1、修改Halcon取图工具，对功能进行拆分，简化逻辑

2、修改PMA工具，修正其中的bug 3、其他BUG修复
2026-04-01 06:36:38 +08:00 · 2022-04-08 15:31:57 +08:00
parent 159fb6b967
commit 8f7a1e0ffd
52 changed files with 1360 additions and 1457 deletions
--- a/PMAlignTool/FormPMAlignTool.Designer.cs
+++ b/PMAlignTool/FormPMAlignTool.Designer.cs
--- a/PMAlignTool/FormPMAlignTool.cs
+++ b/PMAlignTool/FormPMAlignTool.cs
@@ -77,6 +77,7 @@ namespace PMAlignTool
        private void InitTool()
        {
            isInitTool = true;
+            #region 图像预处理
            cNumErosionValue1.Value = myPMAlign.imageProcess.erosionValue1.algValue;
            cbCErosion1.Checked = myPMAlign.imageProcess.erosionValue1.isEnable;
            cmbErsion1.TextStr = myPMAlign.imageProcess.erosionValue1.algName;
@@ -88,7 +89,19 @@ namespace PMAlignTool
            cNumErosionValue2.Value = myPMAlign.imageProcess.erosionValue2.algValue;
            cbCErosion2.Checked = myPMAlign.imageProcess.erosionValue2.isEnable;
            cmbErsion2.TextStr = myPMAlign.imageProcess.erosionValue2.algName;
-            isInitTool = false;
+            #endregion
+            #region 界面参数
+            nud_minScore.Value = myPMAlign.minScore;
+            nud_matchNum.Value = myPMAlign.matchNum;
+            nud_angleStep.Value = myPMAlign.angleStep;
+            nud_Timeout.Value = myPMAlign.timeOut;
+            nud_angleStart.Value = myPMAlign.startAngle;
+            nud_angleRange.Value = myPMAlign.angleRange;
+            nud_ScaleStart.Value = myPMAlign.minScale;
+            nud_ScaleRange.Value = myPMAlign.maxScale;
+            tkb_contrast.Value = myPMAlign.contrast;
+
+            #endregion
        }

        private void btnAcqNewModelImage_Click(object sender, EventArgs e)
@@ -287,5 +300,10 @@ namespace PMAlignTool
        {
            myPMAlign.Run(SoftwareRunState.Debug);
        }
+
+        private void tkb_contrast_Scroll(object sender, EventArgs e)
+        {
+            lbl_contastValue.Text = tkb_contrast.Value.ToString();
+        }
    }
 }
--- a/PMAlignTool/FormPMAlignTool.resx
+++ b/PMAlignTool/FormPMAlignTool.resx
@@ -211,6 +211,21 @@
  <metadata name="Column12.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
    <value>True</value>
  </metadata>
+  <metadata name="Column7.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column9.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column10.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="Column12.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
  <metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
    <value>71</value>
  </metadata>
--- a/PMAlignTool/PMAlign.cs
+++ b/PMAlignTool/PMAlign.cs
@@ -98,7 +98,7 @@ namespace PMAlignTool
        /// <summary>
        /// 角度范围
        /// </summary>
-        internal int angleRange { get; set; } = 30;
+        internal int angleRange { get; set; } = 360;
        /// <summary>
        /// 角度步长
        /// </summary>
@@ -108,10 +108,15 @@ namespace PMAlignTool
        /// </summary>
        internal int contrast { get; set; } = 30;
        /// <summary>
+        /// 超时处理
+        /// </summary>
+        internal int timeOut { get; set; } = 500;
+        /// <summary>
        /// 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 string pmaModelName { get; set; } = Guid.NewGuid().ToString();

        public override void DispMainWindow(HWindow dispHWindow)
        {
@@ -151,11 +156,11 @@ namespace PMAlignTool
        public RegionType searchRegionType { get; set; }
        public HObject SearchRegion { get; private set; }

-        public override void Run(SoftwareRunState softwareRunState)
+        public override void Run(SoftwareRunState softwareState)
        {
            Stopwatch sw = new Stopwatch();
            sw.Restart();
-
+            softwareRunState = softwareState;
            if (inputImage == null)
            {
                FormPMAlignTool.Instance.SetToolStatus("工具输入图像为空", ToolRunStatu.Not_Input_Image);
@@ -180,15 +185,8 @@ namespace PMAlignTool
                    //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);
+                UpdateParamsFromUI(); // 操作前先将UI中参数写入类
+                 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";
@@ -205,7 +203,19 @@ namespace PMAlignTool
                
