Halcon tiff 点云读取以及平面矫正

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分类专栏： Halcon 项目实践笔记 halcon 文章标签：算法

于 2023-12-03 01:24:15 首次发布

本文链接：https://blog.csdn.net/weixin_39354845/article/details/134760348

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文章介绍了使用一阶曲面进行图像矫正的方法，包括计算灰度值矩、拟合算法、平面矫正以及3D模型的生成，展示了从图像处理到3D转换的完整流程。

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概述


* 开始校正图像
*通过一阶曲面（平面）计算灰度值矩和近似值。
*RegionOpening 要检测的区域
*输入的图像
*拟合算法
* 5 迭代测试
* 5 用于消除异常值的剪切因子
*Alpha  近似曲面的参数Alpha  可以理解为垂直方向的一阶系数  =X轴的分辨率
*Beta  近似曲面的参数Beta  可以理解为水平方向的一阶系数  =Y轴的分辨率
*Gamma 近似表面Gamma   零接系数=Z轴的分辨率


fit_surface_first_order (RegionOpening, TiledImage, 'regression', 5, 5, Alpha, Beta, Gamma)
*ImageSurface  使用新的图像矩阵创建图像。
*Alpha 垂直方向的一阶系数
*Beta 水平方向的一阶系数
*Gamma  零阶系数
*Row1 曲面参考点的行坐标。  图片的中心位置
*Column1 曲面参考点的列坐标  图片的中心位置
*Width1 图像的宽度
*Height1 图像的高度。
* 原理;Image(r,c)=Alpha-(r-Row1)+Beta(c-Column1)+Gamma
get_image_size (TiledImage, Width1, Height1)
area_center (TiledImage, Area, Row, Column)
gen_image_surface_first_order (ImageSurface, 'real', Alpha, Beta, Gamma, Row, Column, Width1, Height1)
sub_image (TiledImage, ImageSurface, ImageSub, 1, 0)
return ()

一、读取tiff 图


dev_close_window ()
dev_open_window (0, 0, 512, 512, 'black', WindowHandle)

xResolution:=0.0025
yResolution:=0.0025
zResolution:=0.001
read_image (IntputImage, 'C:/Users/alber/Desktop/2023-08-15_16-38-24-982_/Sta5_002.tif')
zoom_image_factor (IntputImage, IntputImage, 1,4, 'constant')
get_domain (IntputImage, Domain)
*获取该区域的最大最小值
min_max_gray (Domain, IntputImage, 0, Min, Max, Range)
*去除无效数据
threshold (IntputImage, Region,-1.2, Max)
reduce_domain (IntputImage, Region, ImageReduced)

get_image_size (ImageReduced, Width, Height)
convert_image_type (ImageReduced, ImageConvertedX, 'real')
*生成xy坐标的图像映射，乘以分辨率就是xy的相对值
gen_image_surface_first_order (ImageSurface, 'real', 1, 0, 0, 0, 0, Width, Height)
gen_image_surface_first_order (ImageSurface1, 'real', 0, 1, 0, 0, 0, Width, Height)
scale_image (ImageSurface, X, xResolution, 0)
scale_image (ImageSurface1, Y, yResolution, 0)

*创建3D模型
xyz_to_object_model_3d (Y,X,ImageReduced, ObjectModel3D)
write_object_model_3d (ObjectModel3D, 'ply', 'C:/Users/alber/Desktop/abc.ply', [], [])
disp_object_model_3d (WindowHandle, [ObjectModel3D], [], [], ['color_0','alpha'], ['green',0.7])

二、平面矫正

用Z轴来矫正


select_points_object_model_3d (ObjectModel3D, 'point_coord_x', 2.73, 3.2, ObjectModel3DThresholded)
select_points_object_model_3d (ObjectModel3DThresholded, 'point_coord_y', 1, 3.4, ObjectModel3DThresholded)
fit_primitives_object_model_3d (ObjectModel3DThresholded, ['primitive_type','fitting_algorithm'], ['plane','least_squares_tukey'], ObjectModel3DOut)

* 这一步很重要
get_object_model_3d_params (ObjectModel3DOut, 'primitive_parameter_pose', pose)


 *用Z轴来矫正
 * 将旋转的角度转转回去
 pose[3]:=-pose[3]
 pose[4]:=-pose[4]
 pose[5]:=-pose[5]
write_object_model_3d (ObjectModel3DThresholded, 'ply', 'C:/Users/alber/Desktop/abc3333.ply', [], [])
*
rigid_trans_object_model_3d (ObjectModel3DThresholded, pose, ObjectModel3DRigidTrans)
write_object_model_3d (ObjectModel3DRigidTrans, 'ply', 'C:/Users/alber/Desktop/abc3333afffff.ply', [], [])


rigid_trans_object_model_3d (ObjectModel3D, pose, ObjectModel3DRigidProdUCE)
write_object_model_3d (ObjectModel3DRigidProdUCE, 'ply', 'C:/Users/alber/Desktop/ABC_CR.ply', [], [])

第二种矫正方式（推荐）

old

结果：

read_image (Xiemian, 'C:/Users/zhangchaoyi/Desktop/xiemian.tif')
zoom_image_factor (Xiemian, ImageZoomed, 1, 4, 'constant')
write_image (ImageZoomed, 'tiff', 0, 'C:/Users/zhangchaoyi/Desktop/old.tiff')
get_image_size (ImageZoomed, Width2, Height2)
threshold (ImageZoomed, Region2, -10, 10)
area_center (Region2, Area, Row3, Column3)

fit_surface_first_order (Region2, ImageZoomed, 'regression', 5, 2, Alpha, Beta, Gamma)
gen_image_surface_first_order (ImageSurface, 'real', Alpha, Beta, Gamma, Row3, Column3, Width2, Height2)
sub_image (ImageZoomed, ImageSurface, ImageSub33, 1, 0)
write_image (ImageSub33, 'tiff', 0, 'C:/Users/zhangchaoyi/Desktop/calibration.tiff')

