这段代码是一个HALCON脚本，用于创建和使用一个可变形的二维模型来检测图像中的特定物体。

dev_close_window ()

read_image (ImageInit, ‘automotive/engine_parts_01’)

get_image_size (ImageInit, Width, Height)

dev_open_window_fit_image (ImageInit, 0, 0, Width, Height, WindowHandle)

dev_update_off ()

set_display_font (WindowHandle, 14, ‘mono’, ‘true’, ‘false’)

dev_set_draw (‘margin’)

dev_set_line_width (1)

dev_set_color (‘green’)

*

*

Create the ROI of the model from the first image.Here, the upper part of the engine part, consisting of 6 boreholes can be used.

dev_clear_window ()

read_image (Image, ‘automotive/engine_parts_01’)

dev_display (Image)

gen_rectangle2 (Rectangle1, 285.69, 284.554, -1.66101, 58.923, 17.3983)

gen_rectangle2 (Rectangle2, 282.154, 373.738, -1.50165, 56.3435, 14.8286)

union2 (Rectangle1, Rectangle2, RegionUnion)

reduce_domain (Image, RegionUnion, ImageReduced)

threshold (ImageReduced, Region, 110, 255)

connection (Region, ConnectedRegions)

select_shape (ConnectedRegions, SelectedRegions, ‘area’, ‘and’, 500, 3000)

union1 (SelectedRegions, RegionUnion)

dilation_circle (RegionUnion, RegionDilation, 3.5)

reduce_domain (ImageReduced, RegionDilation, ImageReduced)

disp_message (WindowHandle, ‘ROI created’, ‘window’, 10, 10, ‘black’, ‘true’)

disp_continue_message (WindowHandle, ‘black’, ‘true’)Create the metric deformable model from the reduced image.Here the plane of the object is extracted from measured well defined points.Note that it is also possible to place a calibration plate on the object and correct forthe thickness of the calibration plate.Consult example locate_car_door.hdev in the same directory.

dev_display (Image)A camera calibration has been done beforehand (e.g. with the calibration assistant).

CamParam := [0.0124068,-268.149,9.30326e-006,9.3e-006,290.95,268.404,640,512]The boreholes are defining a 3D plane.

ObjectRow := [254.344,253.433,311.613,316.545]

ObjectCol := [284.269,368.903,373.356,286.666]

gen_cross_contour_xld (Cross, ObjectRow, ObjectCol, 6, 0.785398)

WorldX := [-29.0,26,27,-30.0] / 1000.0

WorldY := [-21.5,-19,19,19] / 1000.0The Z coordinate of the points is set to 0.0 as it is a planar object.

WorldZ := [0.0,0.0,0.0,0.0]Given the 3D-2D correspondences the plane of the object is extracted with vector_to_pose.

vector_to_pose (WorldX, WorldY, WorldZ, ObjectRow, ObjectCol, CamParam, ‘planar_analytic’, ‘error’, PoseModelPlane, Quality)

disp_3d_coord_system (WindowHandle, CamParam, PoseModelPlane, 0.05)

create_planar_calib_deformable_model (ImageReduced, CamParam, PoseModelPlane, 3, 0, rad(360), ‘auto’, 1, 1, ‘auto’, 1, 1, ‘auto’, ‘none’, ‘use_polarity’, ‘auto’, ‘auto’, [], [], ModelID)Project contour model into world coordinate system for later visualization.

get_deformable_model_contours (ModelContours, ModelID, 1)

get_deformable_model_params (ModelID, ‘model_row’, ModelRow)

get_deformable_model_params (ModelID, ‘model_col’, ModelCol)

get_deformable_model_params (ModelID, ‘model_pose’, ModelPose)

get_deformable_model_params (ModelID, ‘cam_param_rect’, CamParamRect)Due to radial distortion a simple translation does not suffice.Instead we have to project the metric model into the world coordinate andproject this back into the camera that contains the radial distortion.

affine_trans_contour_xld (ModelContours, ContoursAffinTrans, [1,0,ModelRow,0,1,ModelCol])

contour_to_world_plane_xld (ContoursAffinTrans, ContoursTrans, CamParamRect, ModelPose, ‘m’)

count_obj (ContoursTrans, NumberContour)

pose_to_hom_mat3d (ModelPose, HomMat3D)Project model into 3D world coordinates and project it into the camera.

gen_empty_obj (FoundContour)

for Index2 := 1 to NumberContour by 1

select_obj (ContoursTrans, ObjectSelected, Index2)

get_contour_xld (ObjectSelected, Y, X)

