对图像应用任意仿射二维变换并指定输出图像大小.

convert_map_type

将图像贴图转换为其他贴图类型.

map_image

Apply a general transformation to an image.

mirror_image

Mirror an image.

polar_trans_image_ext

Transform an annular arc in an image to polar coordinates.

polar_trans_image_inv

Transform an image in polar coordinates back to cartesian coordinates

projective_trans_image

Apply a projective transformation to an image.

projective_trans_image_size

Apply a projective transformation to an image and specify the output image size.

rotate_image

Rotate an image about its center.

zoom_image_factor

Zoom an image by a given factor.

zoom_image_size

Zoom an image to a given size.

（八）Inpainting （修补）

harmonic_interpolation

Perform a harmonic interpolation on an image region.

inpainting_aniso

Perform an inpainting by anisotropic diffusion.

inpainting_ced

Perform an inpainting by coherence enhancing diffusion.

inpainting_ct

Perform an inpainting by coherence transport.

inpainting_mcf

Perform an inpainting by smoothing of level lines.

inpainting_texture

Perform an inpainting by texture propagation.

（九）Lines （线）

bandpass_image

Edge extraction using bandpass filters.

lines_color

Detect color lines and their width.

lines_facet

Detection of lines using the facet model.

lines_gauss

Detect lines and their width.

（十）Match （匹配）

exhaustive_match

Matching of a template and an image.

exhaustive_match_mg

Matching a template and an image in a resolution pyramid.

gen_gauss_pyramid

Calculating a Gauss pyramid.

monotony

Calculating the monotony operation.

（十一）Misc （杂项）

convol_image

Calculate the correlation between an image and an arbitrary filter mask

deviation_n

Calculate standard deviation over several channels.

expand_domain_gray

Expand the domain of an image and set the gray values in the expanded domain.

gray_inside

Calculate the lowest possible gray value on an arbitrary path to the image border for each point in the image.

gray_skeleton

Thinning of gray value images.

lut_trans

Transform an image with a gray-value look-up-table

symmetry

Symmetry of gray values along a row.

topographic_sketch

Compute the topographic primal sketch of an image.

（十二）Noise （噪声）

add_noise_distribution

Add noise to an image.

add_noise_white

Add noise to an image.

gauss_distribution

Generate a Gaussian noise distribution.

noise_distribution_mean

Determine the noise distribution of an image.

sp_distribution

Generate a salt-and-pepper noise distribution.

（十三）Optical Flow （光流）

derivate_vector_field

Convolve a vector field with derivatives of the Gaussian.

optical_flow_mg

Compute the optical flow between two images.

unwarp_image_vector_field

Unwarp an image using a vector field.

vector_field_length

Compute the length of the vectors of a vector field.

（十四）Points （点）

corner_response

Searching corners in images.

dots_image

Enhance circular dots in an image.

points_foerstner

Detect points of interest using the Förstner operator.

points_harris

Detect points of interest using the Harris operator.

points_harris_binomial

Detect points of interest using the binomial approximation of the Harris operator.

points_lepetit

Detect points of interest using the Lepetit operator.

points_sojka

Find corners using the Sojka operator.

（十五）Scene Flow （场景流）

scene_flow_calib

Compute the calibrated scene flow between two stereo image pairs.

scene_flow_uncalib

Compute the uncalibrated scene flow between two stereo image pairs.

（十六）Smoothing （平滑处理）

图像平滑介绍

anisotropic_diffusion

Perform an anisotropic diffusion of an image.

bilateral_filter

bilateral filtering of an image.

binomial_filter

Smooth an image using the binomial filter.

eliminate_min_max

Smooth an image in the spatial domain to suppress noise.

eliminate_sp

Replace values outside of thresholds with average value.

fill_interlace

Interpolate 2 video half images.

gauss_filter

Smooth using discrete gauss functions.

guided_filter

Guided filtering of an image.

info_smooth

Information on smoothing filter smooth_image.

isotropic_diffusion

Perform an isotropic diffusion of an image.

mean_image

Smooth by averaging.

mean_n

Average gray values over several channels.

mean_sp

Suppress salt and pepper noise.

median_image

Compute a median filter with various masks.

median_rect

Compute a median filter with rectangular masks.

median_separate

Separated median filtering with rectangle masks.

median_weighted

Weighted median filtering with different rank masks.

midrange_image

Calculate the average of maximum and minimum inside any mask.

rank_image

Compute a rank filter with arbitrary masks.

rank_n

Return gray values with given rank from multiple channels.

rank_rect

Compute a rank filter with rectangular masks.

sigma_image

Non-linear smoothing with the sigma filter.

smooth_image

Smooth an image using various filters.

trimmed_mean

Smooth an image with an arbitrary rank mask.

（十七）Texture Inspection （纹理检查）

deviation_image

Calculate the standard deviation of gray values within rectangular windows.

entropy_image

Calculate the entropy of gray values within a rectangular window.

texture_laws

Filter an image using a Laws texture filter.

（十八）Wiener Filter （维纳过滤器）

gen_psf_defocus

Generate an impulse response of an uniform out-of-focus blurring.

gen_psf_motion

Generate an impulse response of a (linearly) motion blurring.

simulate_defocus

Simulate an uniform out-of-focus blurring of an image.

simulate_motion

Simulation of (linearly) motion blur.

wiener_filter

Image restoration by Wiener filtering.

wiener_filter_ni

Image restoration by Wiener filtering.