Halcon 可形变模板匹配

可形变模板匹配主要用到两个算子

1.创建模板

• create_planar_uncalib_deformable_model(Template : : NumLevels, AngleStart, AngleExtent, AngleStep, ScaleRMin, ScaleRMax, ScaleRStep, ScaleCMin, ScaleCMax, ScaleCStep, Optimization, Metric, Contrast, MinContrast, GenParamName,GenParamValue : ModelID)

Description

The operator create_planar_uncalib_deformable_model prepares a template, which is passed in the image Template, as a deformable model used for uncalibrated perspective matching. The ROI of the model is passed as the domain of Template.

2.模板匹配

• find_planar_uncalib_deformable_model(Image : : ModelID, AngleStart, AngleExtent, ScaleRMin, ScaleRMax, ScaleCMin, ScaleCMax, MinScore, NumMatches, MaxOverlap, NumLevels,Greediness, GenParamName, GenParamValue : HomMat2D, Score)

Description

The operator find_planar_uncalib_deformable_model finds the best NumMatches instances of the perspectively distorted deformable model ModelID in the input image Image. The model must have been created previously by calling create_planar_uncalib_deformable_model or read_deformable_model.

3.模板匹配主要参数说明

Image (input_object)  (multichannel-)image → object (byte / uint2)

Input image in which the model should be found.

ModelID (input_control)  deformable_model → (integer)

Handle of the model.

AngleStart (input_control)  angle.rad → (real)

Smallest rotation of the model.

Default value: -0.39

Suggested values: -3.14, -1.57, -0.79, -0.39, -0.20, 0.0

AngleExtent (input_control)  angle.rad → (real)

Extent of the rotation angles.

Default value: 0.78

Suggested values: 6.29, 3.14, 1.57, 0.79, 0.39, 0.0

Restriction: AngleExtent >= 0

ScaleRMin (input_control)  number → (real)

Minimum scale of the model in row direction.

Default value: 1.0

Suggested values: 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Restriction: ScaleRMin > 0

ScaleRMax (input_control)  number → (real)

Maximum scale of the model in row direction.

Default value: 1.0

Suggested values: 1.0, 1.1, 1.2, 1.3, 1.4, 1.5

Restriction: ScaleRMax >= ScaleRMin

ScaleCMin (input_control)  number → (real)

Minimum scale of the model in column direction.

Default value: 1.0

Suggested values: 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Restriction: ScaleCMin > 0

ScaleCMax (input_control)  number → (real)

Maximum scale of the model in column direction.

Default value: 1.0

Suggested values: 1.0, 1.1, 1.2, 1.3, 1.4, 1.5

Restriction: ScaleCMax >= ScaleCMin

MinScore (input_control)  real → (real)

Minimum score of the instances of the model to be found.

Default value: 0.5

Suggested values: 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typical range of values: 0 ≤ MinScore ≤ 1

Minimum increment: 0.01

Recommended increment: 0.05

NumMatches (input_control)  integer → (integer)

Number of instances of the model to be found (or 0 for all matches).

Default value: 1

Suggested values: 0, 1, 2, 3, 4, 5, 10, 20

MaxOverlap (input_control)  real → (real)

Maximum overlap of the instances of the model to be found.

Default value: 1.0

Suggested values: 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typical range of values: 0 ≤ MaxOverlap ≤ 1

Minimum increment: 0.01

Recommended increment: 0.05

NumLevels (input_control)  integer(-array) → (integer)

Number of pyramid levels used in the matching (and lowest pyramid level to use if |NumLevels| = 2).

Default value: 0

List of values: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Greediness (input_control)  real → (real)

“Greediness” of the search heuristic (0: safe but slow; 1: fast but matches may be missed).

Default value: 0.9

Suggested values: 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0

Typical range of values: 0 ≤ Greediness ≤ 1

Minimum increment: 0.01

Recommended increment: 0.05

GenParamName (input_control)  string-array → (string)

The general parameter names.

Default value: []

List of values: [], 'angle_change_restriction', 'angle_step', 'aniso_scale_change_restriction', 'scale_c_step', 'scale_r_step', 'subpixel'

GenParamValue (input_control)  integer-array → (integer / real / string)

Values of the general parameters.

Default value: []

List of values: [], 'least_squares', 'least_squares_high', 'least_squares_very_high', 'none'

HomMat2D (output_control)  hom_mat2d(-array) → (real)

Homographies between model and found instances.

Score (output_control)  real-array → (real)

Score of the found instances of the model.

 

4.模板匹配相关算子

read_image 读取图像

gen_cam_par_area_scan_division 设置相机参数模型

create_planar_uncalib_deformable_model 创建模板

set_deformable_model_origin 设置模板坐标原点

get_deformable_model_contours 获取模板轮廓

find_planar_uncalib_deformable_model 模板匹配

projective_trans_contour_xld 轮廓投影变换

projective_trans_pixel 投影坐标原点

vector_to_pose 计算出世界坐标和图像坐标之间的点对应的绝对位姿

disp_3d_coord_system 显示模板原点坐标系

5.模板匹配测试

设置ROI，制作模板

测试图像