求工件角度测量

最近在学习Halcon，刚入门就被布置了一道题，目前尝试的效果都不佳，求助各位大佬。

图片中的缺陷点可能在任意一个槽位，也可能是没有缺陷点。需要获取获得他的角度。

图片中的外围，会有两个比较大的凹槽，要获取凹槽的角度。

请大佬提供一下halcon代码以便观摩学习~~

样图

作业要求

原图在这：
链接：https://pan.baidu.com/s/1TVujZv3NNIgehIB5jvb-xQ?pwd=703e
提取码：703e

1. dev_update_off ()
   
2. dev_set_draw ('margin')
   
3. *********创建模型
   
4. read_image (Image1, '样图/样图1.png')
   
5. rgb1_to_gray (Image1, GrayImage)
   
6. gen_rectangle2 (ROI_0, 814.065, 821.02, rad(-137.533), 98.785, 44.7842)
   
7. gen_rectangle2 (TMP_Region, 914.109, 415.563, rad(-18.6304), 98.5895, 34.9364)
   
8. union2 (ROI_0, TMP_Region, ROI_0)
   
9. gen_rectangle2 (TMP_Region, 619.533, 122.214, rad(-77.7279), 96.6962, 43.2099)
   
10. union2 (ROI_0, TMP_Region, ROI_0)
    
11. gen_rectangle2 (TMP_Region, 400.917, 931.26, rad(-74.4134), 90.4003, 44.3046)
    
12. union2 (ROI_0, TMP_Region, ROI_0)
    
13. gen_rectangle2 (TMP_Region, 93.3728, 630.437, rad(-13.9223), 92.4009, 57.9936)
    
14. union2 (ROI_0, TMP_Region, ROI_0)
    
15. gen_rectangle2 (TMP_Region, 210.092, 224.98, rad(-132.952), 98.7181, 61.3814)
    
16. union2 (ROI_0, TMP_Region, ROI_0)
    
17. reduce_domain (GrayImage, ROI_0, ImageReduced1)
    
18. threshold (ImageReduced1, Regions, 0, 59)
    
19. connection (Regions, ConnectedRegions1)
    
20. select_shape (ConnectedRegions1, SelectedRegions1, 'circularity', 'and', 0.8, 1)
    
21. select_shape (SelectedRegions1, SelectedRegions2, 'area', 'and', 150, 99999)
    
22. union1 (SelectedRegions2, RegionUnion)
    
23. fill_up (RegionUnion, RegionFillUp1)
    
24. gen_contour_region_xld (RegionFillUp1, Contours, 'border')
    
25. fit_circle_contour_xld (Contours, 'algebraic', -1, 0, 0, 3, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)
    
26. gen_circle_contour_xld (ContCircle, Row, Column, Radius, 0, 6.28318, 'positive', 1)
    
27. create_shape_model_xld (ContCircle, 'auto', rad(-180), rad(360), 'auto', 'auto', 'ignore_local_polarity', 5, ModelID)
    
28. find_shape_model (GrayImage, ModelID,  rad(-180), rad(360), 0.5, 1, 0.5, 'least_squares', 4, 0.9, Row1, Column1, Angle, Score)
    
29. dev_display_shape_matching_results2 (Contours1, ModelID, 'red', Row1, Column1, Angle, 1, 1, 0)
    
30. gen_cross_contour_xld (Cross, Row1, Column1, 61, Angle)
    
31. tempR:=Row1
    
32. tempC:=Column1
    
33. tempA:=0
    
34. ***ROI区域
    
35. gen_rectangle2 (ROI_0, 406.763, 121.67, rad(167.375), 30.286, 28.6463)
    
36. gen_rectangle2 (TMP_Region, 628.147, 937.098, rad(-18.8067), 37.392, 31.8959)
    
37. union2 (ROI_0, TMP_Region, ROI_0)
    
38. gen_rectangle2 (TMP_Region, 206.094, 830.455, rad(39.1622), 38.7268, 34.8598)
    
39. union2 (ROI_0, TMP_Region, ROI_0)
    
40. gen_rectangle2 (TMP_Region, 810.692, 230.914, rad(-135.13), 34.8662, 31.1556)
    
41. union2 (ROI_0, TMP_Region, ROI_0)
    
42. gen_rectangle2 (TMP_Region, 914.263, 636.677, rad(-75.4668), 41.4606, 24.0005)
    
43. union2 (ROI_0, TMP_Region, ROI_0)
    
44. gen_rectangle2 (TMP_Region, 106.406, 419.49, rad(104.533), 41.4606, 28.6706)
    
45. union2 (ROI_0, TMP_Region, ROI_0)
    
46. ROI:=ROI_0
    
47. 
    
