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Code Issues Packages Projects Releases Wiki Activity

1、添加PMA匹配工具

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2、建立工程概念，对工程进行保存和恢复
3、将图像显示窗口更改为SmartwindowControl
4、其他bug修复
This commit is contained in:
liu.wenjie
2021-12-18 10:37:44 +08:00
parent a24dda2525
commit 8eb315b394
23 changed files with 1494 additions and 811 deletions
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976
PMAlignTool/FormPMAlignTool.Designer.cs generated
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File diff suppressed because it is too large Load Diff

135
PMAlignTool/FormPMAlignTool.cs
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@@ -1,6 +1,7 @@
using ChoiceTech.Halcon.Control;
using CommonMethods;
using HalconDotNet;
using Logger;
using System;
using System.Collections.Generic;
using System.ComponentModel;
@@ -16,12 +17,13 @@ namespace PMAlignTool
{
public partial class FormPMAlignTool : Form
{
private PMAlign myPMAlign = null;
private IToolInfo myToolInfo = null;
private PMAlign myPMAlign = new PMAlign();
public IToolInfo myToolInfo = new IToolInfo();
public HWindowTool_Smart myHwindow = new HWindowTool_Smart();
private HDrawingObject selected_drawing_object = new HDrawingObject();
private List<HDrawingObject> templateModelListAdd = new List<HDrawingObject>() { };
private List<HDrawingObject> templateModelListSub = new List<HDrawingObject>() { };
public List<HDrawingObject> templateModelListAdd = new List<HDrawingObject>() { };
public List<HDrawingObject> templateModelListSub = new List<HDrawingObject>() { };
public FormPMAlignTool(ref object pmalign)
{
InitializeComponent();
@@ -30,6 +32,7 @@ namespace PMAlignTool
{
myToolInfo = (IToolInfo)pmalign;
myPMAlign = (PMAlign)myToolInfo.tool;
myPMAlign.toolName = myToolInfo.FormToolName;
myPMAlign.DispImage();
}
}
@@ -70,15 +73,22 @@ namespace PMAlignTool
myHwindow.Dock = DockStyle.Fill;
InitTool();
}
bool isInitTool = false;
private void InitTool()
{
isInitTool = true;
cNumErosionValue1.Value = myPMAlign.imageProcess.erosionValue1.algValue;
cbCErosion1.Checked = myPMAlign.imageProcess.erosionValue1.isEnable;
cmbErsion1.TextStr = myPMAlign.imageProcess.erosionValue1.algName;
cNumDilationValue2.Value = myPMAlign.imageProcess.dilationValue.algValue;
cbCDilation1.Checked = myPMAlign.imageProcess.dilationValue.isEnable;
cmbDilation.TextStr = myPMAlign.imageProcess.dilationValue.algName;
cNumErosionValue2.Value = myPMAlign.imageProcess.erosionValue2.algValue;
cbCErosion2.Checked = myPMAlign.imageProcess.erosionValue2.isEnable;
cmbErsion2.TextStr = myPMAlign.imageProcess.erosionValue2.algName;
isInitTool = false;
}
private void btnAcqNewModelImage_Click(object sender, EventArgs e)
@@ -121,10 +131,12 @@ namespace PMAlignTool
myHwindow.DispHWindow.AttachDrawingObjectToWindow(temp_object);
if(rdo_templateRegionAdd.Checked)
{
temp_object.SetDrawingObjectParams("color","green");
templateModelListAdd.Add(temp_object);
}
else
{
temp_object.SetDrawingObjectParams("color", "red");
templateModelListSub.Add(temp_object);
}
}
@@ -156,27 +168,124 @@ namespace PMAlignTool
selectObj.Dispose();
}
public HObject contour;