Z := gen_tuple_const(|X|,0.0)

affine_trans_point_3d (HomMat3D, X, Y, Z, Xc, Yc, Zc)

project_3d_point (Xc, Yc, Zc, CamParam, R, C)

gen_contour_polygon_xld (ModelWorld, R, C)

concat_obj (FoundContour, ModelWorld, FoundContour)

endfor

disp_message (WindowHandle, ‘Deformable model created’, ‘window’, 10, 10, ‘black’, ‘true’)

disp_continue_message (WindowHandle, ‘black’, ‘true’)

stop ()

*

Because some models are close to the border of the image, border_shape_modelsmust be set to true.

get_system (‘border_shape_models’, BorderShapeModels)

set_system (‘border_shape_models’, ‘true’)Detect the model in new images with potentially tilted object instances.

for Index := 1 to 25 by 1

TotalTime := 0

read_image (Image, ‘automotive/engine_parts_’ + Index$‘.02’)

*

NumMatches = 0 returns not a specified number of foundinstances but all found instances. Use NumMatches = 0if you don’t know how many instances are to be found.

count_seconds (Seconds1)

find_planar_calib_deformable_model (Image, ModelID, rad(0), rad(360), 1, 1, 1, 1, 0.65, 0, 0, 3, 0.75, [], [], Pose, CovPose, Score)

count_seconds (Seconds2)

dev_display (Image)

Time := Seconds2 - Seconds1

TotalTime := TotalTime + Time

for Index1 := 0 to |Score| - 1 by 1

tuple_select_range (Pose, Index1 * 7, ((Index1 + 1) * 7) - 1, PoseSelected)

disp_3d_coord_system (WindowHandle, CamParam, PoseSelected, 0.04)

pose_to_hom_mat3d (PoseSelected, HomMat3D)

gen_empty_obj (FoundContour)

for Index2 := 1 to NumberContour by 1

select_obj (ContoursTrans, ObjectSelected, Index2)

get_contour_xld (ObjectSelected, Y, X)

Z := gen_tuple_const(|X|,0.0)

affine_trans_point_3d (HomMat3D, X, Y, Z, Xc, Yc, Zc)

project_3d_point (Xc, Yc, Zc, CamParam, R, C)

gen_contour_polygon_xld (ModelWorld, R, C)

concat_obj (FoundContour, ModelWorld, FoundContour)

endfor

dev_display (FoundContour)

disp_message (WindowHandle, |Score| + ’ models found in ’ + (TotalTime * 1000)$‘.4’ + ’ ms’, ‘window’, 10, 10, ‘black’, ‘true’)

endfor

disp_continue_message (WindowHandle, ‘black’, ‘true’)

stop ()

endfor

dev_display (Image)

disp_message (WindowHandle, ‘Program finished\nPress ‘Run’ to clear deformable model’, ‘window’, 10, 10, ‘black’, ‘true’)

stop () Set border_shape_models to original value.

set_system (‘border_shape_models’, BorderShapeModels)Free memory of the model.

clear_deformable_model (ModelID)

以下是程序运行结果:

下面是对这段代码的详细解释：

初始化和图像读取：

dev_close_window() 关闭当前窗口。

read_image(ImageInit, ‘automotive/engine_parts_1’) 读取初始图像。

get_image_size(ImageInit, Width, Height) 获取图像尺寸。

dev_open_window_fit_image(…) 打开一个窗口以适应图像尺寸。

ROI（感兴趣区域）的创建：

使用gen_rectangle2定义两个矩形区域。

union2将两个矩形合并为一个区域。

reduce_domain将图像限制在合并后的区域。

threshold和connection用于二值化图像并连接区域。

select_shape选择特定面积的区域。

union1再次合并区域。

dilation_circle对区域进行膨胀操作。

创建可变形模型：

使用gen_cross_contour_xld生成交叉轮廓。

定义世界坐标系中的点WorldX, WorldY, WorldZ。

使用vector_to_pose提取对象的平面姿态。

create_planar_calib_deformable_model创建可变形模型。

模型投影和变换：

将模型轮廓投影到世界坐标系。

使用affine_trans_contour_xld和contour_to_world_plane_xld进行坐标变换。

模型检测：

循环读取一系列图像。

使用find_planar_calib_deformable_model在图像中检测模型。

显示检测结果和计时信息。

模型显示和清理：

disp_message显示信息。

set_system(‘border_shape_models’, ‘true’)设置系统参数以允许模型边界超出图像。

清理模型并关闭窗口。

脚本结束：

stop()结束脚本执行。

set_system恢复系统参数。

clear_deformable_model清理模型占用的内存。

这个脚本展示了如何使用HALCON软件进行图像处理和模式识别，特别是在工业自动化和质量控制领域中检测特定物体的应用。通过创建可变形模型，可以适应物体的不同姿态和形状变化。