48. **读取视频
    
49. open_framegrabber ('DirectFile', 1, 1, 0, 0, 0, 0, 'default', 8, 'rgb', -1, 'false', '样图/考试测试图(无损压缩).avi', 'default', -1, -1, AcqHandle)
    
50. get_framegrabber_param (AcqHandle, 'last_frame', Value )
    
51. set_framegrabber_param (AcqHandle, 'grab_timeout', 100)
    
52. 
    
53. grab_image_start (AcqHandle, -1)
    
54. for Index := 0 to Value-1 by 1
    
55.     try
    
56.         grab_image (Image, AcqHandle )
    
57.         rgb1_to_gray (Image, GrayImage)
    
58.         find_shape_model (GrayImage, ModelID,  rad(-180), rad(360), 0.5, 1, 0.5, 'least_squares', 4, 0.9, Row1, Column1, Angle, Score)
    
59. *         dev_display_shape_matching_results2 (Contours , ModelID, 'red', Row1, Column1, Angle , 1, 1, 0)
    
60.         vector_angle_to_rigid (tempR, tempC, 0, Row1, Column1, Angle , HomMat2D)
    
61.         affine_trans_region (ROI, ROIAffineTrans, HomMat2D, 'nearest_neighbor')
    
62.         gen_empty_obj (EmptyObject)
    
63.         connection (ROIAffineTrans, ConnectedRegions3)
    
64.         count_obj (ConnectedRegions3, Number)
    
65.         for Index1 := 1 to Number by 1
    
66.             select_obj (ConnectedRegions3, ObjectSelected, Index1)
    
67.             reduce_domain (GrayImage, ObjectSelected, ImageReduced)
    
68.             binary_threshold (ImageReduced, Region1, 'max_separability', 'dark', UsedThreshold1)
    
69.             concat_obj (EmptyObject, Region1, EmptyObject)
    
70.         endfor
    
71.         closing_circle (EmptyObject, RegionClosing, 3.5)
    
72.         connection (RegionClosing, ConnectedRegions)
    
73.         closing_circle (ConnectedRegions, RegionClosing1, 53.5)
    
74.         difference ( RegionClosing1,ConnectedRegions, RegionDifference)
    
75.         connection (RegionDifference, ConnectedRegions2)
    
76.         select_shape (ConnectedRegions2, SelectedRegions, 'area', 'and', 150, 99999)
    
77.         area_center (SelectedRegions, Area, Row2, Column2)
    
78.         maxDistance:=0
    
79.         maxfirst:=0
    
80.         maxsecond:=0
    
81.         for first := 0 to |Row2|-1 by 1
    
82.             for second := 0 to |Row2|-1 by 1
    
83.                 distance_pp (Row2[first], Column2[first], Row2[second], Column2[second], Distance)
    
84.                 if (maxDistance<Distance)
    
85.                     maxDistance:=Distance
    
86.                     maxfirst:=first
    
87.                     maxsecond:=second
    
88.                 endif
    
89.                 if (maxDistance>Distance)               
    
90.                 endif
    
91.             endfor
    
92.         endfor
    
93.         row:=[Row2[maxfirst],Row2[maxsecond]]
    
94.         col:=[Column2[maxfirst],Column2[maxsecond]]
    
95.         gen_contour_polygon_xld (Contour,row, col)
    
96.         dev_display (Image)
    
97.         dev_set_color ('green')
    
98.         dev_display (Contour)
    
99.     catch (Exception)
    
100. continue
     
101.     endtry
     
102. endfor
     
103. close_framegrabber (AcqHandle)
     
104. 
     
105. 
     
106. 
     
107. 
     
108. 
     
109. 
     
110. 
     
111. 
     

复制代码

大概思路就是匹配，找缺口。具体你自己的需求改改吧

这实验样图是你自己拍的还是给定的就是这样的？   图片原图有点差

原图看起来效果不行，请重新拍照

勉强能做出来，但是效果不太好

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大佬威武