【halcon 实现模板匹配，定位，找线，找点，找圆】 |
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【halcon 实现模板匹配，定位，找线，找点，找圆】
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halcon 实现模板匹配，定位，找线，找点，找圆
读取图片模板匹配准备形状模型模板匹配
根据x,y,angle得到以x,y为中心的空间定位某块区域定位找线测量卡尺位置定位找圆测量卡尺位置求线段交点显示之类的
c#联合halcon
链接:
https://www.bilibili.com/video/BV1aR4y1473b/.
halcon函数速查 链接: https://pan.baidu.com/s/1rbxf62bMh61Ie0pB4t3AHw . 提取码：0000 图片链接 链接: https://pan.baidu.com/s/1f0ld6nHcqzblvTnekEoSiQ . 0000 读取图片
读取 read_image (Image, 'D:/Data_image/a/m3_1.jpg') dev_close_window () dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle)选择模板 *创建带角度矩形 gen_rectangle2 (ROI_0, 310.125, 807.625, rad(-76.7595), 87.3212, 72.8268)将模板从原图中截取出来 reduce_domain (Image, ROI_0, ImageReduced) 模板匹配 准备形状模型 * 准备一个形状模型来匹配 create_shape_model (ImageReduced, 'auto',0, rad(360), 'auto', 'auto', 'use_polarity', 'auto', 'auto', ModelID) get_shape_model_contours (ModelContours, ModelID, 1)然后就可以开始找目标定位了 模板匹配 read_image (Image, 'D:/Data_image/a1/'+Indexs+'.jpg') rgb1_to_gray (Image, GrayImage) get_image_size (GrayImage, Width, Height) *计时 *count_seconds (S1) * 起始角,角范围,最小得分 匹配个数 最大重叠 亚像素 最大金字塔数 贪婪 0安全慢-1 find_shape_model (GrayImage, ModelID, 0, rad(360), 0.7, 1, 0, 'least_squares', 2, 0.9, Row, Column, Angle, Score)得到 x, y, angle, 分数 根据x,y,angle得到以x,y为中心的空间 dev_set_color ('green') hom_mat2d_identity (HomMat2DIdentity) * 齐次2d变换平移 hom_mat2d_translate (HomMat2DIdentity, Row, Column, HomMat2DTranslate) * 齐次2d变换旋转 hom_mat2d_rotate (HomMat2DTranslate, Angle, Row, Column, HomMat2DRotate) affine_trans_contour_xld (ModelContours, ShapeModelTrans, HomMat2DRotate) 定位某块区域通过在新空间上离原点的固定距离（100，-95）得到在原图的像素位置________ RowTrans, ColTrans affine_trans_pixel (HomMat2DRotate, 100, -95, RowTrans, ColTrans) gen_rectangle2 (Rectangle1Check, RowTrans, ColTrans, Angle-1.43, 180, 20)
同样的获取模板空间得到的 固定线段端点 在 原图上的位置 —— 黑到白_____ positive 白到黑_____ negative affine_trans_pixel (HomMat2DRotate, -115, -450, RowTrans1_1, ColTrans1_1) affine_trans_pixel (HomMat2DRotate, -145, -200,RowTrans1_2, ColTrans1_2) gen_region_line (Line1, RowTrans1_1, ColTrans1_1, RowTrans1_2, ColTrans1_2) * 创建测量句柄 create_metrology_model (MetrologyHandle1) * 设置计量模型图像大小 set_metrology_model_image_size (MetrologyHandle1, Width, Height) LineParams1 := [ RowTrans1_1, ColTrans1_1, RowTrans1_2, ColTrans1_2] * 卡尺高 卡尺宽 sigma 阈值 add_metrology_object_generic (MetrologyHandle1, 'line', LineParams1, 15, 3, 1, 20, \ 'measure_transition', 'positive', Index) * 执行测量，获取边缘点集 apply_metrology_model (GrayImage, MetrologyHandle1) get_metrology_object_measures (Contours1, MetrologyHandle1, 'all', 'all', Row1, Column1) *获取找到的点位 gen_cross_contour_xld (Cross1, Row1, Column1, 6, 0.785398) * 获取最终测量数据和轮廓线 *获取结果 get_metrology_object_result (MetrologyHandle1, 'all', 'all', 'result_type', 'all_param', Parameter) *划线 get_metrology_object_result_contour (ContourOut1, MetrologyHandle1, 'all', 'all', 1.5) *将轮廓拟合成线 fit_line_contour_xld (ContourOut1, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, Nr, Nc, Dist) * 释放测量句柄 clear_metrology_object (MetrologyHandle1, 'all')