private void btnCreateModel_Click(object sender, EventArgs e)
{
if(myPMAlign.modelID == -1)
if(myPMAlign.inputImage != null)
{
myPMAlign.oldTrainImage = myPMAlign.inputImage;
if(myPMAlign.CreateModelTemplate() == 0)
{
if (myPMAlign.matchMode == MatchMode.BasedShape)
{
HOperatorSet.GetShapeModelContours(out contour, myPMAlign.modelID, (HTuple)1);
HTuple area, row, col;
HOperatorSet.AreaCenter(myPMAlign.templateRegion, out area, out row, out col);
HTuple homMat2D;
HOperatorSet.HomMat2dIdentity(out homMat2D);
HOperatorSet.HomMat2dTranslate(homMat2D, row, col, out homMat2D);
HOperatorSet.AffineTransContourXld(contour, out contour, homMat2D);
}
myHwindow.DispHWindow.ClearWindow();
hWindowTool_Smart1.DispHWindow.ClearWindow();
myHwindow.DispImage(myPMAlign.inputImage);
//在模板窗口显示模板
HTuple row1, col1, row2, col2;
HOperatorSet.SmallestRectangle1(myPMAlign.templateRegion, out row1, out col1, out row2, out col2);
HObject outRectangle1;
HOperatorSet.GenRectangle1(out outRectangle1, row1 - 20, col1 - 20, row2 + 20, col2 + 20);
HObject imageReduced, imagePart;
HOperatorSet.ReduceDomain(myPMAlign.inputImage, outRectangle1, out imageReduced);
HObject outBoundary, inBoundary;
HOperatorSet.Boundary(myPMAlign.templateRegion, out outBoundary, "inner_filled");
HOperatorSet.Boundary(myPMAlign.templateRegion, out inBoundary, "outer");
HOperatorSet.CropDomain(imageReduced, out imagePart);
HOperatorSet.SetSystem("flush_graphic", "true");
hWindowTool_Smart1.DispImage(imagePart);
hWindowTool_Smart1.DispHWindow.SetColor("green");
hWindowTool_Smart1.DispHWindow.SetDraw("margin");
hWindowTool_Smart1.DispHWindow.DispObj(outBoundary);
hWindowTool_Smart1.DispHWindow.DispObj(inBoundary);
if (myPMAlign.matchMode == MatchMode.BasedShape)
{
HOperatorSet.SetLineStyle(myHwindow.DispHWindow, new HTuple());
HOperatorSet.SetColor(myHwindow.DispHWindow, new HTuple("orange"));
HOperatorSet.DispObj(contour, myHwindow.DispHWindow);
}
}
else
{
LoggerClass.WriteLog("创建模板失败！", MsgLevel.Exception);
}
}
else
{
myPMAlign.isCreateModel = false;
}
}
/// <summary>
/// 设定工具运行状态
/// </summary>
/// <param name="msg">运行中的信息</param>
/// <param name="status">运行状态</param>
public void SetToolStatus(string msg, ToolRunStatu status, Exception ex = null)
{
if (myPMAlign != null)
{
myPMAlign.runMessage = msg;
myPMAlign.toolRunStatu = status;
lb_RunStatus.Text = myPMAlign.toolRunStatu == ToolRunStatu.Succeed ? "工具运行成功！" : $"工具运行异常, 异常原因：{myPMAlign.runMessage}";
lb_RunTime.Text = myPMAlign.runTime;
if (myPMAlign.toolRunStatu == ToolRunStatu.Succeed)
{
statusStrip.BackColor = Color.LimeGreen;
}
else
{
statusStrip.BackColor = Color.Red;
}
}
}
private void PreProcess_CheckChanged(object sender, EventArgs e)
{
myPMAlign.imageProcess.erosionValue1.isEnable = cbCErosion1.Checked;
myPMAlign.imageProcess.dilationValue.isEnable = cbCDilation1.Checked;
myPMAlign.imageProcess.erosionValue2.isEnable = cbCErosion2.Checked;
if(!isInitTool)
{
myPMAlign.imageProcess.erosionValue1.isEnable = cbCErosion1.Checked;
myPMAlign.imageProcess.dilationValue.isEnable = cbCDilation1.Checked;
myPMAlign.imageProcess.erosionValue2.isEnable = cbCErosion2.Checked;
}
}
private void PreValueChanged(double value)
{
