HALCON示例程序measure_metal_part_extended.hdev金属零件尺寸测量

示例程序源码（加注释）

• 关于显示类函数解释
  dev_update_off ()
  read_image (Image, ‘metal-parts/metal-parts-01’)
  init_visualization (Image, 3, ‘white’, ‘margin’, Width, Height, WindowID)

init_visualization函数内部代码：
get_image_size (Image, Width, Height)
dev_close_window ()
dev_open_window (0, 0, Width, Height, 'light gray', WindowID)
dev_set_part (0, 0, Height - 1, Width - 1)
dev_set_line_width (LineWidth)
dev_set_color (Color)
dev_set_draw (DrawMode)
dev_display (Image)
return ()

set_display_font (WindowID, 16, ‘mono’, ‘true’, ‘false’)
disp_continue_message (WindowID, ‘black’, ‘true’)
stop ()
dev_set_draw (‘fill’)
count_seconds (T1)

• 二值化
  threshold (Image, Region, 100, 255)
• 求中心与面积
  area_center (Region, AreaRegion, RowCenterRegion, ColumnCenterRegion)
• 通过拟合椭圆求解区域角度
  orientation_region (Region, OrientationRegion)
  count_seconds (T2)
  dev_display (Region)

set_tposition (WindowID, 10, 10)
write_string (WindowID, 'Region Processing')
set_tposition (WindowID, 10, 300)
write_string (WindowID, 'Time: ' + ((T2 - T1) * 1000)$'.2' + ' ms')
set_tposition (WindowID, 50, 10)
write_string (WindowID, 'Center Row: ' + RowCenterRegion$'.5')
set_tposition (WindowID, 50, 300)
write_string (WindowID, 'Center Column: ' + ColumnCenterRegion$'.5')
set_tposition (WindowID, 80, 10)
write_string (WindowID, 'Area: ' + AreaRegion + ' pixels')
set_tposition (WindowID, 80, 300)
write_string (WindowID, 'Orientation: ' + OrientationRegion$'.3' + ' rad')
dev_set_color ('gray')
disp_cross (WindowID, RowCenterRegion, ColumnCenterRegion, 10, 0)
* 求最小外接矩形
smallest_rectangle2 (Region, Row_Region, Column_Region, Phi_Region, Length1_Region, Length2_Region)
* 绘制最小外接矩形
gen_rectangle2 (Rectangle, Row_Region, Column_Region, Phi_Region, Length1_Region, Length2_Region)
disp_continue_message (WindowID, 'black', 'true')
stop ()

count_seconds (T3)

• 二值化、求边界、膨胀、减少定义域、求边界
  threshold (Image, Region, 100, 255)
  boundary (Region, RegionBorder, ‘inner’)
  dilation_circle (RegionBorder, RegionDilation, 1.5)
  reduce_domain (Image, RegionDilation, ImageReduced)
  edges_sub_pix (ImageReduced, Edges, ‘lanser2’, 0.5, 40, 90)
• 求取xld轮廓面积与位置
  area_center_xld (Edges, AreaContours, RowCenterContours, ColumnCenterContours, PointOrderContours)
  AreaOfRegionByContours := AreaContours[0] - AreaContours[1] - AreaContours[2] - AreaContours[3]
• 求取轮廓方向
  orientation_xld (Edges, OrientationContours)
  count_seconds (T4)
  dev_set_color (‘light gray’)
  dev_display (Edges)

set_tposition (WindowID, 330, 10)
write_string (WindowID, 'Contour Processing')
set_tposition (WindowID, 330, 300)
write_string (WindowID, 'Time: ' + ((T4 - T3) * 1000)$'.3' + ' ms')
set_tposition (WindowID, 370, 10)
write_string (WindowID, 'Center Row: ' + RowCenterContours[0]$'.4')
set_tposition (WindowID, 370, 300)
write_string (WindowID, 'Center Column: ' + ColumnCenterContours[0]$'.4')
set_tposition (WindowID, 400, 10)
write_string (WindowID, 'Area: ' + AreaOfRegionByContours[0] + ' pixels')
set_tposition (WindowID, 400, 300)
write_string (WindowID, 'Orientation: ' + OrientationContours[0]$'.3' + ' rad')
disp_cross (WindowID, RowCenterContours, ColumnCenterContours, 6, 0)
disp_cross (WindowID, RowCenterContours[0], ColumnCenterContours[0], 10, 0)
smallest_rectangle2_xld (Edges, Row_Contours, Column_Contours, Phi_Contours, Length1_Contours, Length2_Contours)
disp_continue_message (WindowID, 'black', 'true')
stop ()

