上位机通过CCD视觉检测图像角度与几何坐标

通过CCD视觉检测图像角度与几何坐标

通过CCD视觉检测图像角度与几何坐标

通过CCD视觉检测图像角度与几何坐标

通过CCD视觉检测图像角度与几何坐标

现在国家大力提倡工业4.0，机器人与视觉在工业上的应用正在加大，加速普及。
掌握了PLC，触摸屏编程的 会员们千万别知足止步不前；


这里介绍与分享一视觉的应用：通过CCD视觉检测图像角度与几何坐标
步骤：
1.先在一张图片上确定一个要检测的区域作为大模板；
2.再在大模板上确定一个小模板区域，作为参考区域；
3.开始对物体拍照得到图片。在图片先检测出全部大模板，再在全部大模板中检测小模板。
通过计算得出这些小模板与原始参考小模板的相对角度，以及大模板的中点。
进而得到物体的坐标及旋转角度， 机器人就可通过这参数进行位置纠正，正确抓取物体；

下面是程序核心代码

1. BOOL CAngleDetect::Init(CString sPicName,HWND hWnd,BOOL bManuelConfirm)
   
2. {
   
3.         if(!IsWindow(hWnd))
   
4.                 return false;
   
5.         Clear();
   
6.         //<>
   
7.         HObject  ho_Image, ho_Region, ho_RegionBorder;
   
8.         HObject  ho_RegionDilation, ho_ImageReduced, ho_Edges, ho_ModelRegion;
   
9.         HObject  ho_ModelImage, ho_ModelCenter, ho_ModelContour;
   
10.         HObject  ho_ModelContourAffined, ho_AsymEdgesRegion, ho_AsymEdgesRegionPolar;
    
11.         HObject  ho_PolarTransModelImage, ho_RegionTrans, ho_PolarModelImage;
    
12.         HObject  ho_RefinedContours, ho_PolarTransImage;
    
13.         HObject  ho_SearchImageReduced, ho_ContoursAffinTrans, ho_XYTransContour;
    
14.        
    
15.         HTuple  hv_MinScoreMain,hv_Tolerance,hv_Interactive=bManuelConfirm,hv_Name = sPicName;
    
16.         HTuple  hv_MinScorePolar, hv_ContrastMain, hv_ContrastPolar;
    
17.         HTuple  hv_Greediness, hv_ContrastMin, hv_RowFitted, hv_ColumnFitted;
    
18.         HTuple  hv_RadiusFitted, hv_SPhi, hv_EPhi, hv_POder;
    
19.         HTuple  hv_AreaModelRegion, hv_RowModelRegion, hv_ColumnModelRegion;
    
20.         HTuple  hv_RR, hv_CC, hv_AA, hv_SS, hv_Hom2DIdentity, hv_Hom2DTranslate;
    
21.         HTuple  hv_Clip, hv_ImageWidth, hv_ImageHeight;
    
22.         HTuple  hv_Aspect, hv_AsymModelReady;
    
23.         HTuple  hv_AreaAsym, hv_RowAsym, hv_ColumnAsymn, hv_AngleRef;
    
24.         HTuple  hv_PolarWidth, hv_PolarHeight, hv_Row1, hv_Column1;
    
25.         HTuple  hv_Row2, hv_Column2, hv_RegionWidth, hv_AngleOverlap;
    
26.         HTuple  hv_AngleRefPolar, hv_ScoreRefPolar;
    
27.         HTuple  hv_ImageNum, hv_Index, hv_sIndex, hv_Row, hv_Column;
    
28.         HTuple  hv_Angle, hv_Score, hv_NumMatches, hv_FinalAngle;
    
29.         HTuple  hv_RowsPolar, hv_ColumnsPolar, hv_AnglesPolar, hv_RefinementFailed;
    
30.         HTuple  hv_J, hv_RowPolar, hv_ColumnPolar, hv_AnglePolar;
    
31.         HTuple  hv_ScorePolar, hv_HomMat2D, hv_Title;
    
32.                
    
