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c#联合Halcon进行几何定位

主要就是c#联合Halcon进行几何定位（也可以叫做模型匹配），本程序主要是基于单模板，进行单个模板的匹配以及循环遍历模板的匹配，如果您觉得文章不错，麻烦您关注博主，如有不对的地方，还希望大家提出来，我们共同进步。

一: 程序配置

1： 首先配置在winfom引用程序中引用两个halcon应用程序的库：分别是halcon.dll和halcondotnet.dll，而后把这两个库放在你的应用程序输出路径下面，然后在下边的图片中取消首选32位的勾选。

2：右键点击工具箱，单击选择项，然后点击浏览按钮，引用halcondotnet.dll控件，点击确定就可以显示HWindowControl控件了

二： 程序界面：

用到的控件分别为：

1个图形窗口HWindowControl，2个ListBox控件，5个button控件

程序界面

三：运行效果展示

1：点击读取图片选择一个图片并画ROI区域,在下边可以看到读取图像成功，并且获得模板的基准。

2：点击图片列表载入可以选择多幅图片并且在右上角的listbox控件中显示多幅图片的路径。

3：选中右上角listbox控件的一个项然后单击单步模型匹配会根据不同方向，位置同一个图像进行几何定位

4：点击遍历查找模型可以快速地对右上角listbox控件中的所有图片进行快熟匹配

四：程序代码

读取模型图片按钮代码：

  1.  private void button读取图片_Click(object sender, EventArgs e)
  2.         {
  3.             HTuple width, height;
  4.             OpenFileDialog openFile = new OpenFileDialog();
  5.             openFile.Filter = "jpg文件(*.jpg)|*.jpg|png文件(*.png)|*.png|bmp文件(*.bmp文件)|*.bmp";
  6.             if (openFile.ShowDialog()==DialogResult.OK)
  7.             {
  8.                 hImage.ReadImage(openFile.FileName);
  9.                 //设置读取的图片的大小，并且刚好设置在窗口中
  10.                 HOperatorSet.GetImageSize(hImage, out width, out height);
  11.                 HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, height, width);
  12.                 //图像显示
  13.                 hImage.DispObj(hw1.HalconWindow);
  14.                 listBox信息.Items.Add("读取单个图像成功");
  15.             }
  16.         }

画ROI按钮：

  1. private void button画ROI_Click(object sender, EventArgs e)
  2.         {
  3.             try
  4.             {
  5.                 //取消焦点
  6.                 hw1.Focus();
  7.                 HOperatorSet.SetColor(hw1.HalconWindow, "red");
  8.                         HOperatorSet.DrawRectangle2(hw1.HalconID, out row, out column, out phi, out length1, out length);
  9.                         HOperatorSet.GenRectangle2(out rectangle2, row, column, phi, length1, length);
  10.                         HOperatorSet.DispObj(rectangle2, hw1.HalconID);
  11.                 HOperatorSet.ReduceDomain(hImage, rectangle2, out ho_ImageReduced);
  12.                 HOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-180)).TupleRad()
  13. , (new HTuple(360)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto",
  14. out modelId);
  15.                 HOperatorSet.FindShapeModel(hImage, modelId, (new HTuple(-180)).TupleRad()
  16.     , (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", 0, 0.9, out hv_Row1,
  17.     out hv_Column1, out hv_Angle, out hv_Score);
  18.                 //显示匹配结果
  19.                 dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  20.      1, 1, 0);
  21.                 //产生十字交叉点
  22.                 HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  23.                 HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  24.                 listBox信息.Items.Add("画模板ROI区域成功");
  25.                 listBox信息.Items.Add("获得基准模板成功");
  26.             }
  27.             catch (System.Exception ex)
  28.             {
  29.                 MessageBox.Show(ex.Message);
  30.             }
  31.         }