• 使用圆形与直线分割XLD轮廓
  segment_contours_xld (Edges, ContoursSplit, ‘lines_circles’, 6, 4, 4)
• 对XLD轮廓进行排序
  sort_contours_xld (ContoursSplit, SortedContours, ‘upper_left’, ‘true’, ‘column’)
  dev_clear_window ()
  dev_set_colored (12)
  dev_display (SortedContours)
  stop ()
  open_zoom_window (0, round(Width / 2), 115, 225, 395, 535, 2, WindowHandleZoom)
  set_display_font (WindowHandleZoom, 14, ‘mono’, ‘true’, ‘false’)
  count_obj (SortedContours, NumSegments)
  dev_display (Image)
  NumCircles := 0
  NumLines := 0
  gen_empty_obj (Lines)
  RowsBegin := []
  ColsBegin := []
  RowsEnd := []
  ColsEnd := []
  dev_set_color (‘white’)
  set_tposition (WindowHandleZoom, 120, 230)
  write_string (WindowHandleZoom, 'Line lengths and circle radii: ')

for i := 1 to NumSegments by 1select_obj (SortedContours, SingleSegment, i)* 获得XLD轮廓的属性值get_contour_global_attrib_xld (SingleSegment, 'cont_approx', Attrib)if (Attrib == 1)NumCircles := NumCircles + 1* 拟合圆形fit_circle_contour_xld (SingleSegment, 'atukey', -1, 2, 0, 5, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)* 创建椭圆XLD轮廓gen_ellipse_contour_xld (ContEllipse, Row, Column, 0, Radius, Radius, 0, rad(360), 'positive', 1.0)dev_set_color ('white')dev_display (ContEllipse)* 计算轮廓到椭圆的距离。dist_ellipse_contour_xld (SingleSegment, 'algebraic', -1, 0, Row, Column, 0, Radius, Radius, MinDist, MaxDist, AvgDist, SigmaDist)set_tposition (WindowHandleZoom, Row - Radius - 10, Column)write_string (WindowHandleZoom, 'C' + NumCircles)ResultText := 'C' + NumCircles + ': Radius = ' + Radius$'.3' + ' / MaxDeviation: ' + MaxDist$'.3'elseNumLines := NumLines + 1* 拟合直线fit_line_contour_xld (SingleSegment, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist)* 由点生成多边形XLD轮廓gen_contour_polygon_xld (Line, [RowBegin,RowEnd], [ColBegin,ColEnd])dev_set_color ('yellow')dev_display (Line)* 计算点到点的距离distance_pp (RowBegin, ColBegin, RowEnd, ColEnd, Length)set_tposition (WindowHandleZoom, (RowBegin + RowEnd) / 2 - Nr * 10, (ColBegin + ColEnd) / 2)write_string (WindowHandleZoom, 'L' + NumLines)ResultText := 'L' + NumLines + ': Length = ' + Length$'.4'concat_obj (Lines, Line, Lines)RowsBegin := [RowsBegin,RowBegin]ColsBegin := [ColsBegin,ColBegin]RowsEnd := [RowsEnd,RowEnd]ColsEnd := [ColsEnd,ColEnd]endifset_tposition (WindowHandleZoom, 275 + i * 10, 230)write_string (WindowHandleZoom, ResultText)
endfor
disp_continue_message (WindowHandleZoom, 'black', 'true')
stop ()

dev_display (Image)
dev_set_color (‘white’)