myPMAlign.imageProcess.erosionValue1.algValue = cNumErosionValue1.Value;
myPMAlign.imageProcess.dilationValue.algValue = cNumDilationValue2.Value;
myPMAlign.imageProcess.erosionValue2.algValue = cNumErosionValue2.Value;
if (!isInitTool)
{
myPMAlign.imageProcess.erosionValue1.algValue = cNumErosionValue1.Value;
myPMAlign.imageProcess.dilationValue.algValue = cNumDilationValue2.Value;
myPMAlign.imageProcess.erosionValue2.algValue = cNumErosionValue2.Value;
}
}
private void rabShape_CheckedChanged(object sender, EventArgs e)
{
myPMAlign.matchMode = rabShape.Checked ? MatchMode.BasedShape : MatchMode.BasedGray;
}
private void cmbErsion1_SelectedIndexChanged()
{
if (!isInitTool)
{
myPMAlign.imageProcess.erosionValue1.algName = cmbErsion1.TextStr;
myPMAlign.imageProcess.dilationValue.algName = cmbDilation.TextStr;
myPMAlign.imageProcess.erosionValue2.algName = cmbErsion2.TextStr;
}
}
private void tsbtRunTool_Click(object sender, EventArgs e)
{
myPMAlign.Run(SoftwareRunState.Debug);
}
}
}

2
PMAlignTool/FormPMAlignTool.resx
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@@ -117,7 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<metadata name="statusStrip.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<metadata name="toolStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">

409
PMAlignTool/PMAlign.cs
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@@ -20,13 +20,25 @@ using CommonMethods;
using HalconDotNet;
using ToolBase;
using static DataStruct.DataStruct;
using System.Windows.Forms;
using Logger;
using System.Diagnostics;
using System.IO;
namespace PMAlignTool
{
[Serializable]
public class PMAlign:IToolBase
public class PMAlign : IToolBase
{
public string toolName { get; set; } = string.Empty;
/// <summary>
/// 输入姿态
/// </summary>
public PosXYU inputPose = new PosXYU();
/// <summary>
/// 制作模板时的输入位姿
/// </summary>
public PosXYU templatePose = new PosXYU();
/// <summary>
/// 是否显示匹配到的模板
/// </summary>
@@ -50,7 +62,7 @@ namespace PMAlignTool
/// <summary>
/// 模板句柄
/// </summary>
internal HTuple modelID { get; set; } = -1;
internal HTuple modelID = -1;
/// <summary>
/// 行列间隔像素数
/// </summary>
@@ -62,13 +74,11 @@ namespace PMAlignTool
/// <summary>
/// 模板区域
/// </summary>
internal HObject templateRegion { get; set; }
internal HObject templateRegion;
/// <summary>
/// 在进行模板创建及匹配时进行的图像预处理
/// </summary>
public ImagePreProcess imageProcess { get; set; } = new ImagePreProcess();
internal HObject totalRegion;
/// <summary>
/// 搜索区域图像
/// </summary>
@@ -101,10 +111,14 @@ namespace PMAlignTool
/// 训练时所使用的模板图像，不点击获取图像时，不进行更新
/// </summary>
public HObject oldTrainImage { get; set; }
public bool isCreateModel { get; set; }
internal void DispMainWindow(object dispHWindow)
public override void DispMainWindow(HWindow dispHWindow)
{
throw new NotImplementedException();
if (showFeature)
{
ShowTemplate(dispHWindow, false);
}
}
/// <summary>
@@ -119,30 +133,365 @@ namespace PMAlignTool
/// <summary>
/// 模板匹配结果
/// </summary>
internal List<XYU> L_result = new List<XYU>();
public List<MatchResult> L_resultList { get; set; } = new List<MatchResult>() { };
/// <summary>
/// 匹配模式
/// </summary>
public MatchMode matchMode { get; set; } = MatchMode.BasedShape;