33.         hv_MinScoreMain  = 0.7;//主模板外形匹配的最小值
    
34.         hv_ContrastMain  = 30; //主模板外形匹配的对比度  
    
35.         hv_Greediness    = 0.5;//主模板外形匹配的       
    
36.         hv_ContrastPolar = 20; //小模板外形匹配的对比度
    
37.         hv_MinScorePolar = 0.4;//小模板查找最小得分
    
38.         hv_Tolerance     = 2.5;
    
39.         hv_ContrastMin   = 10;
    
40.         //<>       
    
41.         ReadImage(&ho_Image, hv_Name);
    
42.         Threshold(ho_Image, &ho_Region, 120, 255);
    
43.         Boundary(ho_Region, &ho_RegionBorder, "inner");
    
44.         DilationCircle(ho_RegionBorder, &ho_RegionDilation, 3.5);
    
45.         ReduceDomain(ho_Image, ho_RegionDilation, &ho_ImageReduced);
    
46.         EdgesSubPix(ho_ImageReduced, &ho_Edges, "canny", 1, 20, 40);
    
47.         FitCircleContourXld(ho_Edges, "geohuber", -1, 0, 0, 3, 2, &hv_RowFitted, &hv_ColumnFitted,
    
48.                 &hv_RadiusFitted, &hv_SPhi, &hv_EPhi, &hv_POder);
    
49.         GenCircle(&ho_ModelRegion, hv_RowFitted, hv_ColumnFitted, hv_RadiusFitted+10);
    
50.         ReduceDomain(ho_Image, ho_ModelRegion, &ho_ModelImage);
    
51.         CreateShapeModel(ho_ModelImage, "auto", 0, HTuple(360).TupleRad(), "auto", "auto",
    
52.                 "use_polarity", hv_ContrastMain, hv_ContrastMin, &m_hv_ModelID);
    
53.         //校正主模板中点
    
54.         AreaCenter(ho_ModelRegion, &hv_AreaModelRegion, &hv_RowModelRegion, &hv_ColumnModelRegion);
    
55.         SetShapeModelOrigin(m_hv_ModelID, hv_RowFitted-hv_RowModelRegion, hv_ColumnFitted-hv_ColumnModelRegion);
    
56.         FindShapeModel(ho_Image, m_hv_ModelID, -0.39, 0.78, 0.5, 1, 0.5, "least_squares",
    
57.                 0, 0.9, &hv_RR, &hv_CC, &hv_AA, &hv_SS);
    
58.         //放大显示主模板
    
59.         GenCrossContourXld(&ho_ModelCenter, hv_RowFitted, hv_ColumnFitted, 12, 0.0);
    
60.         GetShapeModelContours(&ho_ModelContour, m_hv_ModelID, 1);
    
61.         HomMat2dIdentity(&hv_Hom2DIdentity);
    
62.         HomMat2dTranslate(hv_Hom2DIdentity, hv_RowFitted, hv_ColumnFitted, &hv_Hom2DTranslate);
    
63.         AffineTransContourXld(ho_ModelContour, &ho_ModelContourAffined, hv_Hom2DTranslate);
    
64.         hv_Clip = hv_RadiusFitted+60;
    
65.         OpenWindowFitImage(ho_Image, 0, 0, -1, 500, &m_hv_WindowHandle,hWnd);
    
66.         GetImageSize(ho_Image, &hv_ImageWidth, &hv_ImageHeight);
    
67.         hv_Aspect = (hv_ImageWidth.TupleReal())/hv_ImageHeight;
    
68.         if (HDevWindowStack::IsOpen())
    
69.                 SetPart(HDevWindowStack::GetActive(),hv_RowFitted-hv_Clip, hv_ColumnFitted-(hv_Clip*hv_Aspect),
    
70.         hv_RowFitted+hv_Clip, hv_ColumnFitted+(hv_Clip*hv_Aspect));
    
71.         DisplayModel(ho_Image, ho_ModelRegion, ho_ModelCenter, ho_ModelContourAffined);
    
72.         //以交互或自定义形式，选择非对称区域生成一非对称模板
    
73.         hv_AsymModelReady = 0;
    