图片列表载入按钮：

  1.     private void button图片载入_Click(object sender, EventArgs e)
  2.         {
  3.             //多个图片的载入
  4.             OpenFileDialog openFile = new OpenFileDialog();
  5.             //设置打开属性Multiselect为true表示允许选中多个图片文件
  6.             openFile.Multiselect = true;
  7.             openFile.Filter = "JPG文件|*.jpg|PNG文件|*.png|BMP文件|*.bmp";
  8.             if (openFile.ShowDialog()==DialogResult.OK)
  9.             {
  10.                
  11.                 foreach (var item in  openFile.FileNames)
  12.                 {
  13.                     listBox文件.Items.Add(item);
  14.                 }
  15.             }
  16.         }

单步查找模型按钮：

  1. private void button单模型查找_Click(object sender, EventArgs e)
  2.         {
  3.             HImage hImagetwo = new HImage();
  4.             string a = Convert.ToString(listBox文件.SelectedItem);
  5.             hImagetwo.ReadImage(a);
  6.             HTuple Width, Height;
  8.             //设置图片以合适的方式显示在图片控件上面
  9.             HOperatorSet.GetImageSize(hImagetwo, out Width, out Height);
  10.             HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
  11.             HOperatorSet.DispObj(hImagetwo, hw1.HalconWindow);
  12.             HOperatorSet.FindShapeModel(hImagetwo, modelId, (new HTuple(-180)).TupleRad()
  13.      , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
  14.      out hv_Column1, out hv_Angle, out hv_Score);
  15.             //显示匹配结果
  16.             dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  17.  1, 1, 0);
  18.             //产生十字交叉点
  19.             HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  20.             HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  21.             listBox信息.Items.Add("单个匹配图像成功");
  22.         }

遍历查找模型按钮：

  1.        private void button循环遍历查找_Click(object sender, EventArgs e)
  2.         {
  3.             HImage hImagethree = new HImage();
  4.             for (int i = 0; i < listBox文件.Items.Count; i++)
  5.             {
  6.                 int index = listBox文件.FindString(Convert.ToString(listBox文件.Items[i]));
  7.                 if (index != ListBox.NoMatches)
  8.                 {
  9.                     listBox文件.SetSelected(index, true);  //表示在listbox文件框中当前循环遍历的是哪一个
  10.                     string  filename = Convert.ToString(listBox文件.SelectedItem);
  11.                     hImagethree.ReadImage(filename);
  12.                     HTuple Width, Height;
  14.                     //设置图片以合适的方式显示在图片控件上面
  15.                     HOperatorSet.GetImageSize(hImagethree, out Width, out Height);
  16.                     HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
  17.                     HOperatorSet.DispObj(hImagethree, hw1.HalconWindow);
  18.                     HOperatorSet.FindShapeModel(hImagethree, modelId, (new HTuple(-180)).TupleRad()
  19.              , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
  20.              out hv_Column1, out hv_Angle, out hv_Score);
  21.                     //显示匹配结果
  22.                    if (hv_Row1>0&&hv_Column1>0)
  23.                    {
  24.                         //显示匹配结果
  25.                         dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  26.              1, 1, 0);
  27.                         //产生十字交叉点
  28.                         HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  29.                         HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  30.                         listBox信息.Items.Add("循环遍历中匹配单个图像成功");
  31.                     }
  32.                 }
  33.             } 
  34.         }

