$$Halcon幾何定位$$

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建模經(jīng)驗(yàn)

知道什么是關(guān)鍵輪廓】什么是干擾輪廓

邊緣數(shù)量越少越好，邊緣數(shù)量多了，速度會(huì)變慢

邊緣越長(zhǎng)越好

干擾邊越少越好

關(guān)鍵邊緣越多越好，占模板輪廓的比例越多越好

可以用PhotoShop制造理想的模板圖像

靈活運(yùn)用區(qū)域操作技術(shù)，獲取關(guān)鍵邊緣區(qū)域
difference和union:特別對(duì)于：回型區(qū)域，需要挖洞區(qū)域

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定位經(jīng)驗(yàn)

頻繁調(diào)節(jié)的參數(shù)：角度、縮放、分?jǐn)?shù)、極性

多次搜索策略（分類）：匹配分?jǐn)?shù)逐步降低：for循環(huán)

合理設(shè)置旋轉(zhuǎn)角度范圍

合理設(shè)置貪婪度：定位要求高、貪婪度越小越好，但是時(shí)間會(huì)變長(zhǎng)

有效提高匹配分?jǐn)?shù)措施：縮放、會(huì)增加時(shí)間。對(duì)分?jǐn)?shù)提高的效果：異步>同步>不縮放。合理設(shè)置縮放。

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灰度定位與輪廓定位的對(duì)比

幾何定位 = 輪廓定位

運(yùn)行時(shí)間對(duì)縮放的適應(yīng)性對(duì)灰度的適應(yīng)性（光照的變化，物體本身材質(zhì)等造成的灰度的線性和非線性變化）對(duì)旋轉(zhuǎn)的適應(yīng)性對(duì)物體遮擋和缺失的適應(yīng)性

灰度定位	短	差	差	差	差
輪廓定位	長(zhǎng)	好	好	好	好

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灰度定位，一般指的就是Blob分析
幾何定位：支持單模板定位和多模板定位
幾何定位分三種：無(wú)縮放、xy同步縮放、xy異步縮放
幾何定位工具：匹配助手

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模板匹配的重要參數(shù)
1.對(duì)比度
2.最小組件尺寸
3.金字塔等級(jí)（等級(jí)越高，模板越模糊，匹配越容易）
4.角度范圍
5.縮放參數(shù)
6.極性（度量）
7.最小分?jǐn)?shù)（相似度、匹配分?jǐn)?shù)）
8.匹配最大數(shù)
9.貪心算法
10.最大重疊比
11.形狀模板可能與圖像邊緣交叉

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對(duì)比度
Contrast不僅僅是對(duì)比度，根據(jù)數(shù)組元素?cái)?shù)量不同，其意義不同
1個(gè)元素時(shí)：10，對(duì)比度，直接提取邊緣
2個(gè)元素時(shí)：[10，20]，表示10提取不出邊緣，則使用20作為參數(shù)提取邊緣
3個(gè)元素時(shí)：[10，30，5]，前兩個(gè)參數(shù)同上，最后一個(gè)參數(shù)表示所提取邊緣的長(zhǎng)度最小為5