/// <summary>
/// 缩放最小值
/// </summary>
public HTuple minScale { get; internal set; } = 0.9;
/// <summary>
/// 缩放最大值
/// </summary>
public HTuple maxScale { get; internal set; } = 1.1;
public bool isAutoConstants { get; set; }
public string modelFilePath { get; set; }
public RegionType searchRegionType { get; set; }
public HObject SearchRegion { get; private set; }
public override void Run(SoftwareRunState softwareRunState)
{
Stopwatch sw = new Stopwatch();
sw.Restart();
if (inputImage == null)
{
FormPMAlignTool.Instance.SetToolStatus("工具输入图像为空", ToolRunStatu.Not_Input_Image);
return;
}
try
{
if (softwareRunState == SoftwareRunState.Debug)
{
DispImage();
}
if (inputPose != null)
{
HTuple Row = inputPose.X - templatePose.X;
HTuple Col = inputPose.Y - templatePose.Y;
HTuple angle = inputPose.U - templatePose.U;
HTuple _homMat2D;
HOperatorSet.HomMat2dIdentity(out _homMat2D);
HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
//对预期线的找模板区域做放射变换
}
minScore = FormPMAlignTool.Instance.nud_minScore.Value;
startAngle = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStart.Value);
angleRange = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleRange.Value);
angleStep = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStep.Value);
polarity = FormPMAlignTool.Instance.cbx_polarity.TextStr;
isAutoConstants = FormPMAlignTool.Instance.ckb_autoContrast.Checked;
minScale = FormPMAlignTool.Instance.nud_ScaleStart.Value;
maxScale = FormPMAlignTool.Instance.nud_ScaleRange.Value;
HObject findModelImg = ProcessImage(inputImage);
int ret = FindModelTemplate(findModelImg);
ToolRunStatu myState = ret == 0 ? ToolRunStatu.Succeed : ToolRunStatu.Model_UnFound;
string retMsg = ret == 0 ? "工具运行成功,已找到匹配项！" : "未找到匹配项";
sw.Stop();
runTime = $"运行时间： {sw.ElapsedMilliseconds} ms";
FormPMAlignTool.Instance.SetToolStatus(retMsg, myState);
}
catch (Exception ex)
{
FormPMAlignTool.Instance.SetToolStatus($"工具运行异常，异常原因： {ex}", ToolRunStatu.Tool_Run_Error);
}
finally
{
}
}
public override void DispImage()
{
FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
if (inputImage != null)
{
FormPMAlignTool.Instance.myHwindow.DispHWindow.DispObj(inputImage);
}
}
public override void DispMainWindow(HWindow window)
private void CreateModelRegion()
{
throw new NotImplementedException();
HOperatorSet.GenEmptyObj(out templateRegion);
foreach (var item in FormPMAlignTool.Instance.templateModelListAdd)
{
HObject selectObj = item.GetDrawingObjectIconic();
HOperatorSet.Union2(selectObj, templateRegion, out templateRegion);
}
foreach (var item in FormPMAlignTool.Instance.templateModelListSub)
{
HObject selectObj = item.GetDrawingObjectIconic();
HOperatorSet.Difference(templateRegion, selectObj, out templateRegion);
}
}
public void CreateModelTemplate()
public int CreateModelTemplate()
{
HObject template;
oldTrainImage = inputImage;
if (FormPMAlignTool.Instance.templateModelListAdd.Count == 0)
{
LoggerClass.WriteLog("未划定模板建立区域", MsgLevel.Exception);
isCreateModel = false;
return -1;
}
CreateModelRegion();
HObject createModelImg;
HOperatorSet.GenEmptyObj(out createModelImg);
createModelImg = ProcessImage(inputImage);
HOperatorSet.ReduceDomain(createModelImg, templateRegion, out template);
