视觉测量实验报告

1、实验报告课程名称视觉测量实验项目典型零件尺寸的图像处理与视觉测量实验仪器MATLAB系另寸光电学院专 业 测控技术与仪器实验目的：通过本实验，给学生提供边学习边实践的机会，应用平时所学的知识，通过 一些编程软件处理一些图像，观察处理之后的效果，可以巩固所学知识，提高学 生的动手能力和编程水平。实验要求:已修过数字图像处理和视觉测量技术课程实验报告要求：每人提交一份电子版实验报告，报告内容包括：封皮，实验要求，实验思路 和过程，实验结果，实验遇到的问题及解决方法，附上程序。实验内容：采用MATLAB或VC+编制程序，实现图像中尺寸参数的测量课上实践：(1) 求图1中直线的参数方程，按照y=kx+

2、b的形式给出。(思路：先提取出边缘点，然后用边缘点拟合直线)图1求出图中直线MATLAB程序如下:figure 大三下的各种文档视觉测量技术实验一 1.bmp');imshow(l);H,T,R = hough(BW);imshow(H,'XData',T,'YData',R,.'Ini tialMag nificatio n'，fit');xlabel('theta'), ylabel('rho');axis on, axis no rmal, hold on;P = houghpeaks(H,5

3、,'threshold',ceil(0.3*max(H(:);x = T(P(:,2); y = R(P(：,1)；plot(x,y,'s','color','white');% Find lines and plot themlines = houghli nes(BW,T,R,P,'FillGap',5,'Mi nLe ngth',7);figure, imshow(I), hold onmax_le n = 0;for k = 1:(le ngth(li nes)-9)xy = li nes(

4、k).po in t1; li nes(k).po in t2;plot(xy(:,1),xy(:,2),'L in eWidth',2,'Color','gree n');% Plot begi nnings and ends of li nesplot(xy(1,1),xy(1,2),'x','Li neWidth',2,'Color','yellow');plot(xy(2,1),xy(2,2),'x','Li neWidth',2,'C

5、olor','red');% Determ ine the en dpo ints of the lon gest line segme ntlen = n orm(li nes(k).poi nt1 - lin es(k).poi nt2);if ( len > max_le n)max_le n = len;xyong = xy;endend% highlight the lon gest line segme ntplot(xy_lo ng(:,1),xy_lo ng(:,2),'Li neWidth',2,'Color',&

6、#39;blue');disp=( y=' poly2str(p, 'x');gtext( 'y=-0.8 x + 222.6');-300-200-1000 -100 -200Hough Tran sform of Gan trycra ne Image直线方程y=-0.8 x + 222.6-500506(2) 按照拟合法求图2中圆的参数，即给出圆心位置和半径。(思路：先提取出边缘点，然后用边缘点拟合圆)程序代码：创建函数：>>fu ncti onhough_space,hough_circle,parahough_circle(

7、BW,step_r,step_a ngle,r_mi n,r_max,p);m,n = size(BW);size_r = rou nd(r_max-r_mi n)/step_r)+1;size_a ngle = rou nd(2*pi/step_a ngle);hough_space = zeros( m,n, size_r);rows,cols = fin d(BW);ecou nt = size(rows);% Hough变换%将图像空间(x,y)对应到参数空间(a,b,r)% a = x-r*cos(a ngle)% b = y-r*s in(an gle)for i=1:ecou n

8、tfor r=1:size_rfor k=1:size_a nglea = roun d(rows(i)-(r_mi n+(r-1)*step_r)*cos(k*step_a ngle);b = roun d(cols(i)-(r_mi n+(r-1)*step_r)*si n(k*step_a ngle);if(a>0&a<=m&b>0&b<=n)hough_space(a,b,r) = hough_space(a,b,r)+1;endendendend% 搜索超过阈值的聚集点 max_para = max(max(max(hough_spac

9、e); index = find(hough_space>=max_para*p); length = size(index);hough_circle=zeros(m,n);for i=1:ecountfor k=1:lengthpar3 = floor(index(k)/(m*n)+1;par2 = floor(index(k)-(par3-1)*(m*n)/m)+1; par1 = index(k)-(par3-1)*(m*n)-(par2-1)*m;if(rows(i)-par1F2+(cols(i)-pa A2<(r_mi n+(par3-1)*step_rf2+5 &a

10、mp;. (rows(i)-par1F2+(cols(i)-pa A2>(r_mi n+(par3-1)*step_r)A2-5)hough_circle(rows(i),cols(i) = 1;endendend% 打印结果for k=1:lengthpar3 = floor(index(k)/(m*n)+1;par2 = floor(index(k)-(par3-1)*(m*n)/m)+1;par1 = index(k)-(par3-1)*(m*n)-(par2-1)*m;par3 = r_min+(par3-1)*step_r;fprintf(1,'Center %d %d

