Labview Machine Vision and Image Processing Course Manual: Sample

LabVIEW Machine Vision TM
and Image Processing
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Course Manual
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Course Software Version 8.5
April 2008 Edition
Part Number 321998F-01
LabVIEW Machine Vision and Image Processing

Copyright
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Contents
Student Guide
A. Course Description ...............................................................................................v
B. What You Need to Get Started .............................................................................vi
C. Installing the Course Software..............................................................................vii
D. Course Goals.........................................................................................................vii
E. Course Conventions ..............................................................................................viii
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Lesson 1
Introduction to Machine Vision
A. National Instruments Machine Vision ..................................................................1-2
B. NI Vision Products................................................................................................1-2
C. Measurement & Automation Explorer .................................................................1-6
Lesson 2 mp
Preparing Your Imaging Environment
A. Preparing Your Imaging Environment .................................................................2-2
B. Selecting a Camera ...............................................................................................2-11
Lesson 3
Acquiring and Displaying Images
A. Acquisition Modes ................................................................................................3-2
B. Property Nodes .....................................................................................................3-35
C. Triggering .............................................................................................................3-45
Lesson 4
Processing Images
A. NI Vision VIs........................................................................................................4-2
B. Prototyping Applications with NI Vision Assistant .............................................4-3
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Lesson 5
Enhancing Acquired Images
A. Using Spatial Calibration......................................................................................5-2
B. Calibrating Images with NI Vision .......................................................................5-3
C. Calibrating Your Imaging Setup...........................................................................5-4
D. Using Spatial Filters..............................................................................................5-13
© National Instruments Corporation iii LabVIEW Machine Vision and Image Processing
Contents
Lesson 6
Measuring Features
A. NI Vision Machine Vision VIs .............................................................................6-2
B. Regions of Interest ................................................................................................6-2
C. Nondestructive Overlays.......................................................................................6-8
D. Edge Detection......................................................................................................6-9
Lesson 7
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Using Machine Vision Techniques
A. Pattern Matching...................................................................................................7-2
B. Geometric Matching .............................................................................................7-6
C. Coordinate Systems ..............................................................................................7-20
Lesson 8
Processing Binary Images
A.
mp Collecting Image Information with Histograms ...................................................8-2
B. Thresholds.............................................................................................................8-4
C. Morphology ..........................................................................................................8-11
D. Making Particle Measurements ............................................................................8-15
E. Using the Golden Template ..................................................................................8-25
Lesson 9
Identifying Images
A. Binary Particle Classification ...............................................................................9-2
B. Optical Character Recognition..............................................................................9-5
C. 2D Barcode Functions ..........................................................................................9-17
Appendix A
Using Color Tools
A. Introduction to Color ............................................................................................A-2
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B. Using Color Tools.................................................................................................A-3
Appendix B
Additional Information and Resources
Glossary
Course Evaluation
LabVIEW Machine Vision and Image Processing iv ni.com

Enhancing Acquired Images
5
In this lesson, you will learn about calibration and filtering. Spatial
calibration is the process of computing pixel to real-world unit
transformations while accounting for errors inherent to the imaging setup.
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Calibrating your imaging setup is important when you need to make
accurate measurements in real-world units.
Spatial filters serve a variety of purposes, such as detecting edges along a

specific direction, contouring patterns, reducing noise, and detail outlining
or smoothing. Filters smooth, sharpen, transform, and remove noise from an
image so that you can extract the information you need.
Topics
mp A. Using Spatial Calibration
B. Calibrating Images with NI Vision
C. Calibrating Your Imaging Setup
D. Using Spatial Filters
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© National Instruments Corporation 5-1 LabVIEW Machine Vision and Image Processing
Lesson 5 Enhancing Acquired Images
A. Using Spatial Calibration