• 使用foerstner检测特征点
  points_foerstner (Image, 1, 2, 3, 200, 0.3, ‘gauss’, ‘false’, RowJunctions, ColJunctions, CoRRJunctions, CoRCJunctions, CoCCJunctions, RowArea, ColArea, CoRRArea, CoRCArea, CoCCArea)
• 绘制十字线
  gen_cross_contour_xld (CrossFoerstner, RowJunctions, ColJunctions, 10, 0)
  dev_display (CrossFoerstner)
  set_tposition (WindowHandleZoom, RowJunctions[0] - 10, ColJunctions[0] + 10)
  write_string (WindowHandleZoom, ‘P2’)
  set_tposition (WindowHandleZoom, RowJunctions[1] - 10, ColJunctions[1] + 10)
  write_string (WindowHandleZoom, ‘P1’)
  set_tposition (WindowHandleZoom, 120, 230)
  write_string (WindowHandleZoom, ‘Foerstner Points’)
  disp_continue_message (WindowHandleZoom, ‘black’, ‘true’)
  stop ()
  dev_set_color (‘yellow’)
  write_string (WindowHandleZoom, ’ vs. intersection_l_l: ')
• 求线段交点
  intersection_lines (RowsBegin[0], ColsBegin[0], RowsEnd[0], ColsEnd[0], RowsBegin[1], ColsBegin[1], RowsEnd[1], ColsEnd[1], RowIntersect1, ColumnIntersect1, IsOverlapping1)
• 绘制十字线
  gen_cross_contour_xld (CrossIntersection1, RowIntersect1, ColumnIntersect1, 10, 0.785398)
  dev_display (CrossIntersection1)
  dev_set_color (‘white’)
  distance_pp (RowJunctions[1], ColJunctions[1], RowIntersect1, ColumnIntersect1, Distance1)
  set_tposition (WindowHandleZoom, 325, 230)
  write_string (WindowHandleZoom, ‘Distance between Foerstner points and’)
  set_tposition (WindowHandleZoom, 335, 230)
  write_string (WindowHandleZoom, ‘points obtained by intersection_ll:’)
  set_tposition (WindowHandleZoom, 355, 230)
  write_string (WindowHandleZoom, ‘in P1: ’ + Distance1${}^{\prime }.3^{\prime }{+}^{\prime }pixel{s}^{\prime })de{v}_{s}e{t}_{c}olor{(}^{\prime }yello{w}^{\prime })intersectio{n}_{l}ines(RowsBegin[0],ColsBegin[0],RowsEnd[0],ColsEnd[0],RowsBegin[2],ColsBegin[2],RowsEnd[2],ColsEnd[2],RowIntersect2,ColumnIntersect2,IsOverlapping2)distanc{e}_{p}p(RowJunctions[0],ColJunctions[0],RowIntersect2,ColumnIntersect2,Distance2)ge{n}_{c}ros{s}_{c}ontou{r}_{x}ld(CrossIntersection2,RowIntersect2,ColumnIntersect2,10,0.785398)de{v}_{d}isplay(CrossIntersection2)de{v}_{s}e{t}_{c}olor{(}^{\prime }whit{e}^{\prime })se{t}_{t}position(WindowHandleZoom,370,230)writ{e}_{s}tring(WindowHandleZoom{,}^{\prime }inP2{:}^{\prime }+Distance2$’.3’ + ’ pixels’)
  disp_continue_message (WindowHandleZoom, ‘black’, ‘true’)
  stop ()
  dev_display (Image)
• 计算两条线之间的角度。
  angle_ll (RowsBegin[0], ColsBegin[0], RowsEnd[0], ColsEnd[0], RowsBegin[1], ColsBegin[1], RowsEnd[1], ColsEnd[1], Angle1)
  set_tposition (WindowHandleZoom, RowsBegin[0] - 10, ColsBegin[0] + 10)
  write_string (WindowHandleZoom, ‘P2’)
  set_tposition (WindowHandleZoom, RowsEnd[0] - 10, ColsEnd[0] + 10)
  write_string (WindowHandleZoom, ‘P1’)
  set_tposition (WindowHandleZoom, 120, 230)
  write_string (WindowHandleZoom, ‘Angle in P1: ’ + deg(Angle1)${}^{\prime }.3^{\prime }{+}^{\prime }degree{s}^{\prime })dis{p}_{a}rrow(WindowHandleZoom,RowsEnd[0],ColsEnd[0],RowsBegin[0],ColsBegin[0],1)dis{p}_{a}rrow(WindowHandleZoom,RowsBegin[1],ColsBegin[1],RowsEnd[1],ColsEnd[1],1)dis{p}_{c}ontinu{e}_{m}essage(WindowHandleZoom{,}^{\prime }blac{k}^{\prime }{,}^{\prime }tru{e}^{\prime })stop()de{v}_{d}isplay(Image)angl{e}_{l}l(RowsBegin[0],ColsBegin[0],RowsEnd[0],ColsEnd[0],RowsBegin[2],ColsBegin[2],RowsEnd[2],ColsEnd[2],Angle2)se{t}_{t}position(WindowHandleZoom,RowsBegin[0]-10,ColsBegin[0]+10)writ{e}_{s}tring(WindowHandleZoom{,}^{\prime }P{2}^{\prime })se{t}_{t}position(WindowHandleZoom,RowsEnd[0]-10,ColsEnd[0]+10)writ{e}_{s}tring(WindowHandleZoom{,}^{\prime }P{1}^{\prime })se{t}_{t}position(WindowHandleZoom,120,230)writ{e}_{s}tring(WindowHandleZoom{,}^{\prime }AngleinP2{:}^{\prime }+deg(Angle2)$’.3’ + ’ degrees’)
  disp_arrow (WindowHandleZoom, RowsBegin[0], ColsBegin[0], RowsEnd[0], ColsEnd[0], 1)
  disp_arrow (WindowHandleZoom, RowsEnd[2], ColsEnd[2], RowsBegin[2], ColsBegin[2], 1)
  disp_continue_message (WindowHandleZoom, ‘black’, ‘true’)
  stop ()
• 生成多边形的XLD轮廓。
  gen_polygons_xld (ContoursSplit, Polygons, ‘ramer’, 2)
• 提取平行多边形XLD轮廓
  gen_parallels_xld (Polygons, Parallels, 80, 75, 0.15, ‘true’)
  count_obj (Parallels, NumberParallels)
  dev_display (Image)