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幾何定位的流程

圖像預(yù)處理，創(chuàng)建ROI

準(zhǔn)備模板圖像

創(chuàng)建模板（參數(shù)設(shè)置）

輸入需要模板匹配的輸入圖像

使用模板進(jìn)行定位（參數(shù)設(shè)置）

得到定位結(jié)果：位置、角度、縮放比、分值等

釋放模板資源

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read_image (Image, '1.BMP')* * Matching 02: ************************************************ * Matching 02: BEGIN of generated code for model initialization * Matching 02: ************************************************ set_system ('border_shape_models', 'false') * * Matching 02: Obtain the model image * Matching 02: ************* * Matching 02: * ATTENTION * * Matching 02: ************* * Matching 02: The image from the graphics window is not available. At this point, * Matching 02: it is necessary to ensure an image is stored in the variable 'Image' * * Matching 02: Build the ROI from basic regions gen_rectangle1 (ModelRegion, 198.514, 448.541, 267.264, 514.813) * * Matching 02: Reduce the model template reduce_domain (Image, ModelRegion, TemplateImage) * * Matching 02: Create the shape model create_scaled_shape_model (TemplateImage, 3, rad(0), rad(360), rad(3.5798), 0.89, 1.1, 0.0312, ['none','no_pregeneration'], 'use_polarity', [10,11,4], 4, ModelID) * * Matching 02: Get the model contour for transforming it later into the image get_shape_model_contours (ModelContours, ModelID, 1) * * Matching 02: Get the reference position area_center (ModelRegion, ModelRegionArea, RefRow, RefColumn) vector_angle_to_rigid (0, 0, 0, RefRow, RefColumn, 0, HomMat2D) affine_trans_contour_xld (ModelContours, TransContours, HomMat2D) * * Matching 02: Display the model contours dev_display (Image) dev_set_color ('green') dev_set_draw ('margin') dev_display (ModelRegion) dev_display (TransContours) stop () * * Matching 02: END of generated code for model initialization * Matching 02: * * * * * * * * * * * * * * * * * * * * * * * * Matching 02: BEGIN of generated code for model application * * Matching 02: Loop over all specified test images TestImages := ['1.BMP'] for T := 0 to 0 by 1* * Matching 02: Obtain the test imageread_image (Image, TestImages[T])* * Matching 02: Find the modelfind_scaled_shape_model (Image, ModelID, rad(0), rad(360), 0.89, 1.1, 0.8, 27, 0.5, 'least_squares', [3,1], 0.4, Row, Column, Angle, Scale, Score)* * Matching 02: Transform the model contours into the detected positionsdev_display (Image)for I := 0 to |Score| - 1 by 1hom_mat2d_identity (HomMat2D)hom_mat2d_scale (HomMat2D, Scale[I], Scale[I], 0, 0, HomMat2D)hom_mat2d_rotate (HomMat2D, Angle[I], 0, 0, HomMat2D)hom_mat2d_translate (HomMat2D, Row[I], Column[I], HomMat2D)affine_trans_contour_xld (ModelContours, TransContours, HomMat2D)dev_set_color ('green')dev_display (TransContours)stop ()endfor endfor * * Matching 02: ******************************************* * Matching 02: END of generated code for model application * Matching 02: ******************************************* *