try
{
HTuple rows, cols, angles, scores, scale;
if (matchMode == MatchMode.BasedShape)
{
HOperatorSet.CreateScaledShapeModel(template,
"auto",
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange).TupleRad(),
"auto",
minScale,
maxScale,
"auto",
"auto",
polarity,
isAutoConstants ? (HTuple)"auto" : (HTuple)contrast,
"auto",
out modelID);
HOperatorSet.FindScaledShapeModel(inputImage,
(HTuple)modelID,
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange - startAngle).TupleRad(),
minScale,
maxScale,
(HTuple)minScore,
(HTuple)matchNum,
(HTuple)0.5,
(HTuple)"least_squares",
(HTuple)0,
(HTuple)0.9,
out rows,
out cols,
out angles,
out scale,
out scores);
}
else
{
HOperatorSet.CreateNccModel(template,
"auto",
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange).TupleRad(),
"auto",
"use_polarity",
out modelID);
HOperatorSet.FindNccModel(inputImage,
(HTuple)modelID,
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange - startAngle).TupleRad(),
(HTuple)minScore,
(HTuple)matchNum,
(HTuple)0.5,
(HTuple)"true",
(HTuple)0,
out rows,
out cols,
out angles,
out scores);
}
isCreateModel = true;
HOperatorSet.WriteRegion(templateRegion, FormPMAlignTool.Instance.myToolInfo.FormToolName + ".hobj");
if (scores != null && scores.Type != HTupleType.EMPTY)
{
templatePose = new PosXYU { X = rows[0].D, Y = cols[0].D , U = angles[0].D };
}
}
catch (Exception ex)
{
Logger.LoggerClass.WriteLog("创建模板时出现异常", ex);
isCreateModel = false;
return -1;
}
finally
{
FormPMAlignTool.Instance.templateModelListAdd.Clear();
FormPMAlignTool.Instance.templateModelListSub.Clear();
}
return 0;
}
public int FindModelTemplate(HObject findModelImage)
{
if (!isCreateModel)
{
LoggerClass.WriteLog("未创建或加载模板", MsgLevel.Exception);
return -1;
}
if (File.Exists(toolName + ".hobj"))
{
HOperatorSet.ReadRegion(out templateRegion, toolName + ".hobj");
LoggerClass.WriteLog($"{FormPMAlignTool.Instance.myToolInfo.FormToolName} 已加载模板", MsgLevel.Info);
}
HObject image;
if (searchRegionType == RegionType.AllImage)
{
image = findModelImage;
}
else
{
HOperatorSet.ReduceDomain(inputImage, SearchRegion, out reducedImage);
image = reducedImage;
}
HTuple rows, cols, angles, scores;
L_resultList.Clear();
try
{
if (matchMode == MatchMode.BasedShape)
{
HTuple temp;
HOperatorSet.FindScaledShapeModel(image,
(HTuple)modelID,
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange - startAngle).TupleRad(),
minScale,
maxScale,
(HTuple)minScore,
(HTuple)matchNum,
(HTuple)0.5,
(HTuple)"least_squares",
(HTuple)0,
(HTuple)0.9,
out rows,
out cols,
out angles,
out temp,
out scores);
}
else
{
HOperatorSet.FindNccModel(image,
(HTuple)modelID,
((HTuple)startAngle).TupleRad(),
((HTuple)angleRange - startAngle).TupleRad(),
(HTuple)minScore,
(HTuple)matchNum,
(HTuple)0.5,
(HTuple)"true",
(HTuple)0,
out rows,
out cols,
out angles,
out scores);
}
FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
FormPMAlignTool.Instance.myHwindow.DispImage(inputImage);
if (rows.TupleLength() > 0)
{
for (int i = 0; i < rows.TupleLength(); i++)
{
MatchResult matchResult = new MatchResult();
matchResult.Row = Math.Round((double)rows[i], 3);
matchResult.Col = Math.Round((double)cols[i], 3);