            }
        }
-
+        public void UpdateParamsFromUI()
+        {
+            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;
+            timeOut = Convert.ToInt16(FormPMAlignTool.Instance.nud_Timeout.Value);
+            contrast = Convert.ToInt16(FormPMAlignTool.Instance.tkb_contrast.Value);
+        }
        public override void DispImage()
        {
            FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
@@ -244,11 +254,44 @@ namespace PMAlignTool
            HOperatorSet.GenEmptyObj(out createModelImg);
            createModelImg = ProcessImage(inputImage);
            HOperatorSet.ReduceDomain(createModelImg, templateRegion, out template);
+            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;
            try
            {
                HTuple rows, cols, angles, scores, scale;
                if (matchMode == MatchMode.BasedShape)
                {
+                    HOperatorSet.CreateShapeModel(template,
+                                                 "auto",
+                                                0,
+                                                 360,
+                                                 "auto",
+                                                 "auto",
+                                                 polarity,
+                                                  isAutoConstants ? (HTuple)"auto" : (HTuple)contrast,
+                                                 "auto",
+                                                  out modelID);
+                    HOperatorSet.FindShapeModel(createModelImg,
+                                               (HTuple)modelID,
+                                               ((HTuple)startAngle).TupleRad(),
+                                               ((HTuple)angleRange - startAngle).TupleRad(),
+                                               (HTuple)minScore,
+                                               (HTuple)matchNum,
+                                               (HTuple)0.5,
+                                               (HTuple)"least_squares",
+                                               (HTuple)0,
+                                               (HTuple)0.9,
+                                                out rows,
+                                                out cols,
+                                                out angles,
+                                                out scores);
+                    /*
                    HOperatorSet.CreateScaledShapeModel(template,
                                                 "auto",
                                                ((HTuple)startAngle).TupleRad(),
@@ -262,7 +305,7 @@ namespace PMAlignTool
                                                  isAutoConstants ? (HTuple)"auto" : (HTuple)contrast,
                                                 "auto",
                                                  out modelID);
-                    HOperatorSet.FindScaledShapeModel(inputImage,
+                    HOperatorSet.FindScaledShapeModel(createModelImg,
                                               (HTuple)modelID,
                                               ((HTuple)startAngle).TupleRad(),
                                               ((HTuple)angleRange - startAngle).TupleRad(),
@@ -279,6 +322,7 @@ namespace PMAlignTool
                                                out angles,
                                                out scale,
                                                out scores);
+                  */
                }
                else
                {
@@ -289,7 +333,7 @@ namespace PMAlignTool
                                                 "auto",
                                                 "use_polarity",
                                                  out modelID);
-                    HOperatorSet.FindNccModel(inputImage,
+                    HOperatorSet.FindNccModel(createModelImg,
                                                (HTuple)modelID,
                                                ((HTuple)startAngle).TupleRad(),
                                                ((HTuple)angleRange - startAngle).TupleRad(),
@@ -305,6 +349,7 @@ namespace PMAlignTool
                }
                isCreateModel = true;
                HOperatorSet.WriteRegion(templateRegion, FormPMAlignTool.Instance.myToolInfo.FormToolName + ".hobj");
+                HOperatorSet.WriteShapeModel(modelID, pmaModelName + ".ShapeModel");
                if (scores != null && scores.Type != HTupleType.EMPTY)
                {
                    templatePose = new PosXYU { X = rows[0].D, Y = cols[0].D , U = angles[0].D };
@@ -331,11 +376,12 @@ namespace PMAlignTool
                LoggerClass.WriteLog("未创建或加载模板", MsgLevel.Exception);
                return -1;
            }
-            if (File.Exists(toolName + ".hobj"))
+            if (!File.Exists(pmaModelName + ".ShapeModel"))
            {
-                HOperatorSet.ReadRegion(out templateRegion, toolName + ".hobj");
-                LoggerClass.WriteLog($"{FormPMAlignTool.Instance.myToolInfo.FormToolName} 已加载模板", MsgLevel.Info);
+                LoggerClass.WriteLog("未创建或加载模板", MsgLevel.Exception);
+                return -1;
            }
+            HOperatorSet.ReadShapeModel(pmaModelName + ".ShapeModel", out modelID);
            HObject image;
            if (searchRegionType == RegionType.AllImage)
            {
@@ -350,10 +396,25 @@ namespace PMAlignTool
            L_resultList.Clear();
            try
            {
+                image = ProcessImage(image);
                if (matchMode == MatchMode.BasedShape)
                {
                    HTuple temp;
-
+                    HOperatorSet.FindShapeModel(image,
+                                               (HTuple)modelID,
+                                               ((HTuple)startAngle).TupleRad(),
+                                               ((HTuple)angleRange - startAngle).TupleRad(),
+                                               (HTuple)minScore,
+                                               (HTuple)matchNum,
+                                               (HTuple)0.5,
+                                               (HTuple)"least_squares",
+                                               (HTuple)0,
+                                               (HTuple)0.7,
+                                                out rows,
+                                                out cols,
+                                                out angles,
+                                                out scores);
+                    /*
                    HOperatorSet.FindScaledShapeModel(image,
                                               (HTuple)modelID,
                                               ((HTuple)startAngle).TupleRad(),
@@ -371,7 +432,7 @@ namespace PMAlignTool
                                                out angles,
                                                out temp,
                                                out scores);
-
+                */
                }
                else
                {
@@ -389,8 +450,7 @@ namespace PMAlignTool
                                                 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++)
@@ -416,10 +476,18 @@ namespace PMAlignTool
                        }
                    }
                }
-                if(L_resultList.Count > 0)
+                if (softwareRunState == SoftwareRunState.Debug)
+                {
+                    FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
+                    FormPMAlignTool.Instance.myHwindow.DispImage(inputImage);
+                }
+                if (L_resultList.Count > 0)
                {
                    toolRunStatu = ToolRunStatu.Succeed;
-                    ShowTemplate(FormPMAlignTool.Instance.myHwindow.DispHWindow);
+                    if (softwareRunState == SoftwareRunState.Debug)
+                    {
+                        ShowTemplate(FormPMAlignTool.Instance.myHwindow.DispHWindow);
+                    }  
                    return 0;
                }
            }
@@ -448,25 +516,19 @@ namespace PMAlignTool
                    dispHWindow.ClearWindow();
                    dispHWindow.DispObj(inputImage);
                }
-                if (matchMode == MatchMode.BasedShape)
+                if(L_resultList.Count > 0)
                {
-                    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);
+                    foreach (var item in L_resultList)
+                    {
+                        HTuple homMat2D;
+                        HOperatorSet.GetShapeModelContours(out contour, modelID, new HTuple(1));
+                        HOperatorSet.VectorAngleToRigid(0, 0, 0, item.Row, item.Col, item.Angle,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)
            {
--- a/PMAlignTool/PMAlignTool.csproj
+++ b/PMAlignTool/PMAlignTool.csproj
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="utf-8"?>
+<?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="14.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
  <PropertyGroup>
@@ -9,8 +9,9 @@
    <AppDesignerFolder>Properties</AppDesignerFolder>
    <RootNamespace>PMAlignTool</RootNamespace>
    <AssemblyName>PMAlignTool</AssemblyName>
-    <TargetFrameworkVersion>v4.5.2</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
    <FileAlignment>512</FileAlignment>
+    <TargetFrameworkProfile />
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
    <DebugSymbols>true</DebugSymbols>
--- a/PMAlignTool/PMAlignToolRun.cs
+++ b/PMAlignTool/PMAlignToolRun.cs
@@ -25,6 +25,7 @@ using System.Text.RegularExpressions;
 using HalconDotNet;
 using FormLib;
 using Logger;
+using static DataStruct.DataStruct;