An image contains information in the form of pixels. Spatial calibration
allows you to translate a measurement from pixel units into physical units.
This conversion can be a simple linear conversion between pixels and
real-world units. For example, if the pixel to inch ratio is 1:1, a length
measurement of ten pixels is equivalent to ten inches.
However, this conversion may be nonlinear because of perspective errors
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and lens distortion. In Figure 5-1a, the camera is in the ideal position:
perpendicular to the image plane. If the camera is not perpendicular to the
image plane, as shown in Figure 5-1b, the image results can have
perspective errors and lens distortion errors.
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a. b.
1 Lens Distortion 2 Perspective Error 3 Known Orientation Offset

Figure 5-1. Reasons for Calibrating Images
Perspective errors and lens errors cause images to appear distorted. This
distortion misplaces information in an image, but it does not necessarily
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destroy the information in the image. Calibration accounts for possible
errors by constructing mappings that you can use to convert between pixel
and real-world units. You can also use the calibration information to correct
perspective errors and nonlinear distortion errors in image displays and
shape measurements.
Use the NI Vision calibration tools to perform the following operations:

• Calibrate your imaging setup automatically by learning a standard
pattern (calibration template) or by providing reference points. A
calibration template is a user-defined grid of circular dots.
• Apply a learned calibration mapping to correct an acquired image.
LabVIEW Machine Vision and Image Processing 5-2 ni.com

• Assign an arbitrary coordinate system to measure positions in real-world

units.
• Convert measurements (lengths, widths, areas) from real-world units to
pixel units and back.
B. Calibrating Images with NI Vision

You can use NI Vision VIs to convert pixel coordinates to real-world
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coordinates in a calibrated image. In addition, you can transform a distorted
image into an image in which distortions are corrected. NI Vision also
allows you to save and load calibrated images for processing.
NI Vision has two types of image calibration: perspective calibration and

nonlinear calibration. Perspective calibration corrects for perspective errors
and nonlinear calibration corrects for perspective errors and nonlinear
distortion.
mp Figure 5-2 illustrates the types of errors your image can exhibit. Figure 5-2a
shows a grid of dots with no errors. Figure 5-2b illustrates perspective errors
caused by a camera imaging the grid from an angle. Figure 5-2c illustrates the
effect of lens distortion on the grid of dots. A typical camera lens introduces
radial distortion, which causes points that are away from the lens’s optical
center to appear further away from the center than they really are.
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a. No Distortion b. Perspective Projection c. Nonlinear Distortion
Figure 5-2. Perspective and Distortion Errors
Use perspective calibration when your system exhibits perspective errors

only. Use nonlinear calibration when your system exhibits nonlinear lens
distortion. If your system exhibits perspective errors and nonlinear
distortion, use nonlinear calibration to correct for both. Applying
perspective calibration is less computationally intensive than nonlinear
calibration. However, perspective calibration is not designed to handle
highly nonlinear distortions.
Perspective calibration computes one pixel to real-world mapping for the

entire image. You can use the mapping to convert the coordinates of any
pixel in the image to real-world units.
Nonlinear calibration computes pixel to real-world mappings in a

rectangular region centered around each dot in the calibration template.
NI Vision estimates the mapping information around each dot based on its
neighboring dots. You can convert pixel units to real-world units within the
area covered by the grid dots. Because NI Vision computes the mappings
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around each dot, only the area in the image covered by the grid dots is
calibrated accurately.
C. Calibrating Your Imaging Setup

The following general steps explain how to calibrate your imaging setup
using a calibration template.
mp 1. Create a calibration template appropriate for your field of view.
Note National Instruments provides a calibration template that you can use to calibrate
your image. However, this template may not be appropriate for all applications. Consider
the size of your object under inspection, as well as whether or not you need a calibration
template that has a certificate of accuracy. You can purchase highly accurate calibration
templates from optics suppliers, such as Edmund Optics.
2. Acquire an image of the calibration template using your current imaging

setup.
3. Enter the acquired image, the distances between the dots on the
calibration template, and the location and orientation of the coordinate
system to the IMAQ Learn Calibration Template VI. This VI produces
a calibrated image.
4. Acquire an image of the object of interest without the calibration
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template.
5. Apply the calibration information to the acquired image by copying it
from the calibrated image. The IMAQ Set Calibration Info VI provides
the new image with the calibration transform equations.
6. Apply the calibration information to the pixel measurements using one
of these three methods:
• Use the IMAQ Convert Pixel to Real World VI to correct individual
pixels for distance or edge locations.
• Use the IMAQ Particle Analysis VI to return real-world
measurements on the calibrated image.

