HALCON数字图像处理(刘国华)图片和例程.rar

* This program measures the length of scratches in world * coordinates in a perspectively distorted image * dev_close_window () dev_close_window () dev_update_off () **关闭更新 dev_set_draw ('margin') **设置阈值方式为轮廓 read_image (Image, 'scratch/scratch_perspective') **读取带有划痕的图片 get_image_pointer1 (Image, Pointer, Type, Width, Height) **指向Image的第一通道的指针 dev_open_window (0, 0, Width, Height, 'black', WindowHandle1) set_display_font (WindowHandle1, 14, 'mono', 'true', 'false') **设置字体的格式 dev_display (Image) dev_set_line_width (2) disp_continue_message (WindowHandle1, 'black', 'true') stop () * * Step: calibrate the camera * CaltabName := 'caltab_30mm.descr' **标定板描述文件 * Make sure that the file 'CaltabDescrName' is in the current directory, * the HALCONROOT/calib directory, or use an absolut path StartCamPar := [0.012,0,0.0000055,0.0000055,Width / 2,Height / 2,Width,Height] **初始内参数 create_calib_data ('calibration_object', 1, 1, CalibDataID) **创建标定数据模型 set_calib_data_cam_param (CalibDataID, 0, 'area_scan_division', StartCamPar) **设置相机标定参数类型 面扫描 set_calib_data_calib_object (CalibDataID, 0, CaltabName) **指定标定板描述文件 NumImages := 12 **读取12幅图像 for I := 1 to NumImages by 1 read_image (Image, 'scratch/scratch_calib_' + I$'02d') dev_display (Image) find_calib_object (Image, CalibDataID, 0, 0, I, [], []) get_calib_data_observ_contours (Caltab, CalibDataID, 'caltab', 0, 0, I) * find_caltab (Image, Caltab, CaltabName, 3, 112, 5) dev_set_color ('green') dev_display (Caltab) get_calib_data_observ_points (CalibDataID, 0, 0, I, RCoord, CCoord, Index, StartPose) * find_marks_and_pose (Image, Caltab, CaltabName, StartCamPar, 128, 10, 18, 0.9, 15, 100, RCoord, CCoord, StartPose) dev_set_color ('red') disp_circle (WindowHandle1, RCoord, CCoord, gen_tuple_const(|RCoord|,2.5)) dev_set_part (0, 0, Height - 1, Width - 1) * set_calib_data_observ_points (CalibDataID, 0, 0, i, RCoord, CCoord, 'all', StartPose) endfor dev_update_time ('on') disp_continue_message (WindowHandle1, 'black', 'true') stop () calibrate_cameras (CalibDataID, Error) **标定相机参数 get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam) **获得相机内参数 get_calib_data (CalibDataID, 'calib_obj_pose', [0,1], 'pose', PoseCalib) **获得相机外参数 * * Step: transform images * dev_open_window (0, Width + 5, Width, Height, 'black', WindowHandle2) set_display_font (WindowHandle2, 14, 'mono', 'true', 'false') tuple_replace (PoseCalib, 5, PoseCalib[5] - 90, PoseCalibRot) **数组中的替换 set_origin_pose (PoseCalibRot, -0.04, -0.03, 0.00075, Pose) **替换输入数组元素中的一个或多个元素，并用Replaced返回 PixelDist := 0.00013 pose_to_hom_mat3d (Pose, HomMat3D) **将3D位姿信息转换成矩阵模型，即HomMat3D gen_image_to_world_plane_map (Map, CamParam, Pose, Width, Height, Width, Height, PixelDist, 'bilinear') **生成基于世界坐标系下的图像信息 ***********************************************以下是目标图像的校正过程*************************************** Imagefiles := ['scratch/scratch_calib_01','scratch/scratch_perspective'] for I := 1 to 2 by 1 read_image (Image, Imagefiles[I - 1]) dev_set_window (WindowHandle1) dev_display (Image) dev_set_window (WindowHandle2) map_image (Image, Map, ModelImageMapped) dev_display (ModelImageMapped) if (I == 1) gen_contour_polygon_xld (Polygon, [230,230], [189,189 + 0.03 / PixelDist]) disp_message (WindowHandle2, '3cm', 'window', 205, 195, 'red', 'false') dev_display (Polygon) disp_continue_message (WindowHandle2, 'black', 'true') stop () endif endfor *********************************************以上是目标图像的校正过程**************************************** * * Step: measure in world coordinates in the transformed (rectified) image * dev_set_draw ('fill') **设置阈值方式为区域 fast_threshold (ModelImageMapped, Region, 0, 80, 20) **快速阈值 fill_up (Region, RegionFillUp) **区域填充，默认是8邻域 erosion_rectangle1 (RegionFillUp, RegionErosion, 5, 5) **腐蚀轮廓区域 reduce_domain (ModelImageMapped, RegionErosion, ImageReduced) **模糊处理 fast_threshold (ImageReduced, Region1, 55, 100, 20) dilation_circle (Region1, RegionDilation1, 2.0) **圆度膨胀 erosion_circle (RegionDilation1, RegionErosion1, 1.0) **圆度腐蚀 connection (RegionErosion1, ConnectedRegions) **连通区域 select_shape (ConnectedRegions, SelectedRegions, ['area','ra'], 'and', [40,15], [2000,1000]) **形状筛选，这里是基于面积大小来筛选 count_obj (SelectedRegions, NumScratches) **识别对象数组中的对象数 dev_display (ModelImageMapped) *********************************************以下是对标定板的读取、识别**************************************** for I := 1 to NumScratches by 1 dev_set_color ('yellow') **设置区域颜色为黄色 select_obj (SelectedRegions, ObjectSelected, I) **从输入对象数组元素ObjectSelected中输出索引复制对象，其对象数就是count_obj中识别出来的对象数 skeleton (ObjectSelected, Skeleton) **输入区域的中间轴 gen_contours_skeleton_xld (Skeleton, Contours, 1, 'filter') **将以上识别出来的骨架，也就是中间轴转变为XLD轮廓 dev_display (Contours) length_xld (Contours, ContLength) **识别生成的XLD轮廓长度 area_center_points_xld (Contours, Area, Row, Column) **生成区域中心XLD点 disp_message (WindowHandle2, 'L= ' + (ContLength * PixelDist * 100)$'.4' + ' cm', 'window', Row - 10, Column + 20, 'yellow', 'false') disp_continue_message (WindowHandle2, 'black', 'true') stop () endfor dev_close_window () clear_calib_data (CalibDataID)