c#联合Halcon进行几何定位-Toy模板网

这篇具有很好参考价值的文章主要介绍了c#联合Halcon进行几何定位。希望对大家有所帮助。如果存在错误或未考虑完全的地方，请大家不吝赐教，您也可以点击"举报违法"按钮提交疑问。

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。

c#联合halcon标定定位贴合复检,c#,人工智能,机器学习,Powered by 金山文档

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：

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

画ROI按钮：

private void button画ROI_Click(object sender, EventArgs e)
        {
            try
            {
                //取消焦点
                hw1.Focus();
                HOperatorSet.SetColor(hw1.HalconWindow, "red");
                        HOperatorSet.DrawRectangle2(hw1.HalconID, out row, out column, out phi, out length1, out length);
                        HOperatorSet.GenRectangle2(out rectangle2, row, column, phi, length1, length);
                        HOperatorSet.DispObj(rectangle2, hw1.HalconID);
                HOperatorSet.ReduceDomain(hImage, rectangle2, out ho_ImageReduced);
                HOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-180)).TupleRad()
, (new HTuple(360)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto",
out modelId);
                HOperatorSet.FindShapeModel(hImage, modelId, (new HTuple(-180)).TupleRad()
    , (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", 0, 0.9, out hv_Row1,
    out hv_Column1, out hv_Angle, out hv_Score);
                //显示匹配结果
                dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
     1, 1, 0);
                //产生十字交叉点
                HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
                HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
                listBox信息.Items.Add("画模板ROI区域成功");
                listBox信息.Items.Add("获得基准模板成功");
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

图片列表载入按钮：

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

单步查找模型按钮：

private void button单模型查找_Click(object sender, EventArgs e)
        {
            HImage hImagetwo = new HImage();
            string a = Convert.ToString(listBox文件.SelectedItem);
            hImagetwo.ReadImage(a);
            HTuple Width, Height;

            //设置图片以合适的方式显示在图片控件上面
            HOperatorSet.GetImageSize(hImagetwo, out Width, out Height);
            HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
            HOperatorSet.DispObj(hImagetwo, hw1.HalconWindow);
            HOperatorSet.FindShapeModel(hImagetwo, modelId, (new HTuple(-180)).TupleRad()
     , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
     out hv_Column1, out hv_Angle, out hv_Score);
            //显示匹配结果
            dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
 1, 1, 0);
            //产生十字交叉点
            HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
            HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
            listBox信息.Items.Add("单个匹配图像成功");
        }

遍历查找模型按钮：

       private void button循环遍历查找_Click(object sender, EventArgs e)
        {
            HImage hImagethree = new HImage();
            for (int i = 0; i < listBox文件.Items.Count; i++)
            {
                int index = listBox文件.FindString(Convert.ToString(listBox文件.Items[i]));
                if (index != ListBox.NoMatches)
                {
                    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
                    string  filename = Convert.ToString(listBox文件.SelectedItem);
                    hImagethree.ReadImage(filename);
                    HTuple Width, Height;

                    //设置图片以合适的方式显示在图片控件上面
                    HOperatorSet.GetImageSize(hImagethree, out Width, out Height);
                    HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
                    HOperatorSet.DispObj(hImagethree, hw1.HalconWindow);
                    HOperatorSet.FindShapeModel(hImagethree, modelId, (new HTuple(-180)).TupleRad()
             , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
             out hv_Column1, out hv_Angle, out hv_Score);
                    //显示匹配结果
                   if (hv_Row1>0&&hv_Column1>0)
                   {
                        //显示匹配结果
                        dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
             1, 1, 0);
                        //产生十字交叉点
                        HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
                        HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
                        listBox信息.Items.Add("循环遍历中匹配单个图像成功");
                    }
                }
            } 
        }

完整程序代码：文章来源地址https://www.toymoban.com/news/detail-807723.html

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using HalconDotNet;

namespace 多模板匹配
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();
            //设置画的模式
            HOperatorSet.SetDraw(hw1.HalconWindow, "margin");
        }
        HImage hImage = new HImage();
        private void button读取图片_Click(object sender, EventArgs e)
        {
            HTuple width, height;
            OpenFileDialog openFile = new OpenFileDialog();
            openFile.Filter = "jpg文件(*.jpg)|*.jpg|png文件(*.png)|*.png|bmp文件(*.bmp文件)|*.bmp";
            if (openFile.ShowDialog()==DialogResult.OK)
            {
                hImage.ReadImage(openFile.FileName);
                //设置读取的图片的大小，并且刚好设置在窗口中
                HOperatorSet.GetImageSize(hImage, out width, out height);
                HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, height, width);
                //图像显示
                hImage.DispObj(hw1.HalconWindow);
                listBox信息.Items.Add("读取单个图像成功");
            }
        }