• Use the IMAQ Correct Calibrated Image VI to correct the calibrated

image by applying a calibration template. This produces a spatially
correct image that you can use for particle or area analysis.
You have the option of generating an error map. An error map returns an
estimate of the worst-case error when a pixel coordinate is transformed into
a real-world coordinate.
Use the calibration information obtained from the calibration process to
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convert any pixel coordinate to its real-world coordinate and back.
Common Calibration Misconceptions

You cannot calibrate images under poor lighting or insufficient resolution
conditions. Also, calibration does not affect image accuracy, which is
subject to your camera and lens selections. The following are some common
calibration misconceptions:
mp • Calibration fixes any measurement to an arbitrary accuracy.
• Calibrated images always need to be corrected.
• Calibration can compensate for poor lighting or unstable conditions.
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Exercise 5-1 Calibration and Perspective Correction

Goal
Use NI Vision calibration and correction tools to solve a perspective or lens
distortion problem.
Scenario
Many machine vision applications are completely useless if they cannot
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report information in real-world units. NI Vision calibration functions can
calibrate pixel separation in your images to a real-world distance.
Lens distortion and perspective distortion are also common problems found
in image acquisition. If careful consideration is not taken, measurement
accuracy will vary according to the location of the object in your image. NI
Vision calibration functions can account for distortion factors and correction
mp functions can adjust the image accordingly.
Description
In this exercise, you will create a script in Vision Assistant to correct lens
distortion and examine an example program to observe the perspective
calibration process in LabVIEW.
Implementation
Complete both parts of this exercise.
Correcting Lens Distortion using the Vision Assistant Express VI

1. Open a blank VI.
2. Save the VI as Lens Distortion Calibration.vi in the
<Exercises>\LabVIEW Machine Vision\Calibration
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directory.
3. Acquire an image.
❑ Place the Vision Acquisition Express VI (Vision and Motion»

Vision Express»Vision Acquisition) on the block diagram.
❑ In the NI Vision Acquisition Express configuration window, select

Simulated Acquisition»Folder of Images in the left-hand pane.
❑ Click Next.
❑ Select Single Acquisition with processing for the acquisition type.
❑ Click Next.

❑ Click the browse button next to the Image Path textbox.
❑ Navigate to <Exercises>\LabVIEW Machine Vision\

Calibration and Perspective Correction\ELP mug.png
and click OK.
❑ Click Test to test the acquisition.
❑ Click Finish to finish building the express VI.
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❑ On the front panel, right-click the Image Display indicator and select
Snapshot.
4. Use the ELP cal template grid to calibrate the image to account for
nonlinear lens distortion.
❑ Place a Vision Assistant Express VI (Vision and Motion»Vision

mp Express»Vision Assistant) on the block diagram.
❑ In the NI Vision Assistant configuration window, select File»Open

Image.
❑ Browse to <Exercises>\LabVIEW Machine Vision\

Calibration and Perspective Correction, open the file
ELP mug.png and click OK. If the Vision Assistant prompts you to
remove previously acquired images, select Yes.
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Figure 5-3. Vision Assistant Express VI Configuration Window
❑ Select Processing Functions: Image»Image Calibration. This

opens the Choose a calibration type window.
❑ Select Grid Calibration and click OK. The Grid Calibration

Setup window opens.
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❑ Click Open Image and double-click the file
ELP cal template.png in the <Exercises>\LabVIEW
Machine Vision\Calibration and Perspective
Correction directory.
❑ Click the Zoom Out button in order to see the entire image.
❑ Select Nonlinear for the Distortion type.
❑ Click Next.
❑ Enter 0 for the Threshold Range Min and enter 110 for the Max.
This setting allows the algorithm to find most of the grid dots
without letting noise particles through.