完整程序代码：

  1. using System;
  2. using System.Collections.Generic;
  3. using System.ComponentModel;
  4. using System.Data;
  5. using System.Drawing;
  6. using System.Linq;
  7. using System.Text;
  8. using System.Threading.Tasks;
  9. using System.Windows.Forms;
  10. using HalconDotNet;
  12. namespace 多模板匹配
  13. {
  14.     public partial class Form1 : Form
  15.     {
  16.         public Form1()
  17.         {
  18.             InitializeComponent();
  19.             //设置画的模式
  20.             HOperatorSet.SetDraw(hw1.HalconWindow, "margin");
  21.         }
  22.         HImage hImage = new HImage();
  23.         private void button读取图片_Click(object sender, EventArgs e)
  24.         {
  25.             HTuple width, height;
  26.             OpenFileDialog openFile = new OpenFileDialog();
  27.             openFile.Filter = "jpg文件(*.jpg)|*.jpg|png文件(*.png)|*.png|bmp文件(*.bmp文件)|*.bmp";
  28.             if (openFile.ShowDialog()==DialogResult.OK)
  29.             {
  30.                 hImage.ReadImage(openFile.FileName);
  31.                 //设置读取的图片的大小，并且刚好设置在窗口中
  32.                 HOperatorSet.GetImageSize(hImage, out width, out height);
  33.                 HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, height, width);
  34.                 //图像显示
  35.                 hImage.DispObj(hw1.HalconWindow);
  36.                 listBox信息.Items.Add("读取单个图像成功");
  37.             }
  38.         }
  40.         HTuple color;
  41.         #region  画ROI区域产生的变量
  42.         //创建模板的编号
  43.         HTuple modelId;
  44.         //查询模板的中间坐标，角度，还有模型实例的分数
  45.         HTuple hv_Row1 = null, hv_Column1 = null, hv_Angle = null, hv_Score;
  46.         //十字坐标
  47.         HObject ho_Cross;
  48.         //矩形2
  49.         HTuple row, column, phi, length1, length;
  51.         HObject rectangle2, ho_ImageReduced;
  52.         public void dev_display_shape_matching_results(HTuple hv_ModelID, HTuple hv_Color,
  53.     HTuple hv_Row, HTuple hv_Column, HTuple hv_Angle, HTuple hv_ScaleR, HTuple hv_ScaleC,
  54.     HTuple hv_Model)
  55.         {
  57.             // Local iconic variables 
  59.             HObject ho_ModelContours = null, ho_ContoursAffinTrans = null;
  61.             // Local control variables 
  63.             HTuple hv_NumMatches = null, hv_Index = new HTuple();
  64.             HTuple hv_Match = new HTuple(), hv_HomMat2DIdentity = new HTuple();
  65.             HTuple hv_HomMat2DScale = new HTuple(), hv_HomMat2DRotate = new HTuple();
  66.             HTuple hv_HomMat2DTranslate = new HTuple();
  67.             HTuple hv_Model_COPY_INP_TMP = hv_Model.Clone();
  68.             HTuple hv_ScaleC_COPY_INP_TMP = hv_ScaleC.Clone();
  69.             HTuple hv_ScaleR_COPY_INP_TMP = hv_ScaleR.Clone();
  71.             // Initialize local and output iconic variables 
  72.             HOperatorSet.GenEmptyObj(out ho_ModelContours);
  73.             HOperatorSet.GenEmptyObj(out ho_ContoursAffinTrans);
  74.             //This procedure displays the results of Shape-Based Matching.
  75.             //
  76.             hv_NumMatches = new HTuple(hv_Row.TupleLength());
  77.             if ((int)(new HTuple(hv_NumMatches.TupleGreater(0))) != 0)
  78.             {
  79.                 if ((int)(new HTuple((new HTuple(hv_ScaleR_COPY_INP_TMP.TupleLength())).TupleEqual(
  80.                     1))) != 0)
  81.                 {
  82.                     HOperatorSet.TupleGenConst(hv_NumMatches, hv_ScaleR_COPY_INP_TMP, out hv_ScaleR_COPY_INP_TMP);
  83.                 }
  84.                 if ((int)(new HTuple((new HTuple(hv_ScaleC_COPY_INP_TMP.TupleLength())).TupleEqual(
  85.                     1))) != 0)
  86.                 {
  87.                     HOperatorSet.TupleGenConst(hv_NumMatches, hv_ScaleC_COPY_INP_TMP, out hv_ScaleC_COPY_INP_TMP);
  88.                 }
  89.                 if ((int)(new HTuple((new HTuple(hv_Model_COPY_INP_TMP.TupleLength())).TupleEqual(
  90.                     0))) != 0)
  91.                 {
  92.                     HOperatorSet.TupleGenConst(hv_NumMatches, 0, out hv_Model_COPY_INP_TMP);
  93.                 }
  94.                 else if ((int)(new HTuple((new HTuple(hv_Model_COPY_INP_TMP.TupleLength()
  95.                     )).TupleEqual(1))) != 0)
  96.                 {