        HTuple color;
        #region  画ROI区域产生的变量
        //创建模板的编号
        HTuple modelId;
        //查询模板的中间坐标，角度，还有模型实例的分数
        HTuple hv_Row1 = null, hv_Column1 = null, hv_Angle = null, hv_Score;
        //十字坐标
        HObject ho_Cross;
        //矩形2
        HTuple row, column, phi, length1, length;



        HObject rectangle2, ho_ImageReduced;
        public void dev_display_shape_matching_results(HTuple hv_ModelID, HTuple hv_Color,
    HTuple hv_Row, HTuple hv_Column, HTuple hv_Angle, HTuple hv_ScaleR, HTuple hv_ScaleC,
    HTuple hv_Model)
        {



            // Local iconic variables 

            HObject ho_ModelContours = null, ho_ContoursAffinTrans = null;

            // Local control variables 

            HTuple hv_NumMatches = null, hv_Index = new HTuple();
            HTuple hv_Match = new HTuple(), hv_HomMat2DIdentity = new HTuple();
            HTuple hv_HomMat2DScale = new HTuple(), hv_HomMat2DRotate = new HTuple();
            HTuple hv_HomMat2DTranslate = new HTuple();
            HTuple hv_Model_COPY_INP_TMP = hv_Model.Clone();
            HTuple hv_ScaleC_COPY_INP_TMP = hv_ScaleC.Clone();
            HTuple hv_ScaleR_COPY_INP_TMP = hv_ScaleR.Clone();

            // Initialize local and output iconic variables 
            HOperatorSet.GenEmptyObj(out ho_ModelContours);
            HOperatorSet.GenEmptyObj(out ho_ContoursAffinTrans);
            //This procedure displays the results of Shape-Based Matching.
            //
            hv_NumMatches = new HTuple(hv_Row.TupleLength());
            if ((int)(new HTuple(hv_NumMatches.TupleGreater(0))) != 0)
            {
                if ((int)(new HTuple((new HTuple(hv_ScaleR_COPY_INP_TMP.TupleLength())).TupleEqual(
                    1))) != 0)
                {
                    HOperatorSet.TupleGenConst(hv_NumMatches, hv_ScaleR_COPY_INP_TMP, out hv_ScaleR_COPY_INP_TMP);
                }
                if ((int)(new HTuple((new HTuple(hv_ScaleC_COPY_INP_TMP.TupleLength())).TupleEqual(
                    1))) != 0)
                {
                    HOperatorSet.TupleGenConst(hv_NumMatches, hv_ScaleC_COPY_INP_TMP, out hv_ScaleC_COPY_INP_TMP);
                }
                if ((int)(new HTuple((new HTuple(hv_Model_COPY_INP_TMP.TupleLength())).TupleEqual(
                    0))) != 0)
                {
                    HOperatorSet.TupleGenConst(hv_NumMatches, 0, out hv_Model_COPY_INP_TMP);
                }
                else if ((int)(new HTuple((new HTuple(hv_Model_COPY_INP_TMP.TupleLength()
                    )).TupleEqual(1))) != 0)
                {
                    HOperatorSet.TupleGenConst(hv_NumMatches, hv_Model_COPY_INP_TMP, out hv_Model_COPY_INP_TMP);
                }
                for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ModelID.TupleLength())) - 1); hv_Index = (int)hv_Index + 1)
                {
                    ho_ModelContours.Dispose();
                    HOperatorSet.GetShapeModelContours(out ho_ModelContours, hv_ModelID.TupleSelect(
                        hv_Index), 1);
                    if (HDevWindowStack.IsOpen())
                    {
                        HOperatorSet.SetColor(HDevWindowStack.GetActive(), hv_Color.TupleSelect(
                            hv_Index % (new HTuple(hv_Color.TupleLength()))));
                    }
                    HTuple end_val18 = hv_NumMatches - 1;
                    HTuple step_val18 = 1;
                    for (hv_Match = 0; hv_Match.Continue(end_val18, step_val18); hv_Match = hv_Match.TupleAdd(step_val18))
                    {
                        if ((int)(new HTuple(hv_Index.TupleEqual(hv_Model_COPY_INP_TMP.TupleSelect(
                            hv_Match)))) != 0)
                        {
                            HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity);
                            HOperatorSet.HomMat2dScale(hv_HomMat2DIdentity, hv_ScaleR_COPY_INP_TMP.TupleSelect(
                                hv_Match), hv_ScaleC_COPY_INP_TMP.TupleSelect(hv_Match), 0, 0, out hv_HomMat2DScale);
                            HOperatorSet.HomMat2dRotate(hv_HomMat2DScale, hv_Angle.TupleSelect(hv_Match),
                                0, 0, out hv_HomMat2DRotate);
                            HOperatorSet.HomMat2dTranslate(hv_HomMat2DRotate, hv_Row.TupleSelect(
                                hv_Match), hv_Column.TupleSelect(hv_Match), out hv_HomMat2DTranslate);
                            ho_ContoursAffinTrans.Dispose();
                            HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_ContoursAffinTrans,
                                hv_HomMat2DTranslate);
                            //显示
                            hw1.HalconWindow.DispObj(ho_ContoursAffinTrans);
                            //
                            if (HDevWindowStack.IsOpen())
                            {
                                HOperatorSet.DispObj(ho_ContoursAffinTrans, HDevWindowStack.GetActive()
                                    );
                            }
                        }
                    }
                }
            }
            ho_ModelContours.Dispose();
            ho_ContoursAffinTrans.Dispose();