❑ Click Next.
❑ Enter 0.375 for the X-Spacing and enter 0.375 for the Y-Spacing.
❑ Set Unit to centimeter.
❑ Click Next.
❑ In the Axis Origin parameter, enter 0 for X and enter 0 for Y.
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❑ Set the Axis Reference to Indirect, as shown in Figure 5-4a.
The calibration procedure automatically determines the direction of

the horizontal axis. The vertical axis direction can either be indirect
or direct as shown in Figure 5-4.
X Y
mp Y
a. Indirect b. Direct
Figure 5-4. Axis Direction

X
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Figure 5-5. Grid Calibration Setup
❑ Click OK.
❑ Save the calibrated image as ELP Calibrated.png in the

<Exercises>\LabVIEW Machine Vision\
Calibration and Perspective Correction directory and
click OK.
❑ Click OK in the Image Calibration Setup section.
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Note Although the image perspective has not been corrected, the image perspective is
fully calibrated at this point to accommodate lens distortion. You can take measurements
in real-world units, and the results will be spatially correct.
5. Correct the image perspective. The text in the image will appear without
curvature.
mp ❑ Select Processing Functions: Image»Image Correction.
❑ Click OK in the Image Correction Setup section.
❑ Click Finish in the NI Vision Assistant window.

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Figure 5-6. Calibrated Image

6. Finish building the block diagram shown in Figure 5-7.
Figure 5-7. Lens Distortion Calibration VI Block Diagram
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7. Add image management and error handling to the VI.
❑ Place a Flat Sequence Structure (Programming»Structures»Flat

Sequence Structure) around everything on the block diagram.
❑ Right-click the Flat Sequence Structure and select Add Frame

After.
❑ Place an IMAQ Dispose VI (Vision and Motion»Vision Utilities»

mp Image Management»Image Dispose) and Simple Error Handler
VI (Programming»Dialog & User Interface»Simple Error
Handler) in the second frame of the Flat Sequence Structure.
❑ Wire the VI as shown in Figure 5-8.

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Figure 5-8. Lens Distortion Calibration VI with Sequence Structure
8. Save the VI.
Testing
1. Test the VI.
❑ Go to the front panel.
❑ Run the VI. You should see the corrected image in the image display.
2. Examine the code generated by the Vision Assistant Express VI.
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❑ Go to the block diagram.
❑ Right-click the Vision Assistant Express VI and select Open Front

Panel.
❑ Click Convert when prompted to convert to a subVI.
❑ View the code generated by the Vision Assistant Express VI.

mpNote The IMAQ Read Image and Vision Info VI reads an image file, including any
extra vision information saved with the image. This includes calibration information. The
IMAQ Set Calibration Info VI sets calibration information from the calibrated image
to an uncalibrated image. The IMAQ Correct Calibrated Image VI corrects a
calibrated image by applying a calibration to create a spatially correct image.
❑ Close the subVI when finished. Click Defer Decision.
3. Close the VI. Do not save changes.
End of Exercise 5-1

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D. Using Spatial Filters

Spatial filters alter pixel values with respect to variations in light intensity in
their neighborhood. The neighborhood of a pixel is defined by the size of a
matrix, or mask, centered on the pixel itself. These filters can be sensitive to
the presence or absence of light-intensity variations.
Filters are divided into two types: linear (also called convolution) and
nonlinear. A linear filter replaces each pixel by a weighted sum of its
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neighbors. The matrix defining the neighborhood of the pixel also specifies
the weight assigned to each neighbor. This matrix is called the convolution
kernel. A nonlinear filter replaces each pixel value with a nonlinear function
of its surrounding pixels. Like the linear filters, the nonlinear filters operate
on a neighborhood.
Linear and nonlinear filters are divided into two categories:

mp • Highpass filters—Emphasize significant variations of the light intensity
usually found at the boundary of objects. Highpass frequency filters help
isolate abruptly varying patterns that correspond to sharp edges, details,
and noise.
• Lowpass filters—Attenuate variations of the light intensity. Lowpass
frequency filters help emphasize gradually varying patterns such as
objects and the background. They have the tendency to smooth images
by eliminating details and blurring edges.
Table 5-1. Spatial Filter Types
Lowpass Highpass
Linear Gaussian Gradient
Smoothing Laplacian
Nonlinear Lowpass Differentiation
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Median Gradient
Nth Order Prewitt
Roberts
Sigma
Sobel
Convolution Kernels
A convolution kernel defines a 2D filter that you can apply to a grayscale
image. A convolution kernel is a 2D structure whose coefficients define the
characteristics of the convolution filter that it represents. In a typical
filtering operation, the coefficients of the convolution kernel determine the
filtered value of each pixel in the image. NI Vision provides a set of
convolution kernels that you can use to perform different types of filtering
operations on an image. You can also define your own convolution kernels,
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thus creating custom filters.
Refer to Chapter 5, Image Processing, of the NI Vision Concepts Manual for

more information about filtering and convolution kernels.
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Exercise 5-2 Concept: Using Filters

Goal
Use filters to manipulate an image.
Scenario
Some images require filtering before they can be analyzed or displayed.
NI Vision provides multiple filters.
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Design
In this exercise, you will acquire an image and use the Vision Assistant
express VI to apply smoothing and sharpening filters.
Flowchart
mp Display the
Original Image
Display the Dispose of

Snap an Image Apply Filters Filtered Image the Images
Generate Code Using Vision Assistant
Figure 5-9. Flowchart of Using Filters VI

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Implementation
1. Open Snap and Display.vi (or Snap and Display 1394.vi),
located in the <Exercises>\LabVIEW Machine Vision directory.
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Figure 5-10. Snap and Display VI Block Diagram
2. Save the VI as Using Filters.vi in the <Exercises>\LabVIEW
Machine Vision directory.
3. Apply a Smoothing Filter to your image.
mp ❑ Place a Vision Assistant Express VI (Vision and Motion»Vision
Express»Vision Assistant) on the block diagram.
❑ In the NI Vision Assistant configuration window, select File»Open

Image.
❑ Navigate to the <Exercises>\LabVIEW Machine Vision

directory and select the file Acquired Image.jpg and click
Open. If the Vision Assistant prompts you to remove previously
acquired images, select Yes.
Note This image will not be used when the VI runs, but it will be displayed while
configuring the Vision Assistant Express VI so that the effects of the processing steps can
be visualized.
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❑ Select Processing Functions: Grayscale»Filters in the bottom left
window of Vision Assistant.
❑ Select Smoothing – Low Pass.
❑ Increase the Filter Size to 5.
❑ Click OK.

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Figure 5-11. Applying a Smoothing – Low Pass Filter
Tip You can double-click the Smoothing – Low Pass step to edit the filter. Vary the size
of the filter to see the effect on the image.
4. Apply a Convolution Filter to your image to make details in the image

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stand out.
❑ Select Processing Functions: Grayscale»Filters in the bottom left

window of Vision Assistant.
❑ Select Convolution – Highlight Details from the list of filters.
❑ Increase the Kernel Size to 5 × 5.
❑ Click OK.
❑ Click Select Controls.
❑ Place a checkmark in the Convolution - Highlight Details 1»