  97.                     HOperatorSet.TupleGenConst(hv_NumMatches, hv_Model_COPY_INP_TMP, out hv_Model_COPY_INP_TMP);
  98.                 }
  99.                 for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ModelID.TupleLength())) - 1); hv_Index = (int)hv_Index + 1)
  100.                 {
  101.                     ho_ModelContours.Dispose();
  102.                     HOperatorSet.GetShapeModelContours(out ho_ModelContours, hv_ModelID.TupleSelect(
  103.                         hv_Index), 1);
  104.                     if (HDevWindowStack.IsOpen())
  105.                     {
  106.                         HOperatorSet.SetColor(HDevWindowStack.GetActive(), hv_Color.TupleSelect(
  107.                             hv_Index % (new HTuple(hv_Color.TupleLength()))));
  108.                     }
  109.                     HTuple end_val18 = hv_NumMatches - 1;
  110.                     HTuple step_val18 = 1;
  111.                     for (hv_Match = 0; hv_Match.Continue(end_val18, step_val18); hv_Match = hv_Match.TupleAdd(step_val18))
  112.                     {
  113.                         if ((int)(new HTuple(hv_Index.TupleEqual(hv_Model_COPY_INP_TMP.TupleSelect(
  114.                             hv_Match)))) != 0)
  115.                         {
  116.                             HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity);
  117.                             HOperatorSet.HomMat2dScale(hv_HomMat2DIdentity, hv_ScaleR_COPY_INP_TMP.TupleSelect(
  118.                                 hv_Match), hv_ScaleC_COPY_INP_TMP.TupleSelect(hv_Match), 0, 0, out hv_HomMat2DScale);
  119.                             HOperatorSet.HomMat2dRotate(hv_HomMat2DScale, hv_Angle.TupleSelect(hv_Match),
  120.                                 0, 0, out hv_HomMat2DRotate);
  121.                             HOperatorSet.HomMat2dTranslate(hv_HomMat2DRotate, hv_Row.TupleSelect(
  122.                                 hv_Match), hv_Column.TupleSelect(hv_Match), out hv_HomMat2DTranslate);
  123.                             ho_ContoursAffinTrans.Dispose();
  124.                             HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_ContoursAffinTrans,
  125.                                 hv_HomMat2DTranslate);
  126.                             //显示
  127.                             hw1.HalconWindow.DispObj(ho_ContoursAffinTrans);
  128.                             //
  129.                             if (HDevWindowStack.IsOpen())
  130.                             {
  131.                                 HOperatorSet.DispObj(ho_ContoursAffinTrans, HDevWindowStack.GetActive()
  132.                                     );
  133.                             }
  134.                         }
  135.                     }
  136.                 }
  137.             }
  138.             ho_ModelContours.Dispose();
  139.             ho_ContoursAffinTrans.Dispose();
  141.             return;
  142.         }
  143.         #endregion
  144.         private void button画ROI_Click(object sender, EventArgs e)
  145.         {
  146.             try
  147.             {
  148.                 //取消焦点
  149.                 hw1.Focus();
  150.                 HOperatorSet.SetColor(hw1.HalconWindow, "red");
  151.                         HOperatorSet.DrawRectangle2(hw1.HalconID, out row, out column, out phi, out length1, out length);
  152.                         HOperatorSet.GenRectangle2(out rectangle2, row, column, phi, length1, length);
  153.                         HOperatorSet.DispObj(rectangle2, hw1.HalconID);
  154.                 HOperatorSet.ReduceDomain(hImage, rectangle2, out ho_ImageReduced);
  155.                 HOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-180)).TupleRad()
  156. , (new HTuple(360)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto",
  157. out modelId);
  158.                 HOperatorSet.FindShapeModel(hImage, modelId, (new HTuple(-180)).TupleRad()
  159.     , (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", 0, 0.9, out hv_Row1,
  160.     out hv_Column1, out hv_Angle, out hv_Score);
  161.                 //显示匹配结果
  162.                 dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  163.      1, 1, 0);
  164.                 //产生十字交叉点