for i := 1 to NumberParallels by 1dev_set_color ('white')select_obj (Parallels, SelectedParallel, i)dev_display (SelectedParallel)* 得到XLD边缘平行数据get_parallels_xld (SelectedParallel, Row1Parallels, Col1Parallels, Length1Parallels, Phi1Parallels, Row2Parallels, Col2Parallels, Length2Parallels, Phi2Parallels)distance_pp (Row1Parallels[0], Col1Parallels[0], Row2Parallels[1], Col2Parallels[1], Distance2)distance_pp (Row1Parallels[1], Col1Parallels[1], Row2Parallels[0], Col2Parallels[0], Distance1)set_tposition (WindowHandleZoom, 120, 230)write_string (WindowHandleZoom, 'Distance BC: ' + Distance1$'.4' + ' pixels')set_tposition (WindowHandleZoom, 140, 230)write_string (WindowHandleZoom, 'Distance AD: ' + Distance2$'.4' + ' pixels')set_tposition (WindowHandleZoom, 340, 230)write_string (WindowHandleZoom, 'Orientation AB: ' + deg(Phi1Parallels)$'.3' + ' degrees')set_tposition (WindowHandleZoom, 360, 230)write_string (WindowHandleZoom, 'Orientation DC: ' + deg(Phi2Parallels)$'.3' + ' degrees')set_tposition (WindowHandleZoom, Row1Parallels[0] + 10, Col1Parallels[0])write_string (WindowHandleZoom, 'A')set_tposition (WindowHandleZoom, Row1Parallels[1] + 10, Col1Parallels[1])write_string (WindowHandleZoom, 'B')set_tposition (WindowHandleZoom, Row2Parallels[0] + 10, Col2Parallels[0])write_string (WindowHandleZoom, 'C')set_tposition (WindowHandleZoom, Row2Parallels[1] + 10, Col2Parallels[1])write_string (WindowHandleZoom, 'D')* dev_set_color ('yellow')disp_line (WindowHandleZoom, Row1Parallels[0], Col1Parallels[0], Row2Parallels[1], Col2Parallels[1])disp_line (WindowHandleZoom, Row1Parallels[1], Col1Parallels[1], Row2Parallels[0], Col2Parallels[0])disp_continue_message (WindowHandleZoom, 'black', 'true')stop ()
endfor

dev_set_color (‘white’)
dev_set_draw (‘margin’)
dev_display (Image)
dev_display (Rectangle)
set_tposition (WindowHandleZoom, 120, 230)
write_string (WindowHandleZoom, ‘Lenght / Width of smallest enclosing rectangle:’)
set_tposition (WindowHandleZoom, 140, 230)
write_string (WindowHandleZoom, (2 * Length1_Region)${}^{\prime }.4^{\prime }{+}^{\prime }{/}^{\prime }+(2\ast Length{2}_{R}egion)$’.4’ + ’ pixels’)
disp_continue_message (WindowHandleZoom, ‘black’, ‘true’)
stop ()
dev_set_window (WindowHandleZoom)
dev_close_window ()

处理思路

这个例子是主要讲解了xld轮廓拟合进行尺寸测量的例子。其中展示了几种方法：使用区域与xld边缘进行区域的中心提取；使用不同的方式求取两条直线的交点。

后记

大家有什么问题可以向我提问哈，我看到了第一时间回复，希望在学习的路上多多结交良师益友。