halcon+vb检测光学玻璃元件实例.doc

halcon+vb检测光学玻璃元件实例发布于：2013-08-20 10:05自然光下的玻璃元件实图环型光源下的玻璃元件图halcon 代码open_framegrabber (DirectShow, 1, 1, 0, 0, 0, 0, default, 8, gray, -1, false, default, Microvision MV-1400UC Digital Camera, 0, -1, AcqHandle)*打开摄像头grab_image_start (AcqHandle, -1)*开始铺货图像grab_image_async (Image, AcqHandle, -1)*捕获第一帧图像get_image_size (Image, Width, Height)*获得图像大小dev_open_window (0, 0, Width/6, Height/6, black, WindowHandle)*打开适合大小的窗口，应为相机是1400万像素所以图想太大窗口被我缩小了。while (true) *无限循环 try grab_image_async (Image, AcqHandle, -1)*捕获一帧图像 dev_display (Image)*显示图像 smooth_image(Image, ImageSmooth, deriche2, 0.5)*平滑图像 threshold (ImageSmooth, Regions,125, 255)*阈值处理*这个 表面有些灰尘呵呵不过可以当噪点过滤掉的area_center (Regions, Area1, Row3, Column3)*获得区域中心点 gen_contour_region_xld(Regions, Contours, border_holes)*将阈值处理后获得的区域转换成xld smooth_contours_xld(Contours, SmoothedContours, 5)*平滑xld select_contours_xld (SmoothedContours, SelectedContours1, contour_length, 4000, 8000, -0.5, 0.5)*选择长度在4000到8000像素之间的xld select_contours_xld (Contours, SelectedContours2, contour_length, 10000, 13000, -0.5, 0.5)*选择长度在10000到13000之间的xld*选择后得到的xld图形就是最长的几段xld 其余的全部过滤掉了 segment_contours_xld (SelectedContours2, ContoursSplit, lines_ellipses, 0, 2, 2)*对方性xld进行分割 分割主要是为了去除尖刺突出的xld*选取横向角度上的多边形而尖刺突出部分就被忽略了pi := acos(0)*2Eps := pi*2 /7select_contours_xld (ContoursSplit, SelectedContours3, direction, pi/2 + Eps, pi/2 - Eps, -0.5, 0.5)*选择横向角度的多边形select_contours_xld (SelectedContours3, SelectedContoursFinal, length, 20, 200000, -0.5, 0.5)*选择横向角度的长度在20到200000的多边形 觉得这一部多余 呵呵不过是多次测试参数后才发现多余 之后就懒得改了。union_collinear_contours_xld(SelectedContoursFinal, ContourTu, 150, 5, 10, 0.70, attr_keep)*联合所有备选横向方向上的xld间距在150个像素一下的select_contours_xld (ContourTu, ContourTuFinal, length, 1500, 200000, -0.5, 0.5)*选择1500到200000像素之间的xld 这个选择主要是选出 拟合出来的玻璃元件上下边缘的直线sort_contours_xld(ContourTuFinal, ContourTuSort, upper_left, true, row)*索引选择的xldfit_line_contour_xld(ContourTuSort, tukey, -1, 0, 5, 2, RowBegin2, ColBegin2, RowEnd2, ColEnd2, Nr2, Nc2, Dist2)*修正所选取的直线 ，说实话这句代码我写到后面发现 也是多余的 ，被后面的代码重复执行了tuple_length(RowBegin2, Length)*这句代码 貌似无作用 length变量从来没用到过 gen_contour_polygon_xld (line1, RowBegin20,RowEnd20, ColBegin20,ColEnd20) gen_contour_polygon_xld (line2, RowBegin2Length-1,RowEnd2Length-1, ColBegin2Length-1,ColEnd2Length-1)*显示最上和最下的边缘的两条直线 fit_line_contour_xld(line1, tukey, -1, 0, 5, 2, RowBeginline1, ColBeginline1, RowEndline1, ColEndline1, Nrline1, Ncline1, Distline1) fit_line_contour_xld(line2, tukey, -1, 0, 5, 2, RowBeginline2, ColBeginline2, RowEndline2, ColEndline2, Nrline2, Ncline2, Distline2)*修复上下两条直线 smallest_rectangle2_xld (line2, Row5, Column5, Phi2, Length13, Length23)*获取line2的phi2斜率角度。