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實(shí)例

* * online shape-based matching with adaptation to illumination changes * rotational invariant * rotation/translation to "normalize" the input image * * set online to true if you are using an image acquisition device * if online is set to false, a virtual image acquisition device is opened which reads an image sequence from hard disk * online := false VisUndefPixelBlack := 1 dev_update_window ('off') dev_update_pc ('off') dev_update_var ('off') dev_update_time ('off') if (online)* open the 'real' image acquisition deviceinfo_framegrabber ('1394IIDC', 'revision', RevisionInfo, RevisionInfoValues)open_framegrabber ('1394IIDC', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, 'default', 'default', 'default', -1, -1, AcqHandle) else* open the virtual image acquisition deviceinfo_framegrabber ('File', 'general', Information, ValueList)open_framegrabber ('File', 1, 1, 0, 0, 0, 0, 'default', -1, 'default', -1, 'default', 'pendulum/pendulum', 'default', -1, 1, AcqHandle) endif grab_image (Image, AcqHandle) get_image_size (Image, Width, Height) dev_close_window () dev_open_window (0, Width + 30, Width, Height, 'black', WindowRot) dev_open_window (0, 0, Width, Height, 'black', WindowID) dev_set_window (WindowID) dev_set_part (0, 0, Height - 1, Width - 1) dev_set_window (WindowRot) dev_set_part (0, 0, Height - 1, Width - 1) dev_display (Image) set_display_font (WindowID, 16, 'mono', 'true', 'false') hom_mat2d_identity (HomMat2DIdentity) * disp_continue_message (WindowID, 'black', 'true') * stop () * ------------------------ * select the model object * ------------------------ if (online)* * define template by drawing a rectangle* dev_update_pc ('off')dev_set_window (WindowID)dev_set_draw ('margin')dev_set_line_width (5)grab_image (ImageTempl, AcqHandle)dev_set_window (WindowID)dev_display (ImageTempl)disp_message (WindowID, 'define the template', 'window', 12, 12, 'black', 'true')dev_set_color ('green')draw_rectangle2 (WindowID, RowTempl, ColumnTempl, PhiTempl, Length1, Length2)gen_rectangle2 (Rectangle, RowTempl, ColumnTempl, PhiTempl, Length1, Length2)dev_display (Rectangle)reduce_domain (ImageTempl, Rectangle, ImageReduced)create_shape_model (ImageReduced, 4, 0, rad(360), 'auto', 'none', 'use_polarity', 30, 10, ModelID)intensity (ImageReduced, Image, TemplMean, Deviation)dev_update_pc ('on') else* * load default object for virtual framegrabber* Length1 := 32.0Length2 := 12.5PhiTempl := -0.315RowTempl := 112.5ColumnTempl := 92.0copy_obj (Image, ImageTempl, 1, 1)gen_rectangle2 (Rectangle, RowTempl, ColumnTempl, PhiTempl, Length1, Length2)reduce_domain (Image, Rectangle, ImageReduced)create_shape_model (ImageReduced, 4, 0, rad(360), 'auto', 'none', 'use_polarity', 30, 10, ModelID)intensity (ImageReduced, Image, TemplMean, Deviation) endif * RowRot := RowTempl * ColumnRot := ColumnTempl RowRot := Height / 2 ColumnRot := Width / 2 * ------------------------------------------ * visualize normalized input image * ------------------------------------------ * Compensate for rotation and translation vector_angle_to_rigid (RowTempl, ColumnTempl, PhiTempl, RowRot, ColumnRot, 0, HomMat2DRotate) affine_trans_image (ImageTempl, ImageAffineTrans, HomMat2DRotate, 'constant', 'false') if (VisUndefPixelBlack == 1)full_domain (ImageAffineTrans, ImageFull)dev_set_window (WindowRot)dev_display (ImageFull) elsedev_set_window (WindowRot)dev_display (ImageAffineTrans) endif dev_set_window (WindowID) dev_display (ImageTempl) disp_message (WindowID, 'run the template matching', 'image', 20, 20, 'yellow', 'false') disp_message (WindowID, 'run the template matching', 'image', 20, 20, 'yellow', 'false') disp_message (WindowID, '(click left to start,', 'image', 50, 20, 'yellow', 'false') disp_message (WindowID, 'right to stop)', 'image', 80, 20, 'yellow', 'false') * disp_continue_message (WindowID, 'black', 'true') * stop () Button := 0 while (Button != 1)get_mbutton (WindowID, dummy, dummy, Button) endwhile dev_update_pc ('off') * ------------------------ * shape-based matching * ------------------------ Button := 0 Exp := 1 while (Button != 4)if (online)grab_image_async (Image, AcqHandle, -1)elsegrab_image (Image, AcqHandle)endifcount_seconds (Seconds1)find_shape_model (Image, ModelID, 0, rad(360), 0.7, 1, 0.5, 'least_squares', 0, 0.7, Row, Column, Angle, Score)if (Score > 0.5)gen_rectangle2 (Rectangle, Row, Column, PhiTempl + Angle, Length1, Length2)reduce_domain (Image, Rectangle, ImageReduced)intensity (ImageReduced, Image, Mean, Deviation)* Compensate for rotation and translationvector_angle_to_rigid (Row, Column, Angle, RowRot, ColumnRot, 0, HomMat2DRotate)affine_trans_image (Image, ImageAffineTrans, HomMat2DRotate, 'constant', 'false')count_seconds (Seconds2)Time := round(1000 * (Seconds2 - Seconds1))if (VisUndefPixelBlack == 1)full_domain (ImageAffineTrans, ImageFull)dev_set_window (WindowRot)dev_display (ImageFull)elsedev_set_window (WindowRot)dev_display (ImageAffineTrans)endifdev_set_window (WindowID)dev_display (Image)disp_message (WindowID, Time + ' ms', 'window', 12, 12, 'black', 'true')dev_set_color ('green')dev_display (Rectangle)elsedev_display (Image)endif* --------------------------* Exit with mouse click* --------------------------dev_error_var (Error, 1)dev_set_check ('~give_error')get_mposition (WindowID, R, C, Button)dev_error_var (Error, 0)dev_set_check ('give_error')if (Error != H_MSG_TRUE)Button := 0endif endwhile clear_shape_model (ModelID) disp_continue_message (WindowID, 'black', 'true') stop () close_framegrabber (AcqHandle) dev_set_window (WindowRot) dev_close_window () dev_update_pc ('on') dev_update_var ('on') dev_update_time ('on') dev_update_window ('on')

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