跟我学机器视觉HALCON学习例程中文详解测量圆环脚宽间距

跟我学机器视觉-HALCON学习例程中文详解-测量圆环脚宽间距

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

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

*首先读取图像，获取图像的宽度和高度

• 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)

*读到的图像如下：

• Extract the rings.

自动阈值分割,此时为一个区域，如图*********

bin_threshold (Image, Region)

**********进行连通区域划分,不同的区域用不同的颜色表示，如图：

connection (Region, ConnectedRegions)

*填充区域内的孔洞,效果如图

fill_up (ConnectedRegions, RegionFillUp)

**计算区域的紧性，机器视觉算法与应用第168页

compactness (RegionFillUp, Compactness)

****通过紧性特征进行区域筛选，在1.5到2.5之间的为需要测量的圆环

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.

计算选择区域的最小外接圆和最大内接圆，存储圆心和半径

两个半径的均值作为测量圆弧半径，AnnulusRadius 为测量圆弧宽度******************

    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.

********多边形近似逼近区域,存储多边形角点的坐标值，机器视觉算法与应用第252页

    get_region_polygon (ObjectSelected, AnnulusRadius, RowsBorder, ColumnsBorder)

计算每个角点到最大内接圆圆心的距离，然后进行排序*************

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

*************从小到大排序

tuple_sort_index (SqrDistanceBorder, Indices)

********计算直线的角度,圆心和到圆心最近的多边形角点所确定的直线

***************将该角度作为测量圆弧的起始角度

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

我认为检测圆开始角度直接设为0度也可以**************

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

生成测量圆弧,为完整圆环（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'

***进行边缘对测量，RowEdgeFirst, ColumnEdgeFirst，RowEdgeSecond, ColumnEdgeSecond为检测圆弧检测到的边界的中心点的坐标，
IntraDistance, InterDistance分别为边缘对间的距离和边缘对的弧线距离

    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').

计算边缘对的直线距离和弧度*

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

    AngularDistance := deg(IntraDistance/Radius)

 Visualize the determined edges.

将边缘对的起始终止点画出，并显示测量结果****

    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循环，测量其他圆环*****

endfor