vector_angle_to_rigid (Row3, Column3, Phi2, Row3, Column3,0, HomMat2D)*生成HomMat2D数据枚举affine_trans_image (ImageSmooth, Image2, HomMat2D, constant, false)*根据程序头部阈值处理所得区域中心坐标 row3,column3 旋转 phi2 将图像摆正*摆正后重新处理图像*大家可以看一下 这个阈值处理后的图像和前面的图想有什么区别 斜角已经没了。下面的处理就是重复上方获得xld上下边缘线的程序了 smooth_image(Image2, ImageSmooth, deriche2, 0.5) threshold (ImageSmooth, Regions,125, 255) gen_contour_region_xld(Regions, Contours, border_holes) smooth_contours_xld(Contours, SmoothedContours, 5) select_contours_xld (SmoothedContours, SelectedContours1, contour_length, 4000, 8000, -0.5, 0.5) select_contours_xld (Contours, SelectedContours2, contour_length, 10000,13000, -0.5, 0.5) segment_contours_xld (SelectedContours2, ContoursSplit, lines_ellipses, 0, 2, 2)pi := acos(0)*2Eps := pi*2 /7select_contours_xld (ContoursSplit, SelectedContours3, direction, pi/2 + Eps, pi/2 - Eps, -0.5, 0.5)select_contours_xld (SelectedContours3, SelectedContoursFinal, length, 20, 200000, -0.5, 0.5)union_collinear_contours_xld(SelectedContoursFinal, ContourTu, 150, 5, 10, 0.70, attr_keep)select_contours_xld (ContourTu, ContourTuFinal, length, 1500, 200000, -0.5, 0.5)sort_contours_xld(ContourTuFinal, ContourTuSort, upper_left, true, row)fit_line_contour_xld(ContourTuSort, tukey, -1, 0, 5, 2, RowBegin2, ColBegin2, RowEnd2, ColEnd2, Nr2, Nc2, Dist2)tuple_length(RowBegin2, Length) gen_contour_polygon_xld (line1, RowBegin20,RowEnd20, ColBegin20,ColEnd20) gen_contour_polygon_xld (line2, RowBegin2Length-1,RowEnd2Length-1, ColBegin2Length-1,ColEnd2Length-1) fit_line_contour_xld(line1, tukey, -1, 0, 5, 2, RowBeginline1, ColBeginline1, RowEndline1, ColEndline1, Nrline1, Ncline1, Distline1) fit_line_contour_xld(line2, tukey, -1, 0, 5, 2, RowBeginline2, ColBeginline2, RowEndline2, ColEndline2, Nrline2, Ncline2, Distline2) *选取纵向上的多边形*下面的程序 和上访选取上下边缘线的程序一样 只是这些是选取 左右边缘线的程序pi := acos(0)*2Eps := pi*2 /7select_contours_xld (ContoursSplit, SelectedContours3, direction, pi/2 - Eps, pi/2 + Eps, -0.5, 0.5)select_contours_xld (SelectedContours3, SelectedContoursFinal, length, 20, 200000, -0.5, 0.5)union_collinear_contours_xld(SelectedContoursFinal, ContourTu, 150, 5, 10, 0.20, attr_keep)select_contours_xld (ContourTu, ContourTuFinal, length, 1500, 200000, -0.5, 0.5)sort_contours_xld(ContourTuFinal, ContourTuSort, upper_left, true, column)fit_line_contour_xld(ContourTuSort, tukey, -1, 0, 5, 2, RowBegin2, ColBegin2, RowEnd2, ColEnd2, Nr2, Nc2, Dist2)tuple_length(RowBegin2, Length) gen_contour_polygon_xld (line1, RowBegin20,RowEnd20, ColBegin20,ColEnd20) gen_contour_polygon_xld (line2, RowBegin2Length-1,RowEnd2Length-1, ColBegin2Length-1,ColEnd2Length-1) fit_line_contour_xld(line1, tukey, -1, 0, 5, 2, RowBeginline3, ColBeginline3, RowEndline3, ColEndline3, Nrline3, Ncline3, Distline3) fit_line_contour_xld(line2, tukey, -1, 0, 5, 2, RowBeginline4, ColBeginline4, RowEndline4, ColEndline4, Nrline4, Ncline4, Distline4)*计算两条直线之间的距离distance_sl(RowBeginline1, ColBeginline1, RowEndline1, ColEndline1, RowBeginline2, ColBeginline2, RowEndline2, ColEndline2, HeighMin1, HeighMax1)*上海下边线间的距离distance_sl(RowBeginline3, ColBeginline3, RowEndline3, ColEndline3, RowBeginline4, ColBeginline4, RowEndline4, ColEndline4,WidthMin1, WidthMax1)*左右边线间的距离 *算四个角点坐标拍，下面是计算玻璃元件四个角的直角角度angle_ll(ColBeginline1, RowBeginline1, ColEndline1, RowEndline1,ColBeginline3, RowBeginline3, ColEndline3, RowEndline3, Angle1)*计算两条直线之间的角度angle_ll(ColBeginline1, RowBeginline1, ColEndline1, RowEndline1,ColBeginline4, RowBeginline4, ColEndline4, RowEndline4, Angle2)angle_ll(ColBeginline4, RowBeginline4, ColEndline4, RowEndline4,ColBeginline2, RowBeginline2, ColEndline2, RowEndline2, Angle3)angle_ll(ColBeginline2, RowBeginline2, ColEndline2, RowEndline2,ColBeginline3, RowBeginline3, ColEndline3, RowEndline3, Angle4)tuple_deg(Angle1,deg1)*将弧度转化成角度tuple_deg(Angle2,deg2)tuple_deg(Angle3,deg3)tuple_deg(Angle4,deg4) *内径圆的各个值 dev_display(SelectedContours1) *前面选取的4000到8000像素其实就是内圆的xld fit_ellipse_contour_xld(SelectedContours1, fitzgibbon, -1, 0, 0, 200, 3, 2, Row4, Column4, Phi3, Radius1, Radius2, StartPhi1, EndPhi1, PointOrder2)*修正xld椭圆 并获得 圆的最大半径，最小半径，圆心坐标 *圆心距 distance_pl(Row41, Column41, RowBeginline1, ColBeginline1, RowEndline1, ColEndline1, Distance1)*圆心到四边直线的距离 distance_pl(Row41, Column41, RowBeginline2, ColBeginline2, RowEndline2, ColEndline2, Distance2) distance_pl(Row41, Column41, RowBeginline3, ColBeginline3, RowEndline3, ColEndline3, Distance3) distance_pl(Row41, Column41, RowBeginline4, ColBeginline4, RowEndline4, ColEndline4, Distance4) gen_ellipse_contour_xld(ContEllipse, Row40, Column40, Phi30, Radius10, Radius20, 0, 6.28318, positive, 1.5) gen_ellipse_contour_xld(ContEllipse1, Row41, Column41, Phi31, Radius11, Radius21, 0, 6.28318, positive, 1.5) dev_display(ContEllipse) dev_display(ContEllipse1) catch (Exception) endtryendwhileclose_framegrabber (AcqHandle)程序到此结束 ，本程序得到了 这个玻璃元件的四边长度，四个角的角度，圆心到四边的距离，内圆的半径，虽然是简单的检测应用，但是希望可以给各位做点参考 呵呵。