halcon中的常用算子的中文说明.docx

1、halcon中的常用算子的中文说明halcon中的常用算子的中文说明HomMat3D_RZ_Phi) 对矩阵进行3D变换，用于旋转。hom_mat3d_translate (HomMat3D_RZ_Phi, CenterPointX_ref, CenterPointY_ref, 0, ref_H_grasp) 对矩阵进行3D变换，用于平移。hom_mat2d_scale (HomMat2DTranslate, ScaleFactor, ScaleFactor, 0, 0, HomMat2DScale) 对矩阵进行变换，用于缩放hom_mat3d_compose (cam_H_ref, ref_

2、H_grasp, cam_H_grasp)将两矩阵相乘hom_mat3d_to_pose (cam_H_grasp, PoseCamGripper)将矩阵变换成3D位姿affine_trans_contour_xld (LogoContoursTemp, LogoContours, HomMat2DComplete)对线条LogoContoursTemp进行HomMat2DComplete对应的变换（平移和缩放）。compose3 (ImageRed, ImageGreen, ImageBlue, LogoImageTempl)将三幅图像合并成一幅图像decompose3 (LogoImage

3、, ImageR, ImageG, ImageB)将一幅图像根据RGB值转换成三幅图像。paint_xld (LogoContours, LogoImageTempl, LogoImage, Blue,Orange,Blue,Blue,Blue,Blue)对线条喷颜色。Blue := 0,48,117，Orange := 255,181,41check_difference (Traffic1, Traffic2, Selected1, diff_outside, -255, 15, 0, 0, 0)根据两幅图的不同进行图像分割。bin_threshold自动阈值分割，与auto_thresh

4、old (Image, Regions, 10)类似，但只有一个最小值取得仅有一个阈值。char_threshold (Alpha1, Alpha1, Characters, 6, 95, Threshold)自动阈值分割，阈值根据直方图的波峰取得dyn_threshold (ImageFilled, ImageMean, RegionDynThresh, 3, light)动态阈值分割。gray_histo (Alpha1, Alpha1, AbsoluteHisto, RelativeHisto)获得绝对与相对直方。background_seg (Edges, BackgroundRegi

5、ons)将找出的区域根据背景分割成各个连通的区域。fill_up_shape (BackgroundRegions, RegionFillUp, area, 1, 40)有选择性的填充smooth_funct_1d_gauss (Function, Sigma, SmoothedFunction)对一维数组进行平滑处理。funct_1d_to_pairs (SmoothedFunction, XValues, YValues)将数据分别对应赋予一个横坐标。fill_interlace (Image, ImageFilled, odd)修改在采集图像过程中造成的两个半幅图像拼接的问题。regio

6、ngrowing (Image, Regions, 1, 1, 1, 100)将图像分割成各个灰度值相近的区域。expand_gray_ref (Regions, Image, EmptyRegion, RegionExpand, maximal, image, Mean, 11)根据灰度和颜色将分离的区域连通。expand_line (Image, RegionExpand, Line, mean, row, 100)将轮廓拓展成一个跟其灰度相近的区域。expand_region (Regions, NoPixel, RegionExpanded1, maximal, image) 根据设定

7、的特征将分离的区域连通。fast_threshold (Image, Region, 128, 255, 10)根据最大和最小灰度以及面积选出区域gray_erosion_rect (Image, Imag, StrokeWidth, StrokeWidth)每个点的灰度值用这个点的矩形掩码内最小灰度值代替。select_shape_std (ConnectedRegions, SelectedRegion, max_area, 70)从多个区域选出指定特征相似的区域。如选出面积最大的区域。scale_image_max (ImageReduced, ImageScaleMax)增加图像的对比

8、度text_line_orientation (SelectedRegion, ImageScaleMax, 30, rad(-30), rad(30), OrientationAngle) 检测具有字符的图像的方向rotate_image (ImageScaleMax, ImageRotate, deg(-OrientationAngle), constant)将图像按照指定的角度旋转find_text (ImageRotate, TextModel, TextResult)根据设定的模板寻找字符get_mposition (WindowHandleButton, Row, Column,