11、 radius %dn',par1,par2,par3); para(:,k) = par1,par2,par3'end2.bmp');主程序： 大三下的各种文档 视觉测量技术 实验m,n,l = size(I);if l>1I = rgb2gray(I);endBW = edge(I,'sobel');step_r = 1; step_angle = 0.1;minr = 40;maxr = 60;thresh = 0.7;hough_space,hough_circle,para= hough_circle(BW,step_r,step_a n

12、gle,mi nr,maxr,thresh);原图')边缘')检测结果')subplot(221),imshow(l),title('subplot(222),imshow(BW),title('subplot(223),imshow(hough_circle),title(' xx=95;yy=125;r=57;t=0:0.1:2*pi;% x=xx+r*cos(t); y=yy+r*S in( t);利用参数方程表示颜色红色subplot(224),plot(x,y,'b')%r gtext('(x-95)A2+(y-

13、125)A=57A2');实验结果：Cen ter 95 125 radius 57原图边缘2 = 2(x-95) +(y-125) 57检测结果2001501005050100150200(3) 有一中间带孔的三角形工件，其设计尺寸如下图所示:.茹3泌中rl 社礙&理II4 1| tA r从加工好的一批工件中随机抽取一件，在其正上方拍摄一张工件的图像如下 图所示：(1) .分别提取工件的内外边缘并做区分显示；(2) 计算工件上圆孔的圆心坐标及半径(图像坐标)，及工件的两个锐角的角度；(3).用卡尺测量工件的长边尺寸为 200mm,和设计尺寸200m 致，那么用 二维视觉测量的

14、方法从图像上判断该工件其他尺寸是否能满足整体的加工精度 高于 1mm 的要求，为什么？(1) 、程序如下：大三下的各种文档 视觉测量技术 实验一 TriangularPart.bmp'); %rotI=imrotate(I,10,'crop');% 旋转 90 度I = rgb2gray(I); thr=0.01,0.17; sigma=2;BW=edge(double(I),'canny',thr,sigma); %figure(1),imshow(BW),title('canny 边缘检测 ');step_r = 1; step_an

15、gle = 0.1; minr = 50; maxr = 70;thresh = 0.2; hough_space,hough_circle,para hough_circle(BW,step_r,step_angle,minr,maxr,thresh); imwrite(hough_circle,' 找出的圆 .bmp','bmp');D=imread(' 找出的圆 .bmp'); %figure(2),imshow(D);hold onH,T,R = hough(BW); axis on,axis normal%peak= houghpeak

16、s(H,5);P = houghpeaks(H,5,'threshold',ceil(0.1*max(H(:);hold on lines = houghlines(BW,T,R,P,'FillGap',1000,'MinLength',100);subplot(221),imshow(BW),title('canny 边缘检测 '); subplot(222),imshow(D);title(' 检测出来的圆 ') subplot(223),imshow(BW,);title('Hough Transfo

17、rm of Gantrycrane Image'); hold on%max_len = 0;for k = 1:length(lines)xy = lines(k).point1; lines(k).point2; plot(xy(:,1),xy(:,2),'LineWidth',4,'Color','green');endCenter 669 442 radius 59Center 674 442 radius 59Center 662 456 radius 59Center 681 457 radius 59Center 680 4

18、58 radius 59Center 667 444 radius 60Center 677 444 radius 60Center 665 445 radius 60Center 666 445 radius 60Center 663 456 radius 60Center 669 461 radius 60Center 674 462 radius 60Center 674 444 radius 61Center 675 444 radius 61Center 667 445 radius 61Center 666 446 radius 61Center 664 448 radius 61

19、Center 663 452 radius 61Center 663 453 radius 61Center 664 456 radius 61Center 677 458 radius 61Center 678 458 radius 61Center 668 460 radius 61Center 669 460 radius 61Center 670 445 radius 62Center 673 445 radius 62Center 674 445 radius 62Center 675 445 radius 62Center 676 446 radius 62Center 665 4

20、49 radius 62Center 664 452 radius 62Center 664 453 radius 62Center 679 454 radius 62Center 679 455 radius 62Center 665 456 radius 62Center 677 457 radius 62Center 676 458 radius 62Center 674 446 radius 63Center 677 448 radius 63Center 666 449 radius 63Center 678 451 radius 63Center 665 452 radius 63

21、Center 678 452 radius 63Center 665 453 radius 63Center 678 453 radius 63Center 666 455 radius 63Center 677 455 radius 63Center 676 456 radius 63Center 677 456 radius 63Center 675 457 radius 63Center 669 458 radius 63Center 670 458 radius 63Center 673 447 radius 64Center 674 447 radius 64Center 675 4