74.         while (0 != (hv_AsymModelReady.TupleNot()))
    
75.         {
    
76.                 if (HDevWindowStack::IsOpen())
    
77.                         SetColor(HDevWindowStack::GetActive(),"blue");
    
78.                 if (0 != hv_Interactive)
    
79.                 {
    
80.                         DrawDetectingRegion(&ho_AsymEdgesRegion, m_hv_WindowHandle);
    
81.                         ConfirmDrawedRegion(m_hv_WindowHandle, hv_RowFitted, hv_ColumnFitted, hv_Clip, &hv_AsymModelReady);
    
82.                 }
    
83.                 else
    
84.                 {
    
85.                         GenRectangle1(&ho_AsymEdgesRegion, 315, 694, 343, 711);
    
86.                         hv_AsymModelReady = 1;
    
87.                 }
    
88.                 DisplayModel(ho_Image, ho_ModelRegion, ho_ModelCenter, ho_ModelContourAffined );
    
89.                 DisplayMarkedEdge(ho_Image, ho_AsymEdgesRegion, hv_ContrastPolar, 315, 694, m_hv_WindowHandle);
    
90.         }
    
91.         DistancePr(ho_AsymEdgesRegion, hv_RowFitted, hv_ColumnFitted, &m_hv_RadiusInner, &m_hv_RadiusOuter);
    
92.         AreaCenter(ho_AsymEdgesRegion, &hv_AreaAsym, &hv_RowAsym, &hv_ColumnAsymn);
    
93.         AngleLx(hv_RowFitted, hv_ColumnFitted, hv_RowAsym, hv_ColumnAsymn, &hv_AngleRef);
    
94.         hv_PolarWidth = (m_hv_RadiusOuter*(HTuple(360).TupleRad())).TupleRound();
    
95.         hv_PolarHeight = (m_hv_RadiusOuter-m_hv_RadiusInner).TupleRound();
    
96.         PolarTransRegion(ho_AsymEdgesRegion, &ho_AsymEdgesRegionPolar, hv_RowFitted, hv_ColumnFitted,
    
97.                 hv_AngleRef+(HTuple(180).TupleRad()), hv_AngleRef+(HTuple(540).TupleRad()),
    
98.                 m_hv_RadiusInner, m_hv_RadiusOuter, hv_PolarWidth, hv_PolarHeight, "bilinear");
    
99.         SmallestRectangle1(ho_AsymEdgesRegionPolar, &hv_Row1, &hv_Column1, &hv_Row2, &hv_Column2);
    
100. 
     
101.         hv_RegionWidth               = (hv_Column2-hv_Column1)+1;
     
102.         hv_AngleOverlap              = (hv_RegionWidth*(HTuple(360).TupleRad()))/hv_PolarWidth;
     
103.         m_hv_PolarStartAngle         = hv_AngleRef-(hv_AngleOverlap/2);
     
104.         m_hv_PolarEndAngle           = (hv_AngleRef+(HTuple(360).TupleRad()))+(hv_AngleOverlap/2);
     
105.         m_hv_PolarAngleRangeExtended = m_hv_PolarEndAngle-m_hv_PolarStartAngle;
     
106.         m_hv_PolarWidthExtended      = (m_hv_RadiusOuter*m_hv_PolarAngleRangeExtended).TupleRound();
     
107. 
     
