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)
定位找线测量卡尺位置
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')
定位找圆测量卡尺位置
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')
求线段交点
*求线段交点
tuple_length (RowBegin, Length)
tuple_length (RowBegin2, Length1)
if (Length==1 and Length1==1)
*两线段交点
intersection_lines ( RowBegin, ColBegin, RowEnd, ColEnd,\
RowBegin1, ColBegin1, RowEnd1, ColEnd1,\
Row4, Column4, IsOverlapping)
gen_cross_contour_xld (Cross4, Row4, Column4, 6, Angle)
*点到线的投影（距离）
projection_pl (Row4, Column4, RowBegin2, ColBegin2, RowEnd2, ColEnd2, RowProj, ColProj)
gen_cross_contour_xld (Cross5, RowProj, ColProj, 6, Angle)
distance_pp (Row4, Column4, RowProj, ColProj, Distance)
* disp_message (WindowHandle, '点到点的距离'+ Distance*ratio +'mm', 'window', 30, 12, 'black', 'true')
*两线夹角
angle_ll ( RowBegin, ColBegin, RowEnd, ColEnd,\
RowBegin1, ColBegin1, RowEnd1, ColEnd1,\
Angle1)
disp_message (WindowHandle, '两线的夹角为'+deg(Angle1), 'window', 48, 12, 'black', 'true')
else
disp_message (WindowHandle, '没有找到线段', 'window', 12, 180, 'black', 'true')
endif
文章来源：https://www.toymoban.com/news/detail-454128.html
显示之类的
angle :=deg(Angle)
if (angle>180)
angle :=angle-360
endif
dev_display (ShapeModelTrans)
dev_set_draw ('margin')
dev_set_line_width (1)
dev_display (Rectangle1Check)
dev_set_color ('blue')
dev_set_line_width (2)
dev_display (Line1)
dev_display (Line2)
dev_set_line_width (1)
dev_display (Contours1)
dev_display (Contours2)
dev_display (Contours3)
dev_set_color ('green')
dev_set_line_width (2)
dev_display (ContourOut1)
dev_display (ContourOut2)
dev_display (ContourOut3)
if (Length2>1)
dev_display (ContCircle)
endif
*窗口绘制直线
* disp_line (WindowHandle, RowBegin, ColBegin, RowEnd, ColEnd)
* disp_line (WindowHandle, RowBegin1, ColBegin1, RowEnd1, ColEnd1)
if (Length==1 and Length1==1)
dev_display (Cross4)
* dev_set_color ('red')
dev_display (Cross5)
endif
disp_message (WindowHandle, 'Score: ' + Score$'.2f'+' 水平角度'+angle, 'image', Row, Column+70, 'black', 'true')
endif
文章来源地址https://www.toymoban.com/news/detail-454128.html
到了这里，关于【halcon 实现模板匹配，定位，找线，找点，找圆】的文章就介绍完了。如果您还想了解更多内容，请在右上角搜索TOY模板网以前的文章或继续浏览下面的相关文章，希望大家以后多多支持TOY模板网！
![[3D&Halcon] 三维点云匹配&无序抓取](https://imgs.yssmx.com/Uploads/2024/02/719051-1.png)