22、47 radius 64Center 668 448 radius 64Center 675 448 radius 64Center 676 448 radius 64Center 667 449 radius 64Center 676 449 radius 64Center 666 450 radius 64Center 667 450 radius 64Center 666 451 radius 64Center 666 452 radius 64Center 677 452 radius 64Center 666 453 radius 64Center 677 453 radius 64

23、Center 667 454 radius 64Center 676 454 radius 64Center 667 455 radius 64Center 676 455 radius 64Center 675 456 radius 64Center 668 457 radius 64Center 669 457 radius 64Center 670 457 radius 64Center 671 457 radius 64Center 669 449 radius 65Center 675 449 radius 65Center 667 450 radius 65Center 668 4

24、50 radius 65Center 675 450 radius 65Center 676 450 radius 65Center 667 451 radius 65Center 676 451 radius 65Center 667 452 radius 65Center 676 452 radius 65Center 667 453 radius 65Center 676 453 radius 65Center 668 454 radius 65Center 675 454 radius 65Center 669 455 radius 65Center 675 455 radius 65

25、Center 669 456 radius 65Center 670 456 radius 65Center 671 456 radius 65Center 672 456 radius 65Center 673 456 radius 65Center 672 457 radius 65Center 670 448 radius 66Center 671 448 radius 66Center 669 449 radius 66Center 670 449 radius 66Center 671 449 radius 66Center 672 449 radius 66Center 673 4

26、49 radius 66Center 674 449 radius 66Center 669 450 radius 66Center 674 450 radius 66Center 675 450 radius 66Center 668 451 radius 66Center 669 451 radius 66Center 674 451 radius 66Center 675 451 radius 66Center 668 452 radius 66Center 675 452 radius 66Center 669 455 radius 66Center 670 455 radius 66

27、Center 671 455 radius 66Center 672 455 radius 66Center 672 456 radius 66Center 673 456 radius 66Center 671 449 radius 67Center 672 449 radius 67Center 673 449 radius 67Center 670 450 radius 67Center 671 450 radius 67Center 672 450 radius 67Center 673 450 radius 67Center 674 450 radius 67Center 669 4

28、51 radius 67Center 670 451 radius 67Center 673 451 radius 67Center 674 451 radius 67Center 669 452 radius 67Center 670 452 radius 67Center 674 452 radius 67Center 669 453 radius 67Center 670 453 radius 67Center 673 453 radius 67Center 674 453 radius 67Center 669 454 radius 67Center 670 454 radius 67

29、Center 671 454 radius 67Center 672 454 radius 67Center 673 454 radius 67Center 671 455 radius 67Center 672 455 radius 67Center 673 455 radius 67Center 671 450 radius 68Center 672 450 radius 68Center 673 450 radius 68Center 669 451 radius 68Center 670 451 radius 68Center 671 451 radius 68Center 672 4

30、52 radius 68Center 673 452 radius 68Center 674 452 radius 68Center 669 453 radius 68Center 670 453 radius 68Center 671 453 radius 68Center 672 453 radius 68Center 673 453 radius 68Center 670 454 radius 68Center 671 454 radius 68Center 672 454 radius 68Center 673 454 radius 68Center 674 454 radius 68

31、Center 670 450 radius 69Center 671 450 radius 69Center 673 450 radius 69Center 670 451 radius 69Center 671 451 radius 69Center 672 451 radius 69Center 673 451 radius 69Center 669 452 radius 69Center 670 452 radius 69Center 671 452 radius 69Center 672 452 radius 69Center 673 452 radius 69Center 674 4

32、52 radius 69Center 670 453 radius 69Center 671 453 radius 69Center 672 453 radius 69Center 673 453 radius 69Center 674 453 radius 69Center 671 454 radius 69Center 672 454 radius 69Center 671 455 radius 69Center 670 450 radius 70Center 671 450 radius 70Center 672 450 radius 70Center 670 451 radius 70

33、Center 671 451 radius 70Center 673 452 radius 70Cen ter 674 452 radius 70Center 670 453 radius 70Center 671 453 radius 70Center 672 453 radius 70Center 673 453 radius 70Center 674 453 radius 70Center 670 454 radius 70Cen ter 671 454 radius 70Cen ter 672 454 radius 70Center 673 454 radius 70canny边缘检测

34、检测岀来的圆Hough Tran sform of Gan trycra ne Image(2)、程序如下：大二下的各种文档视觉测量技术头验一 TriangularPart.bmp');%rotI=imrotate(I,10,'crop');%旋转 90 度I = rgb2gray(I);thr=0.01,0.17; sigma=2;BW=edge(double(l),'ca nn y',thr,sigma); figure,imshow(BW),title('canny边缘检测');H,T,R = hough(BW);axis on, axis no rmal%peak= houghpeaks(H,5);P = houghpeaks(H,5,'threshold',ceil(0.1*max(H(:); fig