跟我學機器視覺-HALCON學習例程中文詳解-測量圓環腳寬間距

跟我學機器視覺-HALCON學習例程中文詳解-測量圓環腳寬間距

• This example program demonstrates the basic usage of a circular measure object.

• Here, the task is to determine the width of the cogs.

*首先讀取圖像，獲取圖像的寬度和高度

• First, read in the image and initialize the program.

read_image (Image, 'rings_and_nuts')

dev_close_window ()

dev_open_window_fit_image (Image, 0, 0, 640, 640, WindowHandle)

set_display_font (WindowHandle, 14, 'mono', 'true', 'false')

get_image_size (Image, Width, Height)

*讀到的圖像如下：

• Extract the rings.

自動閾值分割,此時為一個區域，如圖*********

bin_threshold (Image, Region)

**********進行連通區域划分,不同的區域用不同的顏色表示，如圖：

connection (Region, ConnectedRegions)

*填充區域內的孔洞,效果如圖

fill_up (ConnectedRegions, RegionFillUp)

**計算區域的緊性，機器視覺算法與應用第168頁

compactness (RegionFillUp, Compactness)

****通過緊性特征進行區域篩選，在1.5到2.5之間的為需要測量的圓環

for i := 0 to |Compactness|-1 by 1

if (Compactness[i] > 1.5 and Compactness[i] < 2.5)

    select_obj (RegionFillUp, ObjectSelected, i+1)
    
    * Determine the size and position of the rings.

計算選擇區域的最小外接圓和最大內接圓，存儲圓心和半徑

兩個半徑的均值作為測量圓弧半徑，AnnulusRadius 為測量圓弧寬度******************

    smallest_circle (ObjectSelected, Row, Column, RadiusMax)

    inner_circle (ObjectSelected, CenterRow, CenterCol, RadiusMin)

    Radius := (RadiusMax+RadiusMin)/2.0

    AnnulusRadius := (RadiusMax-RadiusMin)/4.0
    
    * Determine the position between two cogs.

    * This position is then used as the start angle for the circular ROI.

********多邊形近似逼近區域,存儲多邊形角點的坐標值，機器視覺算法與應用第252頁

    get_region_polygon (ObjectSelected, AnnulusRadius, RowsBorder, ColumnsBorder)

計算每個角點到最大內接圓圓心的距離，然后進行排序*************

SqrDistanceBorder := (RowsBorder-CenterRow)(RowsBorder-CenterRow) + (ColumnsBorder-CenterCol)(ColumnsBorder-CenterCol)

*************從小到大排序

tuple_sort_index (SqrDistanceBorder, Indices)

********計算直線的角度,圓心和到圓心最近的多邊形角點所確定的直線

***************將該角度作為測量圓弧的起始角度

    line_orientation (CenterRow, CenterCol, RowsBorder[Indices[0]], ColumnsBorder[Indices[0]], AngleStart)

我認為檢測圓開始角度直接設為0度也可以**************

•   AngleStart := rad(0)
  
    AngleExtent := rad(360)
    
    * Create the measure for a circular ROI.
  
    Interpolation := 'bilinear'
  

生成測量圓弧,為完整圓環（360度）***

    gen_measure_arc (CenterRow, CenterCol, Radius, AngleStart, AngleExtent, AnnulusRadius, Width, Height, Interpolation, MeasureHandle)
    
    * Determine all edge pairs that have a negative transition, i.e., edge pairs

    * that enclose dark regions.

    * Note that the output parameters IntraDistance and InterDistance are given as arc lengths.

    Sigma := 1.0

    Threshold := 30

    Transition := 'negative'

    Select := 'all'

***進行邊緣對測量，RowEdgeFirst, ColumnEdgeFirst，RowEdgeSecond, ColumnEdgeSecond為檢測圓弧檢測到的邊界的中心點的坐標，
IntraDistance, InterDistance分別為邊緣對間的距離和邊緣對的弧線距離

    measure_pairs (Image, MeasureHandle, Sigma, Threshold, Transition, Select, RowEdgeFirst, ColumnEdgeFirst, AmplitudeFirst, RowEdgeSecond, ColumnEdgeSecond, AmplitudeSecond, IntraDistance, InterDistance)
    
    * Determine the number of cogs.

    NumCogs := |RowEdgeFirst|
    
    * Determine the linear distance between the two edges of each edge pair ('Linear cog size')

    * as well as the angular distance of the edge pairs ('Angular cog size').

計算邊緣對的直線距離和弧度*

    distance_pp (RowEdgeFirst, ColumnEdgeFirst, RowEdgeSecond, ColumnEdgeSecond, LinearDistance)

    AngularDistance := deg(IntraDistance/Radius)

 Visualize the determined edges.

將邊緣對的起始終止點畫出，並顯示測量結果****

    gen_empty_obj (Crosses)

    for i := 0 to |RowEdgeFirst|-1 by 1

        gen_cross_contour_xld (Cross, RowEdgeFirst[i], ColumnEdgeFirst[i], AnnulusRadius*2.0, atan2(RowEdgeFirst[i]-CenterRow,ColumnEdgeFirst[i]-CenterCol))

        concat_obj (Crosses, Cross, Crosses)

        gen_cross_contour_xld (Cross, RowEdgeSecond[i], ColumnEdgeSecond[i], AnnulusRadius*2.0, atan2(RowEdgeSecond[i]-CenterRow,ColumnEdgeSecond[i]-CenterCol))

        concat_obj (Crosses, Cross, Crosses)

    endfor

    dev_display (Image)

    dev_set_line_width (4)

    dev_set_color ('black')

    dev_display (Crosses)

    dev_set_line_width (1)

    dev_set_color ('white')

    dev_display (Crosses)
   
    * Display the measured size of the cogs.

    disp_message (WindowHandle, 'Number of cogs: '+|RowEdgeFirst|+'                 ', 'window', 260, 10, 'black', 'true')

    disp_message (WindowHandle, 'Mean cog size:                    ', 'window', 286, 10, 'black', 'true')

    disp_message (WindowHandle, '- Arc length: '+mean(IntraDistance)$'.2f'+' +/- '+deviation(IntraDistance)$'.2f'+' pixel', 'window', 310, 10, 'black', 'true')

    disp_message (WindowHandle, '- Linear:     '+mean(LinearDistance)$'.2f'+' +/- '+deviation(LinearDistance)$'.2f'+' pixel', 'window', 334, 10, 'black', 'true')

    disp_message (WindowHandle, '- Angular:    '+mean(AngularDistance)$'.2f'+' +/- '+deviation(AngularDistance)$'.2f'+' deg  ', 'window', 358, 10, 'black', 'true')
    * 
    * Close the measure

    close_measure (MeasureHandle)

    disp_continue_message (WindowHandle, 'black', 'true')

    stop ()

endif

for循環，測量其他圓環*****

endfor