三、从一个姿态转到指定的姿态

1、将原始姿态pose ->matrix1

2、将指定的姿态pose 2->matrix2

3、svd 矩阵分解，计算出两个姿态的差接矩阵M

4、矩阵-》pose

5、rigid_trans_object_model_3d

矫正前：

矫正后：

：


dev_close_window ()
dev_open_window (0, 0, 512, 512, 'black', WindowHandle)

xResolution:=0.0025
yResolution:=0.0025
zResolution:=0.001
read_image (IntputImage, 'C:/Users/alber/Desktop/2023-08-15_16-38-24-982_/Sta5_002.tif')
zoom_image_factor (IntputImage, IntputImage, 1,4, 'constant')
get_domain (IntputImage, Domain)
*获取该区域的最大最小值
min_max_gray (Domain, IntputImage, 0, Min, Max, Range)
*去除无效数据
threshold (IntputImage, Region,-1.2, Max)
reduce_domain (IntputImage, Region, ImageReduced)

get_image_size (ImageReduced, Width, Height)
convert_image_type (ImageReduced, ImageConvertedX, 'real')
*生成xy坐标的图像映射，乘以分辨率就是xy的相对值
gen_image_surface_first_order (ImageSurface, 'real', 1, 0, 0, 0, 0, Width, Height)
gen_image_surface_first_order (ImageSurface1, 'real', 0, 1, 0, 0, 0, Width, Height)
scale_image (ImageSurface, X, xResolution, 0)
scale_image (ImageSurface1, Y, yResolution, 0)

*创建3D模型
xyz_to_object_model_3d (Y,X,ImageReduced, ObjectModel3D)
write_object_model_3d (ObjectModel3D, 'ply', 'C:/Users/alber/Desktop/abc.ply', [], [])
disp_object_model_3d (WindowHandle, [ObjectModel3D], [], [], ['color_0','alpha'], ['green',0.7])



select_points_object_model_3d (ObjectModel3D, 'point_coord_x', 2.73, 3.2, ObjectModel3DThresholded)
select_points_object_model_3d (ObjectModel3DThresholded, 'point_coord_y', 1, 3.4, ObjectModel3DThresholded)
fit_primitives_object_model_3d (ObjectModel3DThresholded, ['primitive_type','fitting_algorithm'], ['plane','least_squares_tukey'], ObjectModel3DOut)

* 这一步很重要
get_object_model_3d_params (ObjectModel3DOut, 'primitive_parameter_pose', pose)


 *用Z轴来矫正
 * 将旋转的角度转转回去
 pose[3]:=-pose[3]
 pose[4]:=-pose[4]
 pose[5]:=-pose[5]
write_object_model_3d (ObjectModel3DThresholded, 'ply', 'C:/Users/alber/Desktop/abc3333.ply', [], [])
*
rigid_trans_object_model_3d (ObjectModel3DThresholded, pose, ObjectModel3DRigidTrans)
write_object_model_3d (ObjectModel3DRigidTrans, 'ply', 'C:/Users/alber/Desktop/abc3333afffff.ply', [], [])


rigid_trans_object_model_3d (ObjectModel3D, pose, ObjectModel3DRigidProdUCE)
write_object_model_3d (ObjectModel3DRigidProdUCE, 'ply', 'C:/Users/alber/Desktop/ABC_CR.ply', [], [])
select_points_object_model_3d (ObjectModel3DRigidProdUCE, 'point_coord_y', 3.5, 3.501, ObjectModel3DThresholded1)


object_model_3d_to_xyz (X1, Y1, Z, ObjectModel3DRigidProdUCE, 'from_xyz_map', pose, pose)
* 画出roi 
gen_region_line (ROI_0, 1125.4, 1025.4, 1125.4, 1081.84)
get_region_points (ROI_0, Rows, Columns)
get_grayval (Z, Rows, Columns, Grayval)
xr:=Columns*0.0025
yr:=Rows*0.0025

* 不能拟合直线
gen_object_model_3d_from_points(xr, yr, Grayval, ObjectModel3D2)
fit_primitives_object_model_3d (ObjectModel3D2, 'primitive_type', 'all', ObjectModel3DOut1)
get_object_model_3d_params (ObjectModel3DOut1, 'num_lines', GenParamValue)
Grayval:=Grayval+10
gen_contour_polygon_xld (Contour, xr, Grayval)

fit_line_contour_xld (Contour, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist)


*第二段
gen_region_line (ROI_1, 1125.4, 1338.49, 1125.4, 1412.09)
get_region_points (ROI_1, Rows1, Columns1)
get_grayval (Z, Rows1, Columns1, Grayval1)
Grayval1:=Grayval1+10
xr1:=Columns1*0.0025
yr1:=Rows1*0.0025
gen_contour_polygon_xld (Contour2, xr1, Grayval1)
fit_line_contour_xld (Contour2, 'tukey', -1, 0, 5, 2, RowBegin1, ColBegin1, RowEnd1, ColEnd1, Nr1, Nc1, Dist1)

gen_contour_polygon_xld (Contour2, xr, Grayval)
* 计算两条直线的交点
intersection_lines ( RowBegin, ColBegin, RowEnd, ColEnd, RowBegin1, ColBegin1, RowEnd1, ColEnd1, Row, Column, IsOverlapping)

三、将点云生成Z Y Z图

object_model_3d_to_xyz (X1, Y1, Z, ObjectModel3DRigidProdUCE, 'from_xyz_map', pose, pose)