108.         PolarTransImageExt(ho_Image, &ho_PolarTransModelImage, hv_RowFitted, hv_ColumnFitted,
     
109.                 m_hv_PolarStartAngle, m_hv_PolarEndAngle, m_hv_RadiusInner, m_hv_RadiusOuter, m_hv_PolarWidthExtended,
     
110.                 hv_PolarHeight, "bilinear");
     
111.         PolarTransRegion(ho_AsymEdgesRegion, &ho_AsymEdgesRegionPolar, hv_RowFitted, hv_ColumnFitted,
     
112.                 m_hv_PolarStartAngle, m_hv_PolarStartAngle+hv_AngleOverlap, m_hv_RadiusInner, m_hv_RadiusOuter,
     
113.                 hv_RegionWidth, hv_PolarHeight, "bilinear");
     
114.         ShapeTrans(ho_AsymEdgesRegionPolar, &ho_RegionTrans, "convex");
     
115.         ReduceDomain(ho_PolarTransModelImage, ho_RegionTrans, &ho_PolarModelImage);
     
116.         CreateShapeModel(ho_PolarModelImage, 1, 0, 0, "auto", "auto", "use_polarity", hv_ContrastPolar,
     
117.                 hv_ContrastMin, &m_hv_ModelIDPolar);
     
118.         GetShapeModelContours(&m_ho_PolarModelContours, m_hv_ModelIDPolar, 1);
     
119.         FindShapeModel(ho_PolarModelImage, m_hv_ModelIDPolar, 0, 0, hv_MinScorePolar, 1,
     
120.                 0.0, "least_squares", 0, hv_Greediness, &m_hv_RowRefPolar, &m_hv_ColumnRefPolar, &hv_AngleRefPolar, &hv_ScoreRefPolar);
     
121.         if (HDevWindowStack::IsOpen())
     
122.                 SetPart(HDevWindowStack::GetActive(),0, 0, hv_ImageHeight-1, hv_ImageWidth-1);
     
123.         if (HDevWindowStack::IsOpen())
     
124.                 SetLineWidth(HDevWindowStack::GetActive(),1);
     
125.         return true;
     
126. }

复制代码

1. BOOL CAngleDetect::DetectAngle(CString sPicName,BOOL bShowResult)
   
2. {
   
3.         if(0 == m_hv_ModelID.Length())
   
4.                 return false;       
   
5.         HObject  ho_Image;
   
6.         HTuple   hv_MinScoreMain,hv_Greediness,hv_ImageWidth,hv_ImageHeight,hv_NumMatches,hv_Name = sPicName;
   
7.         HTuple   hv_Row, hv_Column, hv_Angle, hv_Score,hv_Tolerance,hv_MinScorePolar;
   
8.         HTuple   hv_RowPolar,hv_ColumnPolar,hv_AnglePolar,hv_ScorePolar,hv_HomMat2D;
   
9.         hv_MinScoreMain  = 0.7;
   
10.         hv_Greediness    = 0.5;
    
11.         hv_Tolerance     = 2.5;
    
12.         hv_MinScorePolar = 0.4;//小模板查找最小得分
    
13.         ReadImage(&ho_Image, hv_Name);
    
14.         GetImageSize(ho_Image, &hv_ImageWidth, &hv_ImageHeight);
    
15.     FindShapeModel(ho_Image, m_hv_ModelID, 0, HTuple(360).TupleRad(), hv_MinScoreMain,
    
16.         0, 0.0, "least_squares", 0, hv_Greediness, &hv_Row, &hv_Column, &hv_Angle, &hv_Score);
    
17.     hv_NumMatches = hv_Row.TupleLength();
    
18.     if (hv_NumMatches<=0)
    
19.     {
    
20.                 DisplayMessage(m_hv_WindowHandle, "未找到", "window", 12, 12, "black", "true");
    
21.                 return false;
    
22.     }
    
23. //<>
    
24.         ClearData();//清空数据
    
25.         HTuple hv_PolarHeight = (m_hv_RadiusOuter-m_hv_RadiusInner).TupleRound();
    
26.         HObject ho_PolarTransImage,ho_SearchImageReduced,ho_RefinedContours,ho_ContoursAffinTrans,ho_XYTransContour;
    
27.         GenEmptyObj(&ho_RefinedContours);
    
28.         HTuple hv_FinalAngles      = HTuple();
    
29.         HTuple hv_RefinementFailed = HTuple();
    
30.     HTuple end_val96           = hv_NumMatches-1;
    
31.     HTuple step_val96          = 1;
    
32.         HTuple hv_J;
    
33.         for (hv_J=0; hv_J.Continue(end_val96, step_val96); hv_J += step_val96)
    