Kernel checkbox.
❑ Click Finish.
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Figure 5-12. Applying a Convolution – Highlight Details Filter
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5. Build the block diagram shown in Figure 5-13.
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Figure 5-13. Block Diagram of Using Filters VI
Note Create the array constant by right-clicking the Kernal input of the Vision Assistant
mpExpress VI and selecting Create»Constant. Display multiple elements of the array
constant by clicking and dragging the bottom right corner of the array constant.
6. Examine and run the VI.
❑ Run the VI and view the result in the Image Display indicator on the
front panel.
❑ Run the VI with the different array constant values to see the results.
Challenge
1. Modify the block diagram to display both the filtered and original
images on the front panel at the same time.
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2. Save and close the VI.
End of Exercise 5-2
Notes
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LabVIEW Machine Vision TM

and Image Processing

LabVIEW Machine Vision and Image Processing

National Instruments Corporate Headquarters

LabVIEW Machine Vision and Image Processing iv ni.com

Spatial filters serve a variety of purposes, such as detecting edges along a

A. Using Spatial Calibration

However, this conversion may be nonlinear because of perspective errors

1 Lens Distortion 2 Perspective Error 3 Known Orientation Offset

Use the NI Vision calibration tools to perform the following operations:

LabVIEW Machine Vision and Image Processing 5-2 ni.com

• Assign an arbitrary coordinate system to measure positions in real-world

B. Calibrating Images with NI Vision

NI Vision has two types of image calibration: perspective calibration and

Figure 5-2. Perspective and Distortion Errors

Use perspective calibration when your system exhibits perspective errors

Perspective calibration computes one pixel to real-world mapping for the

Nonlinear calibration computes pixel to real-world mappings in a

C. Calibrating Your Imaging Setup

2. Acquire an image of the calibration template using your current imaging

LabVIEW Machine Vision and Image Processing 5-4 ni.com

• Use the IMAQ Correct Calibrated Image VI to correct the calibrated

Use the calibration information obtained from the calibration process to

Common Calibration Misconceptions

Exercise 5-1 Calibration and Perspective Correction

Correcting Lens Distortion using the Vision Assistant Express VI

❑ Place the Vision Acquisition Express VI (Vision and Motion»

❑ In the NI Vision Acquisition Express configuration window, select

❑ Select Single Acquisition with processing for the acquisition type.

LabVIEW Machine Vision and Image Processing 5-6 ni.com

❑ Click the browse button next to the Image Path textbox.

❑ Navigate to <Exercises>\LabVIEW Machine Vision\

❑ Click Test to test the acquisition.

❑ Click Finish to finish building the express VI.

❑ Place a Vision Assistant Express VI (Vision and Motion»Vision

❑ In the NI Vision Assistant configuration window, select File»Open

❑ Browse to <Exercises>\LabVIEW Machine Vision\

❑ Select Processing Functions: Image»Image Calibration. This

❑ Select Grid Calibration and click OK. The Grid Calibration

❑ Select Nonlinear for the Distortion type.

LabVIEW Machine Vision and Image Processing 5-8 ni.com

❑ Set Unit to centimeter.

❑ In the Axis Origin parameter, enter 0 for X and enter 0 for Y.

The calibration procedure automatically determines the direction of

Figure 5-4. Axis Direction

Figure 5-5. Grid Calibration Setup

❑ Save the calibrated image as ELP Calibrated.png in the

❑ Click OK in the Image Calibration Setup section.

mp ❑ Select Processing Functions: Image»Image Correction.

❑ Click OK in the Image Correction Setup section.

❑ Click Finish in the NI Vision Assistant window.

Figure 5-6. Calibrated Image

LabVIEW Machine Vision and Image Processing 5-10 ni.com

6. Finish building the block diagram shown in Figure 5-7.

Figure 5-7. Lens Distortion Calibration VI Block Diagram

❑ Place a Flat Sequence Structure (Programming»Structures»Flat

❑ Right-click the Flat Sequence Structure and select Add Frame

❑ Place an IMAQ Dispose VI (Vision and Motion»Vision Utilities»

❑ Wire the VI as shown in Figure 5-8.

8. Save the VI.

❑ Go to the front panel.

2. Examine the code generated by the Vision Assistant Express VI.

❑ Right-click the Vision Assistant Express VI and select Open Front