9、Button)获得鼠标坐标gen_grid_region (RegionGrid, Gap, Gap, lines, Width, Height)生成网格区域clip_region (Grid, StreetGrid, 165, 20, 405, 750)选择一定范围内的区域。clip_region_rel (RegionBorder, RegionClipped, 5, 5, 5, 5)选择四边都减去一定像素的区域gray_closing (Image, ImageReduced, ImageClosingFast)灰度值闭操作gray_opening (Image, ImageReduce

10、d, ImageOpeningFast) 灰度值开操作hysteresis_threshold (EdgeAmplitude, RegionHysteresis, 10, 20, 10)当大于最大阈值的点取出做为可靠点，最大与最小值之间的点根据与可靠点的关系选出。get_domain (Image, Domain)得到整幅图像的区域gen_rectangle1 (Rectangle, Row1, Column1, Row2, Column2)在区域内部的实心区域得到一个平行于横坐标的最大矩形。complement(Region : RegionComplement : : )找到输入区域的补区

11、域。interjacent (Regions, RegionInterjacent, border)找到将各个区域分割开的区域local_max (Image, LocalMaxima)找到比周围灰度值都大的点。local_min (ImageInverted, LocalMinima) 找到比周围灰度值都小的点smooth_image (Image, ImageSmooth, deriche2, 0.2)平滑图像invert_image (ImageSmooth, ImageInverted)用255减去每个点的灰度值作为这个点新的灰度值。shape_trans (RegionFillUp,

12、 Pads, convex)根据指定的参数对区域的形状进行转换，如转换成正方形等。select_shape_proto (Pads, BallBonds, MissingBonds, overlaps_rel, 0, 0)选出具有相似特征的所有区域boundary (RegionIntersection, RegionBorder, inner)获得区域的边界lines_gauss (ImageReducedTracks, Lines, 1.5, 1, 8, light, true, true, true)提取图的线条并计算出图的宽度。get_contour_xld (Line, Row, C

13、olumn)获得线条的各个点的坐标min_max_gray (ImageAngioMedian, ImageAngioMedian, 0, Min, Max, Range)获得区域内图像的最大和最小灰度值median_rect (ImageNeedle, ImageNeedleMedian, 41, 41)对图像中值滤波shape_trans_xld (Border, XLDConvex, convex)将区域的边界根据不同的属性转化成线条get_contour_attrib_xld (Line, width_left, WidthL)得到线上每个点的属性fit_circle_contour_

14、xld (ObjectSelected, ahuber, -1, 2, 0, 3, 2, Row, Column, Radius, StartPhi, EndPhi, PointOrder)将线条拟合成圆，得到位置和半径。gen_circle_contour_xld (ContCircle, Row, Column, Radius, 0, rad(360), positive, 1.0)生成一个圆get_contour_global_attrib_xld (ObjectSelected, cont_approx, Attrib)返回线条的全局属性值，当Attrib0时是圆弧。clip_cont

15、ours_xld (Lines, LinesClipped, Top, Left, Bottom, Right)选择一定区域内的线条clip_end_points_contours_xld (EllipseContour, ClippedContoursLength, length, 20)去除线条两端的部分像素。region_to_bin (Rectangle, BinImage, 130, 100, 120, 130)将区域转换成具有固定灰度值的图像paint_gray (SmoothedImage, BinImage, Image)将一图图像绘制到另一幅图像上。union_colline

16、ar_contours_xld (RegressContours, UnionContours, 10, 1, 2, 0.1, attr_keep)连接共线的线条。gen_contour_polygon_xld (Contour4, 200,200,300,300,200, 320,450,450,300,300)生成任意多边曲线close_contours_xld (Contours, ClosedContours)让不封闭的线条封闭select_contours_xld (Contours, SelectedContours, closed, 0, 20, 0, 0)选择一定条件的线条。c