34.         {
    
35.                 PolarTransImageExt(ho_Image, &ho_PolarTransImage, HTuple(hv_Row[hv_J]), HTuple(hv_Column[hv_J]),
    
36.                         m_hv_PolarStartAngle, m_hv_PolarEndAngle, m_hv_RadiusInner, m_hv_RadiusOuter, m_hv_PolarWidthExtended, hv_PolarHeight, "bilinear");               
    
37.                 Rectangle1Domain(ho_PolarTransImage, &ho_SearchImageReduced, m_hv_RowRefPolar-hv_Tolerance, 0, m_hv_RowRefPolar+hv_Tolerance, m_hv_PolarWidthExtended-1);
    
38.                 FindShapeModel(ho_SearchImageReduced, m_hv_ModelIDPolar, 0, 0, hv_MinScorePolar,
    
39.                         1, 0.0, "least_squares", 0, hv_Greediness, &hv_RowPolar, &hv_ColumnPolar, &hv_AnglePolar, &hv_ScorePolar);
    
40.                 if (0 != ((hv_ColumnPolar.TupleLength())>0))
    
41.                 {
    
42.                         hv_FinalAngles[hv_J]  = ((hv_ColumnPolar-m_hv_ColumnRefPolar)/(m_hv_PolarWidthExtended-1))*m_hv_PolarAngleRangeExtended;
    
43. 
    
44.                         DATA *pData = new DATA();
    
45.                         pData->Angle = HTuple(hv_FinalAngles[hv_J]).TupleDeg().D();//hv_FinalAngles[hv_J].D();
    
46.                         pData->XPos = HTuple(hv_Column[hv_J]).D();
    
47.                         pData->YPos = HTuple(hv_Row[hv_J]).D();
    
48.                         m_DataList.AddTail(pData);
    
49.                         if(bShowResult)
    
50.                         {
    
51.                                 VectorAngleToRigid(0, 0, 0, hv_RowPolar, hv_ColumnPolar, hv_AnglePolar, &hv_HomMat2D);
    
52.                                 AffineTransContourXld(m_ho_PolarModelContours, &ho_ContoursAffinTrans, hv_HomMat2D);
    
53.                                 PolarTransContourXldInv(ho_ContoursAffinTrans, &ho_XYTransContour, HTuple(hv_Row[hv_J]),
    
54.                                         HTuple(hv_Column[hv_J]), m_hv_PolarStartAngle, m_hv_PolarEndAngle, m_hv_RadiusInner,
    
55.                                         m_hv_RadiusOuter, m_hv_PolarWidthExtended, hv_PolarHeight, hv_ImageWidth, hv_ImageHeight);
    
56.                                 ConcatObj(ho_RefinedContours, ho_XYTransContour, &ho_RefinedContours);
    
57.                         }
    
58.                 }
    
59.                 else
    
60.                 {
    
61.                         hv_FinalAngles[hv_J] = HTuple(hv_Angle[hv_J]);
    
62.                         hv_RefinementFailed = hv_RefinementFailed.TupleConcat(hv_J+1);
    
63.                 }
    
64.         }
    
65.         if(bShowResult)
    
66.         {       
    
67.                 HTuple hv_Title = "找到模型个数： "+hv_NumMatches;
    
68.                 DisplayResult(ho_Image, ho_RefinedContours, hv_Row, hv_Column, hv_Angle, hv_FinalAngles, hv_RefinementFailed, m_hv_ModelID, hv_Title, m_hv_WindowHandle);
    
69.         }
    
70.         return true;
    
71. }

复制代码

1. void CAngleDetect::ClearData()
   
2. {
   
3.         POSITION pos = m_DataList.GetHeadPosition();
   
4.         while(pos)
   
5.         {
   
6.                 DATA *pData = (DATA *)m_DataList.GetNext(pos);
   
7.                 delete  pData;
   
8.         }
   
9.         m_DataList.RemoveAll();
   