第二根线同理 affine_trans_pixel (HomMat2DRotate, 30, -430, RowTrans2_1, ColTrans2_1) affine_trans_pixel (HomMat2DRotate, 200, -405,RowTrans2_2, ColTrans2_2) gen_region_line (Line2, RowTrans2_1, ColTrans2_1, RowTrans2_2, ColTrans2_2) * 创建测量句柄 create_metrology_model (MetrologyHandle2) * 添加测量对象 set_metrology_model_image_size (MetrologyHandle2, Width, Height) LineParams2 := [ RowTrans2_1, ColTrans2_1, RowTrans2_2, ColTrans2_2] * 卡尺高 卡尺宽 sigma 阈值 add_metrology_object_generic (MetrologyHandle2, 'line', LineParams2, 20, 3, 1, 20, \ 'measure_transition', 'negative', Index) * 执行测量，获取边缘点集 apply_metrology_model (GrayImage, MetrologyHandle2) get_metrology_object_measures (Contours2, MetrologyHandle2, 'all', 'all', Row2, Column2) *获取找到的点位 gen_cross_contour_xld (Cross2, Row2, Column2, 6, 0.785398) * 获取最终测量数据和轮廓线 *获取结果 get_metrology_object_result (MetrologyHandle2, 'all', 'all', 'result_type', 'all_param', Parameter) *划线 get_metrology_object_result_contour (ContourOut2, MetrologyHandle2, 'all', 'all', 1.5) *将轮廓拟合成线 fit_line_contour_xld (ContourOut2, 'tukey', -1, 0, 5, 2, RowBegin1, ColBegin1, RowEnd1, ColEnd1, Nr1, Nc1, Dist1) * 释放测量句柄 clear_metrology_object (MetrologyHandle2, 'all')
圆也一样 affine_trans_pixel (HomMat2DRotate, 20, -560, RowTrans1, ColTrans1) gen_circle (circle1, RowTrans1, ColTrans1, 50) LineParams3 := [RowTrans1, ColTrans1, 50] create_metrology_model (MetrologyHandle5) set_metrology_model_image_size (MetrologyHandle5, Width, Height) add_metrology_object_generic (MetrologyHandle5, 'circle', LineParams3, 16, 5, 1, 25, [], [], Index1) ** 'negative' 'positive' set_metrology_object_param (MetrologyHandle5, 'all', 'measure_transition', 'positive') set_metrology_object_param (MetrologyHandle5, 'all', 'num_measures',20) apply_metrology_model (GrayImage, MetrologyHandle5) get_metrology_object_measures (Contours5, MetrologyHandle5, 'all', 'all', Row5, Column5) tuple_length (Row5, Length2) if (Length2>1) gen_cross_contour_xld (Cross6, Row5, Column5, 6, Angle) gen_contour_polygon_xld (Contour5, Row5, Column5) fit_circle_contour_xld (Contour5, 'algebraic', -1, 0, 0, 3, 2, Row6, Column6, Radius, StartPhi, EndPhi, PointOrder) *创建圆或圆弧的XLD轮廓。 圆弧方向 gen_circle_contour_xld (ContCircle, Row6, Column6, Radius, rad(0), rad(360), 'positive', 1) endif * 释放测量句柄 clear_metrology_object (MetrologyHandle5, 'all')
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