17、rop_contours_xld (Lines, LinesCropped, Top - 0.5, Left - 0.5, Bottom + 0.5, Right + 0.5, false)提取出一定范围内的线条。gen_polygons_xld (Contour1, Polygon1, ramer, 10)将线条拟合成多边形。dev_set_part (239, 197, 239+17, 197+17)设置显示的区域dev_set_color (cyan)设置显示的颜色dev_set_draw (margin)设置显示的区域是填充还是空心的dev_set_shape (ellipse) 设置

18、显示的区域的形状select_region_point (Regions, DestRegions, Row, Column)选择包含指定点的区域gen_contour_region_xld (SelectedRegions, Contours, border_holes)根据区域和指定的特征生成轮廓线。dump_window_image (DumpImage, WindowHandle)将窗口的内容截图成图像area_center_points_xld (ClipContours, Area, RowPoints, ColumnPoints)轮廓线所有点计算的中心area_center_xl

19、d (ClipContours, Area, Row, Column, PointOrder)轮廓线所有的区域的中心gen_nurbs_interp (Rows, Cols, 0,-10,0,10, 3, CtrlRows, CtrlCols, Knots)根据提供的点拟合成曲线的坐标gen_contour_nurbs_xld (Contour, CtrlRows, CtrlCols, Knots, auto, 3, 1, 5)根据拟合的坐标生成轮廓线gen_parallel_contour_xld (Edges, ParallelEdgesAngle, contour_normal, 3)根

20、据指定的特征生成相应的平行线。get_grayval_contour_xld (Image, Contour, bilinear, Grayval)提取了轮廓线上所有点的灰度值test_subset_region(Region1, Region2 : : : IsSubset)测试一个区域是不是在另一个区域中。subset(Rows,Min)从数组Rows先出Min对应序列的数组create_funct_1d_array (Grayval, Function)根据数组生成一个函数序列local_min_max_funct_1d (Function, strict_min_max, false,

21、 Min, Max)提取出函数序列中的局部最大和最小值。dev_inspect_ctrl (PoseRobotGrasp_ZYX)打开检测窗口dev_close_inspect_ctrl (PoseRobotGrasp_ZYX)关闭检测窗口pose_to_hom_mat3d (PoseCamBase, cam_H_base)将3D位姿转换成一个矩阵。disp_3d_coord_system (WindowHandle, CamParam, PoseCamRef, 0.01)根据内参和外参显示3D坐标系concat_obj (Lines, Contour, Lines)将对象合并，可以分类时将属

22、性相同的人为合并成一类。gen_parallels_xld (Polygon, ParallelLines, 50, 100, rad(10), true)找到平行的轮廓线get_parallels_xld (ParallelLines, Row1, Col1, Length1, Phi1, Row2, Col2, Length2, Phi2)得到平行轮廓线的相关坐标。affine_trans_point_3d (cam_H_ref, GraspPointsX_ref, GraspPointsY_ref, 0, 0, GraspPointsX_cam, GraspPointsY_cam, Gr

23、aspPointsZ_cam)对点进行3D变换。project_3d_point (GraspPointsX_cam, GraspPointsY_cam, GraspPointsZ_cam, CamParam, GraspPointsRow, GraspPointsCol)将空间的3D坐标变换到图像坐标union_cocircular_contours_xld (ContoursSplit, UnionContours, 0.9, 0.5, 0.5, 200, 50, 50, true, 1)将属于同一个圆的轮廓线连接起来sort_index(Length)|Length|-1+1找出最大值对

24、应的索引polar_trans_image (ImageReduced, ImagePolar, Row, Column, PolarResolution, Radius+5)把图像由笛卡尔坐标转换成极坐标下图像，及把圆环形的图像区域转换成矩形区域。polar_trans_region_inv (RegionUnion, XYTransRegion, Row, Column, 6.28319, 0, Radius-RingSize, Radius, 640, RingSize, 1280, 1024, nearest_neighbor) 把图像由极坐标坐标转换成笛卡尔下图像，及把矩形的图像区域