10. }
    
11. CPtrList*CAngleDetect::GetDataList()
    
12. {
    
13.         return &m_DataList;
    
14. }
    
15. BOOL CAngleDetect::Clear()
    
16. {
    
17.         if (0 != m_hv_WindowHandle.Length())
    
18.         {
    
19.                 CloseWindow(m_hv_WindowHandle);
    
20.                 m_hv_WindowHandle = HTuple();
    
21.         }
    
22.         if(0!=m_hv_ModelID.Length())
    
23.         {
    
24.                 ClearShapeModel(m_hv_ModelID);
    
25.                 m_hv_ModelID = HTuple();
    
26.         }
    
27.         if(0!=m_hv_ModelIDPolar.Length())
    
28.         {
    
29.                 ClearShapeModel(m_hv_ModelIDPolar );
    
30.                 m_hv_ModelIDPolar = HTuple();
    
31.         }
    
32.         ClearData();
    
33.         return true;
    
34. }

复制代码

1. void CAngleDetectView::OnButton1()
   
2. {
   
3.         CButton*pBtn = (CButton*)GetDlgItem(IDC_CHECK1);
   
4.         m_AngleDect.Init("pic/1.png",GetDlgItem(IDC_SHOW)->m_hWnd,pBtn->GetCheck());
   
5. }
   
6. void CAngleDetectView::OnButton2()
   
7. {
   
8.         LARGE_INTEGER  large_interger;
   
9.         QueryPerformanceFrequency(&large_interger);  
   
10.     LONGLONG ff = large_interger.QuadPart;  
    
11.         QueryPerformanceCounter(&large_interger);  
    
12.     LONGLONG c1 = large_interger.QuadPart;
    
13.         //<>
    
14.         static Index = 1;
    
15.         CString sText;
    
16.         sText.Format("pic/%d.png",Index);
    
17.         CButton* pBtn = (CButton*)GetDlgItem(IDC_CHECK2);
    
18.         if( m_AngleDect.DetectAngle(sText,!pBtn->GetCheck()) )//正常检测后
    
19.         {
    
20.                 QueryPerformanceCounter(&large_interger);  
    
21.         LONGLONG c2 = large_interger.QuadPart;
    
22.                 CComboBox*pBox1 = (CComboBox*)GetDlgItem(IDC_COMBO1);
    
23.                 CComboBox*pBox2 = (CComboBox*)GetDlgItem(IDC_COMBO2);
    
24.                 CComboBox*pBox3 = (CComboBox*)GetDlgItem(IDC_COMBO3);
    
25.                 CComboBox*pBox4 = (CComboBox*)GetDlgItem(IDC_COMBO4);
    
26.                 pBox1->ResetContent();
    
27.                 pBox2->ResetContent();
    
28.                 pBox3->ResetContent();
    
29.                 pBox4->ResetContent();
    
30.                 double dbTime = (double)(c2-c1)/ff;
    
31.                 sText.Format("%f",dbTime*1000);
    
32.                 pBox4->InsertString(0,sText);
    
33.                 pBox4->SetCurSel(0);//用时
    
34.        
    
35.                 DATA *pData;
    
36.                 POSITION pos = m_AngleDect.GetDataList()->GetHeadPosition();
    
37.                 while(pos)
    
38.                 {
    
39.                         pData = (DATA *)m_AngleDect.GetDataList()->GetNext(pos);
    
40.                         sText.Format("%f",pData->XPos);
    
41.                         pBox1->InsertString(0,sText);
    
42.                         pBox1->SetCurSel(0);
    
43.                         sText.Format("%f",pData->YPos);
    
44.                         pBox2->InsertString(0,sText);
    
45.                         pBox2->SetCurSel(0);
    
46.                         sText.Format("%f",pData->Angle);
    
47.                         pBox3->InsertString(0,sText);
    
48.                         pBox3->SetCurSel(0);
    
49.                 }
    
50.         }
    
51.         Index++;
    
52.         if(Index>16)
    
53.                 Index=1;
    
54. }
    

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