matchResult.Angle = Math.Round((double)angles[i], 3);
matchResult.Socre = Math.Round((double)scores[i], 3);
L_resultList.Add(matchResult);
}
MatchResult temp;
for (int i = 0; i < L_resultList.Count - 1; i++)
{
for (int j = i + 1; j < L_resultList.Count; j++)
{
if (L_resultList[i].Socre < L_resultList[j].Socre)
{
temp = L_resultList[i];
L_resultList[i] = L_resultList[j];
L_resultList[j] = temp;
}
}
}
}
if(L_resultList.Count > 0)
{
toolRunStatu = ToolRunStatu.Succeed;
ShowTemplate(FormPMAlignTool.Instance.myHwindow.DispHWindow);
return 0;
}
}
catch (Exception ex)
{
LoggerClass.WriteLog("寻找模板时出现异常！", ex);
toolRunStatu = ToolRunStatu.Not_Succeed;
}
return -1;
}
public HObject contour;
/// <summary>
/// 显示模板
/// </summary>
internal void ShowTemplate(HWindow dispHWindow, bool clearImg = false)
{
try
{
if (modelID == null)
{
return;
}
if(clearImg)
{
dispHWindow.ClearWindow();
dispHWindow.DispObj(inputImage);
}
if (matchMode == MatchMode.BasedShape)
{
HOperatorSet.GetShapeModelContours(out contour, modelID, new HTuple(1));
HTuple area, row, col;
HOperatorSet.AreaCenter(templateRegion, out area, out row, out col);
HTuple homMat2D;
HOperatorSet.HomMat2dIdentity(out homMat2D);
HOperatorSet.HomMat2dTranslate(homMat2D, row, col, out homMat2D);
HOperatorSet.AffineTransContourXld(contour, out contour, homMat2D);
dispHWindow.SetColor("green");
dispHWindow.DispObj(contour);
}
HObject outBoundary, inBoundary;
HOperatorSet.Boundary(templateRegion, out outBoundary, "inner_filled");
HOperatorSet.Boundary(templateRegion, out inBoundary, "outer");
HOperatorSet.SetColor(FormPMAlignTool.Instance.myHwindow.DispHWindow, "green");
HOperatorSet.SetLineStyle(FormPMAlignTool.Instance.myHwindow.DispHWindow, new HTuple());
dispHWindow.DispObj(outBoundary);
dispHWindow.DispObj(inBoundary);
}
catch (Exception ex)
{
Logger.LoggerClass.WriteLog("显示模板时出现错误", ex);
}
}
private HObject ProcessImage(HObject inputImg)
{
if (inputImage == null) return inputImage;
if (imageProcess.erosionValue1.isEnable)
{
HOperatorSet.GrayErosionShape(inputImg, out inputImg, imageProcess.erosionValue1.algValue, imageProcess.erosionValue1.algValue, imageProcess.erosionValue1.algName);
}
if (imageProcess.dilationValue.isEnable)
{
HOperatorSet.GrayDilationShape(inputImg, out inputImg, imageProcess.erosionValue1.algValue, imageProcess.erosionValue1.algValue, imageProcess.dilationValue.algName);
}
if (imageProcess.erosionValue2.isEnable)
{
HOperatorSet.GrayErosionShape(inputImg, out inputImg, imageProcess.erosionValue1.algValue, imageProcess.erosionValue1.algValue, imageProcess.erosionValue2.algName);
}
return inputImg;
}
}
[Serializable]
public class ImagePreProcess
@@ -156,5 +505,35 @@ namespace PMAlignTool
{
public double algValue { get; set; } = 0;
public bool isEnable { get; set; } = false;
public string algName { get; set; } = "rectangle";
}
[Serializable]
public enum MatchMode
{
BasedShape,
BasedGray,
}
[Serializable]
public enum RegionType
{
AllImage,
Rectangle1,
Rectangle2,
Circle,
Ellipse,
MultPoint,
Ring,
Any,
}
/// <summary>
/// 模板匹配结果
/// </summary>
[Serializable]
public struct MatchResult
{
internal double Row;
internal double Col;
internal double Angle;
internal double Socre;
}
}