            return;
        }
        #endregion
        private void button画ROI_Click(object sender, EventArgs e)
        {
            try
            {
                //取消焦点
                hw1.Focus();
                HOperatorSet.SetColor(hw1.HalconWindow, "red");
                        HOperatorSet.DrawRectangle2(hw1.HalconID, out row, out column, out phi, out length1, out length);
                        HOperatorSet.GenRectangle2(out rectangle2, row, column, phi, length1, length);
                        HOperatorSet.DispObj(rectangle2, hw1.HalconID);
                HOperatorSet.ReduceDomain(hImage, rectangle2, out ho_ImageReduced);
                HOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-180)).TupleRad()
, (new HTuple(360)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto",
out modelId);
                HOperatorSet.FindShapeModel(hImage, modelId, (new HTuple(-180)).TupleRad()
    , (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", 0, 0.9, out hv_Row1,
    out hv_Column1, out hv_Angle, out hv_Score);
                //显示匹配结果
                dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
     1, 1, 0);
                //产生十字交叉点
                HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
                HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
                listBox信息.Items.Add("画模板ROI区域成功");
                listBox信息.Items.Add("获得基准模板成功");
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
        private void button图片载入_Click(object sender, EventArgs e)
        {
            //多个图片的载入
            OpenFileDialog openFile = new OpenFileDialog();
            //设置打开属性Multiselect为true表示允许选中多个图片文件
            openFile.Multiselect = true;
            openFile.Filter = "JPG文件|*.jpg|PNG文件|*.png|BMP文件|*.bmp";
            if (openFile.ShowDialog()==DialogResult.OK)
            {
               
                foreach (var item in  openFile.FileNames)
                {
                    listBox文件.Items.Add(item);
                }
            }
        }
        private void button单模型查找_Click(object sender, EventArgs e)
        {
            HImage hImagetwo = new HImage();
            string a = Convert.ToString(listBox文件.SelectedItem);
            hImagetwo.ReadImage(a);
            HTuple Width, Height;

            //设置图片以合适的方式显示在图片控件上面
            HOperatorSet.GetImageSize(hImagetwo, out Width, out Height);
            HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
            HOperatorSet.DispObj(hImagetwo, hw1.HalconWindow);
            HOperatorSet.FindShapeModel(hImagetwo, modelId, (new HTuple(-180)).TupleRad()
     , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
     out hv_Column1, out hv_Angle, out hv_Score);
            //显示匹配结果
            dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
 1, 1, 0);
            //产生十字交叉点
            HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
            HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
            listBox信息.Items.Add("单个匹配图像成功");
        }
        private void button循环遍历查找_Click(object sender, EventArgs e)
        {
            HImage hImagethree = new HImage();
            for (int i = 0; i < listBox文件.Items.Count; i++)
            {
                int index = listBox文件.FindString(Convert.ToString(listBox文件.Items[i]));
                if (index != ListBox.NoMatches)
                {
                    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
                    string  filename = Convert.ToString(listBox文件.SelectedItem);
                    hImagethree.ReadImage(filename);
                    HTuple Width, Height;

                    //设置图片以合适的方式显示在图片控件上面
                    HOperatorSet.GetImageSize(hImagethree, out Width, out Height);
                    HOperatorSet.SetPart(hw1.HalconWindow, 0, 0, Height, Width);
                    HOperatorSet.DispObj(hImagethree, hw1.HalconWindow);
                    HOperatorSet.FindShapeModel(hImagethree, modelId, (new HTuple(-180)).TupleRad()
             , (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.7, out hv_Row1,
             out hv_Column1, out hv_Angle, out hv_Score);
                    //显示匹配结果
                   if (hv_Row1>0&&hv_Column1>0)
                   {
                        //显示匹配结果
                        dev_display_shape_matching_results(modelId, "red", hv_Row1, hv_Column1, hv_Angle,
             1, 1, 0);
                        //产生十字交叉点
                        HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row1, hv_Column1, 15, (new HTuple(-45)).TupleRad());
                        HOperatorSet.DispObj(ho_Cross, hw1.HalconWindow);
                        listBox信息.Items.Add("循环遍历中匹配单个图像成功");
                    }
                }
            }
               
            
                
            
        }
    }
}