记得顶哟图片：zuizhong.jpg我把导出的 action里的打开摄像头部分放在了 开始检测 按钮中Private Sub Command1_Click()On Error Resume NextStart = TrueCall InitHalconCall Op.OpenFramegrabber(DirectShow, 1, 1, 0, 0, 0, 0, default, 8, gray, _ -1, false, default, Microvision MV-1400UC Digital Camera, 0, -1, hv_AcqHandle)Call Op.GrabImageStart(hv_AcqHandle, -1)Call Op.GrabImageAsync(ho_Image, hv_AcqHandle, -1)Call Op.GetImageSize(ho_Image, hv_Width, hv_Height)Call Op.SetWindowAttr(background_color, black)Call Op.OpenWindow(0, 0, hv_Width / 6, hv_Height / 6, 0, , , hv_WindowHandle)COMExpWinHandleStack.Push (hv_WindowHandle)Timer1.Enabled = TrueEnd Sub然后放了一个timer控件，每1.5秒执行一次检测Private Sub Timer1_Timer()On Error Resume Next Call action txthv_HeighMax1.Text = (hv_HeighMax1 + hv_HeighMin1) / 2 * (zongxiangCD / zongxiang) txthv_WidthMax1.Text = (hv_WidthMax1 + hv_WidthMin1) / 2 * (hengxiangCD / hengxiang) txthv_Radius1.Text = (hv_Radius1(0) + hv_Radius1(1) / 2 * (hengxiangCD / hengxiang) txthv_PointLineD1.Text = hv_PointLineD1 * (hengxiangCD / hengxiang) txthv_PointLineD2.Text = hv_PointLineD2 * (hengxiangCD / hengxiang) txthv_PointLineD3.Text = hv_PointLineD3 * (zongxiangCD / zongxiang) txthv_PointLineD4.Text = hv_PointLineD4 * (zongxiangCD / zongxiang) txthv_deg1.Text = hv_deg1 txthv_deg2.Text = hv_deg2 txthv_deg3.Text = hv_deg3 txthv_deg4.Text = hv_deg4 Command6_Click checkEnd Subaction函数里自行主要的halcon检测程序Public Sub action()On Error Resume NextThis example program demonstrates the use of union_collinear_contours_xld for connectingcollinear line segments. This is the new and recommended operator for this task.In addition, the program shows how to use the old operator union_straight_contours_xld forconnecting contours that are not collinear but have neighboring end points. If COMExpWinHandleStack.IsOpen() Then dev_close_window () End If Trigger = True If Trigger And Not issave Then try(); only in hdevelop Call Op.GrabImageAsync(ho_Image, hv_AcqHandle, -1) If COMExpWinHandleStack.IsOpen() Then Call Op.DispObj(ho_Image, COMExpWinHandleStack.GetActive() End If Call Op.SmoothImage(ho_Image, ho_ImageSmooth, deriche2, 0.5) Call Op.Threshold(ho_ImageSmooth, ho_Regions, 125, 255) Call Op.AreaCenter(ho_Regions, hv_Area1, hv_Row3, hv_Column3) Call Op.GenContourRegionXld(ho_Regions, ho_Contours, border_holes) Call Op.SmoothContoursXld(ho_Contours, ho_SmoothedContours, 5) Call Op.SelectContoursXld(ho_SmoothedContours, ho_SelectedContours1, contour_length, _ 4000, 8000, -0.5, 0.5) Call Op.SelectContoursXld(ho_Contours, ho_SelectedContours2, contour_length, _ 10000, 13000, -0.5, 0.5) Call Op.SegmentContoursXld(ho_SelectedContours2, ho_ContoursSplit, lines_ellipses, _ 0, 2, 2) 选取横向上的多边形 hv_pi = Tuple.TupleMult(Tuple.TupleAcos(0), 2) hv_Eps = Tuple.TupleDiv(Tuple.TupleMult(hv_pi, 2), 7) Call