3.2 halcon上位机实现两电路板金手指偏移测量

当前这个项目主要实现上下两电路板间，对应两金手指相对左右偏移量计算。
计算出偏移量后通过执行机构，使上下板金手指一一对齐。

实现结果如图，主要思路是
1.先提取上板白色区域最右侧金手指中心线。
2.再提取下板白色区域最右侧金手指中心线。计算其中心线上端点与上侧中心线投影点坐标。
3.最终计算投影坐标点到下板最右侧金手指中心线的距离，就为要计算的结果。

至于上板，下板最右侧金手指的提取，中间过程进行了一系列的blob分析与处理。此处理方法也是blob分析中最简单，最常用的。具体可以参阅代码

1. dev_close_window ()
   
2. read_image (Image, '1.bmp')
   
3. dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle)
   
4. dev_display (Image)
   
5. rgb1_to_gray (Image, Image)
   
6. get_image_size (Image, ImageWidth, ImageHeight)
   
7. threshold (Image, IconTemp, 120, 255)
   
8. connection (IconTemp, Icon)
   
9. *筛选全部白色区域
   
10. select_shape (Icon, IconTemp, ['area','rectangularity'], 'and', [2000,0.9], [10000,1])
    
11. *筛选上,下白色区
    
12. select_shape(IconTemp, Icon, 'row1', 'and', 0, 100)
    
13. difference (IconTemp, Icon, IconTemp2)
    
14. 
    
15. *处理上白色
    
16. union1 (Icon, IconTemp)
    
17. smallest_rectangle1 (IconTemp, Row, Column, Row1, Column1)
    
18. gen_rectangle1 (Rectangle, Row, Column, Row1/2, ImageWidth)
    
19. reduce_domain(Image, Rectangle, IconTemp)
    
20. threshold (IconTemp, Icon, 0, 120)
    
21. connection (Icon, IconTemp)
    
22. select_shape (IconTemp, Icon, ['area','rectangularity'], 'and', [500,0.9], [999999,1])
    
23. sort_region (Icon, IconTemp, 'upper_right', 'false', 'column')
    
24. select_obj(IconTemp, Icon, 1)
    
25. gen_contour_region_xld (Icon, IconTemp, 'border')
    
26. fit_rectangle2_contour_xld (IconTemp, 'regression', -1, 0, 0, 3, 2, Row, Column, Phi, Length1, Length2, PointOrder)
    
27. *提取矩形中心线为上参考线
    
28. get_rectangle2_points (Row, Column, Phi, Length1, Length2, CornerY, CornerX, LineCenterY, LineCenterX)
    
29. if( Phi<=0)
    
30.     XValue := LineCenterX[3]
    
31.     YValue := LineCenterY[3]
    
32.     XValue1:= LineCenterX[1]
    
33.     YValue1:= LineCenterY[1]
    
34. else
    
35.     XValue := LineCenterX[1]
    
36.     YValue := LineCenterY[1]  
    
37.     XValue1:= LineCenterX[3]
    
38.     YValue1:= LineCenterY[3]
    
39. endif
    
40. 
    
41. *处理下白色区
    
42. union1 (IconTemp2, IconTemp)
    
43. dilation_rectangle1 (IconTemp, IconTemp2, 50, 50)
    
44. smallest_rectangle1 (IconTemp2, Row, Column, Row1, Column1)
    
45. gen_rectangle1 (Rectangle, Row, Column, Row1, ImageWidth)
    
46. reduce_domain(Image, Rectangle, IconTemp)
    
47. threshold (IconTemp, Icon, 100, 255)
    
48. connection (Icon, IconTemp)
    
49. select_shape (IconTemp, Icon, ['area','rectangularity','ratio'], 'and', [500,0.8,2], [999999,1,20])
    
50. sort_region (Icon, IconTemp, 'upper_right', 'false', 'column')
    
51. select_obj(IconTemp, Icon, 1)
    
52. gen_contour_region_xld (Icon, IconTemp, 'border')
    
53. fit_rectangle2_contour_xld (IconTemp, 'regression', -1, 0, 0, 3, 2, Row, Column, Phi, Length1, Length2, PointOrder)
    
54. get_rectangle2_points (Row, Column, Phi, Length1, Length2, CornerY, CornerX, LineCenterY, LineCenterX)
    
55. if( Phi<=0)
    
56.     XValue2 := LineCenterX[3]
    
57.     YValue2 := LineCenterY[3]
    
58.     XValue3 := LineCenterX[1]
    
59.     YValue3 := LineCenterY[1]  
    
60. else
    
61.     XValue2 := LineCenterX[1]
    
62.     YValue2 := LineCenterY[1]  
    
63.     XValue3 := LineCenterX[3]
    
64.     YValue3 := LineCenterY[3]   
    
65. endif
    
66. *下金手指中心线顶点到上金手指中心线的投影。
    
67. projection_pl(YValue2,XValue2,YValue,XValue,YValue1,XValue1,YValue1,XValue1)
    
68. *投影点到下金手指中心线距离
    
69. distance_pl(YValue1,XValue1,YValue,XValue,YValue2,XValue2,Distance)
    
70. *显示结果
    
71. gen_contour_polygon_xld(LineXLD,[YValue,YValue1],[XValue,XValue1])
    
72. gen_contour_polygon_xld(LineXLD1,[YValue2,YValue3],[XValue2,XValue3])
    
73. gen_arrow_contour_xld(Arrow, YValue1, XValue1, YValue2, XValue2, 10, 10)
    
74. gen_arrow_contour_xld(Arrow1, YValue2, XValue2, YValue1, XValue1, 10, 10)
    
75. dev_display(Image)
    
76. dev_display(LineXLD)
    
77. dev_display(LineXLD1)
    
78. dev_set_color('green')
    
79. dev_display(Arrow)
    
80. dev_display(Arrow1)
    
81. message := Distance
    
82. 
    
83. 
    
84. .2f'+'mm'
    
85. get_string_extents(WindowHandle, message, Ascent, Descent, Width1, Height1)
    
86. dev_disp_text(message, 'image', YValue2-Height1, XValue2, 'green', ['box'], ['false'])
    

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