  165.                 HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  166.                 HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  167.                 listBox信息.Items.Add("画模板ROI区域成功");
  168.                 listBox信息.Items.Add("获得基准模板成功");
  169.             }
  170.             catch (System.Exception ex)
  171.             {
  172.                 MessageBox.Show(ex.Message);
  173.             }
  174.         }
  175.         private void button图片载入_Click(object sender, EventArgs e)
  176.         {
  177.             //多个图片的载入
  178.             OpenFileDialog openFile = new OpenFileDialog();
  179.             //设置打开属性Multiselect为true表示允许选中多个图片文件
  180.             openFile.Multiselect = true;
  181.             openFile.Filter = "JPG文件|*.jpg|PNG文件|*.png|BMP文件|*.bmp";
  182.             if (openFile.ShowDialog()==DialogResult.OK)
  183.             {
  184.                
  185.                 foreach (var item in  openFile.FileNames)
  186.                 {
  187.                     listBox文件.Items.Add(item);
  188.                 }
  189.             }
  190.         }
  191.         private void button单模型查找_Click(object sender, EventArgs e)
  192.         {
  193.             HImage hImagetwo = new HImage();
  194.             string a = Convert.ToString(listBox文件.SelectedItem);
  195.             hImagetwo.ReadImage(a);
  196.             HTuple Width, Height;
  198.             //设置图片以合适的方式显示在图片控件上面
  199.             HOperatorSet.GetImageSize(hImagetwo, out Width, out Height);
  200.             HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
  201.             HOperatorSet.DispObj(hImagetwo, hw1.HalconWindow);
  202.             HOperatorSet.FindShapeModel(hImagetwo, modelId, (new HTuple(-180)).TupleRad()
  203.      , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
  204.      out hv_Column1, out hv_Angle, out hv_Score);
  205.             //显示匹配结果
  206.             dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  207.  1, 1, 0);
  208.             //产生十字交叉点
  209.             HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  210.             HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  211.             listBox信息.Items.Add("单个匹配图像成功");
  212.         }
  213.         private void button循环遍历查找_Click(object sender, EventArgs e)
  214.         {
  215.             HImage hImagethree = new HImage();
  216.             for (int i = 0; i < listBox文件.Items.Count; i++)
  217.             {
  218.                 int index = listBox文件.FindString(Convert.ToString(listBox文件.Items[i]));
  219.                 if (index != ListBox.NoMatches)
  220.                 {
  221.                     listBox文件.SetSelected(index, true);  //表示在listbox文件框中当前循环遍历的是哪一个
  222.                     string  filename = Convert.ToString(listBox文件.SelectedItem);
  223.                     hImagethree.ReadImage(filename);
  224.                     HTuple Width, Height;
  226.                     //设置图片以合适的方式显示在图片控件上面
  227.                     HOperatorSet.GetImageSize(hImagethree, out Width, out Height);
  228.                     HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
  229.                     HOperatorSet.DispObj(hImagethree, hw1.HalconWindow);
  230.                     HOperatorSet.FindShapeModel(hImagethree, modelId, (new HTuple(-180)).TupleRad()
  231.              , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
  232.              out hv_Column1, out hv_Angle, out hv_Score);
  233.                     //显示匹配结果
  234.                    if (hv_Row1>0&&hv_Column1>0)
  235.                    {
  236.                         //显示匹配结果
  237.                         dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
  238.              1, 1, 0);
  239.                         //产生十字交叉点
  240.                         HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
  241.                         HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
  242.                         listBox信息.Items.Add("循环遍历中匹配单个图像成功");
  243.                     }
  244.                 }
  245.             }
  246.                
  247.             
  248.                 
  249.             
  250.         }
  251.     }
  252. }

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标签： c# 人工智能 机器学习
本文转载自: https://blog.csdn.net/weixin_64740767/article/details/129506788
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