Op.SelectContoursXld(ho_ContoursSplit, ho_SelectedContours3, direction, _ Tuple.TupleAdd(Tuple.TupleDiv(hv_pi, 2), hv_Eps), Tuple.TupleSub(Tuple.TupleDiv( _ hv_pi, 2), hv_Eps), -0.5, 0.5) Call Op.SelectContoursXld(ho_SelectedContours3, ho_SelectedContoursFinal, length, _ 20, 200000, -0.5, 0.5) Call Op.UnionCollinearContoursXld(ho_SelectedContoursFinal, ho_ContourTu, 150, _ 5, 10, 0.7, attr_keep) Call Op.SelectContoursXld(ho_ContourTu, ho_ContourTuFinal, length, 1500, _ 200000, -0.5, 0.5) Call Op.SortContoursXld(ho_ContourTuFinal, ho_ContourTuSort, upper_left, _ true, row) Call Op.FitLineContourXld(ho_ContourTuSort, tukey, -1, 0, 5, 2, hv_RowBegin2, _ hv_ColBegin2, hv_RowEnd2, hv_ColEnd2, hv_Nr2, hv_Nc2, hv_Dist2) Call Op.TupleLength(hv_RowBegin2, hv_Length) Call Op.GenContourPolygonXld(ho_line1, Tuple.TupleConcat(Tuple.TupleSelect( _ hv_RowBegin2, 0), Tuple.TupleSelect(hv_RowEnd2, 0), Tuple.TupleConcat(Tuple.TupleSelect( _ hv_ColBegin2, 0), Tuple.TupleSelect(hv_ColEnd2, 0) Call Op.GenContourPolygonXld(ho_line2, Tuple.TupleConcat(Tuple.TupleSelect( _ hv_RowBegin2, Tuple.TupleSub(hv_Length, 1), Tuple.TupleSelect(hv_RowEnd2, _ Tuple.TupleSub(hv_Length, 1), Tuple.TupleConcat(Tuple.TupleSelect(hv_ColBegin2, _ Tuple.TupleSub(hv_Length, 1), Tuple.TupleSelect(hv_ColEnd2, Tuple.TupleSub( _ hv_Length, 1) Call Op.FitLineContourXld(ho_line1, tukey, -1, 0, 5, 2, hv_RowBeginline1, _ hv_ColBeginline1, hv_RowEndline1, hv_ColEndline1, hv_Nrline1, hv_Ncline1, _ hv_Distline1) Call Op.FitLineContourXld(ho_line2, tukey, -1, 0, 5, 2, hv_RowBeginline2, _ hv_ColBeginline2, hv_RowEndline2, hv_ColEndline2, hv_Nrline2, hv_Ncline2, _ hv_Distline2) Call Op.SmallestRectangle2Xld(ho_line2, hv_Row5, hv_Column5, hv_Phi2, hv_Length13, _ hv_Length23) Call Op.VectorAngleToRigid(hv_Row3, hv_Column3, hv_Phi2, hv_Row3, hv_Column3, _ 0, hv_HomMat2D) Call Op.AffineTransImage(ho_ImageSmooth, ho_Image2, hv_HomMat2D, constant, _ false) Call Op.SmoothImage(ho_Image2, ho_ImageSmooth, deriche2, 0.5) Call Op.Threshold(ho_ImageSmooth, ho_Regions, 125, 255) Call Op.GenContourRegionXld(ho_Regions, ho_Contours, border_holes) Call Op.SmoothContoursXld(ho_Contours, ho_SmoothedContours, 5) Call Op.SelectContoursXld(ho_SmoothedContours, ho_SelectedContours1, contour_length, _ 4000, 8000, -0.5, 0.5) Call Op.SelectContoursXld(ho_Contours, ho_SelectedContours2, contour_length, _ 10000, 13000, -0.5, 0.5) Call Op.SegmentContoursXld(ho_SelectedContours2, ho_ContoursSplit, lines_ellipses, _ 0, 2, 2) hv_pi = Tuple.TupleMult(Tuple.TupleAcos(0), 2) hv_Eps = Tuple.TupleDiv(Tuple.TupleMult(hv_pi, 2), 7) Call