 namespace PMAlignTool
 {
@@ -33,6 +34,7 @@ namespace PMAlignTool
        public void ToolRun(string jobName, int toolIndex, int inputItemNum, TreeNode selectNode, List<IToolInfo> L_toolList)
        {
            PMAlign myPMAlign = (PMAlign)L_toolList[toolIndex].tool;
+            
            VisionJob myJob = VisionJobParams.pVisionProject.Project[jobName];
            for (int j = 0; j < inputItemNum; j++)
            {
@@ -62,6 +64,17 @@ namespace PMAlignTool
            {
                myJob.FormLogDisp($"{L_toolList[toolIndex].toolName} 运行成功，{myPMAlign.runTime}", Color.Green, selectNode);
                myPMAlign.DispMainWindow(FormImageWindow.Instance.myHWindow.DispHWindow);
+                // 将输出值赋值到界面输出中
+                if (myPMAlign.L_resultList.Count > 0)
+                {
+                    L_toolList[toolIndex].toolOutput[0] = new ToolIO("GetPose",
+                        new PosXYU { X = myPMAlign.L_resultList[0].Row, Y = myPMAlign.L_resultList[0].Col, U = myPMAlign.L_resultList[0].Angle }, 
+                        DataType.Pose);
+                    L_toolList[toolIndex].toolOutput[1] = new ToolIO("GetPose.X", myPMAlign.L_resultList[0].Row, DataType.IntValue);
+                    L_toolList[toolIndex].toolOutput[2] = new ToolIO("GetPose.Y", myPMAlign.L_resultList[0].Col, DataType.IntValue);
+                    L_toolList[toolIndex].toolOutput[3] = new ToolIO("GetPose.Z", myPMAlign.L_resultList[0].Angle, DataType.DoubleValue);
+                    L_toolList[toolIndex].toolOutput[4] = new ToolIO("GetPose.Score", myPMAlign.L_resultList[0].Socre, DataType.DoubleValue);
+                }
            }
        }
    }
--- a/PMAlignTool/Properties/Resources.Designer.cs
+++ b/PMAlignTool/Properties/Resources.Designer.cs
@@ -1,4 +1,4 @@
-//------------------------------------------------------------------------------
+//------------------------------------------------------------------------------
 // <auto-generated>
 //     此代码由工具生成。
 //     运行时版本:4.0.30319.42000