25、转换成圆环形区域。rotate_image (ImagePart, ImageRotate, 90, constant)将图像旋转90度lines_color (Image, Lines, 3.5, 0, 12, true, false)检测图像中颜色线条，并提取出它们的宽度。Measure_circle提取圆弧线的例子：intersection_ll( : : RowA1, ColumnA1, RowA2, ColumnA2, RowB1, ColumnB1, RowB2, ColumnB2 : Row, Column, IsParallel)提取两条交叉直线交叉点的坐标orientatio

26、n_region (Region, OrientationRegion)提取区域的方向obj_diff (ConnectedRegions, LeftRegions, RightRegions)提取两组对象中不同的对象。optical_flow_mg (Image1, Image2, VectorField, clg, 1, 1, 1000, 5, default_parameters, fast)计算两幅图像中的视觉差异，用于监控。vector_field_length (VectorField, LengthImage, squared_length)计算向量的长度，得到差异图像。loca

27、l_max_sub_pix (ImageReduced, facet, 1.0, 4, Row, Column)提取出图像中灰度极大值的坐标mod_parallels_xld (ParallelRoadEdges, Part, ModParallelRoadEdges, ExtParallelRoadEdges, 0.3, 160, 220, 10)修补平行的轮廓线split_contours_xld (Polygons, SplitContours, polygon, 1, 5)regress_contours_xld (SplitContours, RegressContours, dro

28、p, 1)select_xld_point (Contours, SelectedContours, PointRow, PointCol)选择包含指定点的轮廓线。symm_difference_closed_contours_xld (BoundarySet1, BoundarySet2, ContoursDifference)提取封闭对称轮廓线的不同部分test_self_intersection_xld (Contours, false, DoesIntersect)检测轮廓线本身是否存在交叉点test_xld_point (Contour1, PointRow, PointCol, I

29、sInsideContour1)测试提供的点是否被轮廓线包含在内union2_closed_contours_xld (BoundarySet1, BoundarySet2, ContoursUnion)从多条轮廓线中合并成封闭的轮廓线union2_closed_polygons_xld (BoundarySet1, BoundarySet2, PolygonsUnion)从多个多边形的轮廓线中提取封闭的轮廓线。union_cotangential_contours_xld (ContourConcat4, UnionContours4, FitClippingLength, FitLengt

30、h, TestMaxTangAngle, MaxDist, MaxDistPerp, MaxOverlap, attr_forget)tile_images (Images4, TiledImage3, 2, horizontal)将幅图像合并成一幅图像select_contours_xld (RegressContours, SelectedContours, curvature, 0, 0.5, 0, 0)根据线的特征选择轮廓线。select_shape_xld (SelectedContours, SelectedEdges, contlength, and, 15, 500)根据线的形

31、态特征选择轮廓线。vector_to_proj_hom_mat2d (RowUL,RowUR,RowLR,RowLL+0.5, ColUL,ColUR,ColLR,ColLL+0.5, 160,160,340,340+0.5, 250,550,550,250+0.5, normalized_dlt, , , , , , , HomMat2D, Covariance)根据图像坐标和实际坐标得到坐标的变换关系。union_collinear_contours_ext_xld (UnionContours, UnionContours, MaxDistAbs, MaxDistRel, 5, 0.5, 0, -1, 1, 1, 1, 1, 1, 0, attr_keep)连接同线的轮廓线，提取的轮廓比union_collinear_contours_xld更精准。orientation_points_xld (WireSegment, RefOrientation)corner_response (ImaAmp, ImageCorner, 3, 0.04)提取图像中的角gen_parallels_xld (Polygon, ParallelLines, 50, 100, rad(10), true)找到平行的直线