Op.SelectContoursXld(ho_ContoursSplit, ho_SelectedContours3, direction, _ Tuple.TupleAdd(Tuple.TupleDiv(hv_pi, 2), hv_Eps), Tuple.TupleSub(Tuple.TupleDiv( _ hv_pi, 2), hv_Eps), -0.5, 0.5) Call Op.SelectContoursXld(ho_SelectedContours3, ho_SelectedContoursFinal, length, _ 20, 200000, -0.5, 0.5) Call Op.UnionCollinearContoursXld(ho_SelectedContoursFinal, ho_ContourTu, 150, _ 5, 10, 0.7, attr_keep) Call Op.SelectContoursXld(ho_ContourTu, ho_ContourTuFinal, length, 1500, _ 200000, -0.5, 0.5) Call Op.SortContoursXld(ho_ContourTuFinal, ho_ContourTuSort, upper_left, _ true, row) Call Op.FitLineContourXld(ho_ContourTuSort, tukey, -1, 0, 5, 2, hv_RowBegin2, _ hv_ColBegin2, hv_RowEnd2, hv_ColEnd2, hv_Nr2, hv_Nc2, hv_Dist2) Call Op.TupleLength(hv_RowBegin2, hv_Length) Call Op.GenContourPolygonXld(ho_line1, Tuple.TupleConcat(Tuple.TupleSelect( _ hv_RowBegin2, 0), Tuple.TupleSelect(hv_RowEnd2, 0), Tuple.TupleConcat(Tuple.TupleSelect( _ hv_ColBegin2, 0), Tuple.TupleSelect(hv_ColEnd2, 0) Call Op.GenContourPolygonXld(ho_line2, Tuple.TupleConcat(Tuple.TupleSelect( _ hv_RowBegin2, Tuple.TupleSub(hv_Length, 1), Tuple.TupleSelect(hv_RowEnd2, _ Tuple.TupleSub(hv_Length, 1), Tuple.TupleConcat(Tuple.TupleSelect(hv_ColBegin2, _ Tuple.TupleSub(hv_Length, 1), Tuple.TupleSelect(hv_ColEnd2, Tuple.TupleSub( _ hv_Length, 1) Call Op.FitLineContourXld(ho_line1, tukey, -1, 0, 5, 2, hv_RowBeginline1, _ hv_ColBeginline1, hv_RowEndline1, hv_ColEndline1, hv_Nrline1, hv_Ncline1, _ hv_Distline1) Call Op.FitLineContourXld(ho_line2, tukey, -1, 0, 5, 2, hv_RowBeginline2, _ hv_ColBeginline2, hv_RowEndline2, hv_ColEndline2, hv_Nrline2, hv_Ncline2, _ hv_Distline2) 选取纵向上的多边形 hv_pi = Tuple.TupleMult(Tuple.TupleAcos(0), 2) hv_Eps = Tuple.TupleDiv(Tuple.TupleMult(hv_pi, 2), 7) Call Op.SelectContoursXld(ho_ContoursSplit, ho_SelectedContours3, direction, _ Tuple.TupleSub(Tuple.TupleDiv(hv_pi, 2), hv_Eps), Tuple.TupleAdd(Tuple.TupleDiv( _ hv_pi, 2), hv_Eps), -0.5, 0.5) Call Op.SelectContoursXld(ho_SelectedContours3, ho_SelectedContoursFinal, length, _ 20, 200000, -0.5, 0.5) Call Op.UnionCollinearContoursXld(ho_SelectedContoursFinal, ho_ContourTu, 150, _ 5, 10, 0.2, attr_keep) Call Op.SelectContoursXld(ho_ContourTu, ho_ContourTuFinal, length, 1500, _ 200000, -0.5, 0.5) Call Op.SortContoursXld(ho_ContourTuFinal, ho_ContourTuSort, upper_left, _ true, column) Call Op.FitLineContourXld(ho_ContourTuSort, tukey, -1, 0, 5, 2, hv_RowBegin2, _ hv_ColBegin2, hv_RowEnd2, hv_ColEnd2, hv_Nr2, hv_Nc2, hv_Dist2) Call Op.TupleLength(hv_RowBegin2, hv_Length) Call Op.GenContourPolygonXld(ho_line1, Tuple.TupleConcat(Tuple.TupleSelect( _ hv_RowBegin2,