mirror of
https://github.com/eggplantlwj/VisionEdit.git
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638 lines
26 KiB
C#
638 lines
26 KiB
C#
/*
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* ==============================================================================
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*
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* Filename: PMAlign
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* Description:
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*
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* Version: 1.0
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* Created: 2021/3/30 14:07:10
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*
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* Author: liu.wenjie
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*
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* ==============================================================================
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using CommonMethods;
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using HalconDotNet;
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using ToolBase;
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using static DataStruct.DataStructClass;
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using System.Windows.Forms;
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using Logger;
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using System.Diagnostics;
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using System.IO;
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using ViewROI;
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using DataStruct;
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namespace PMAlignTool
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{
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[Serializable]
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public class PMAlign : IToolBase
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{
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/// <summary>
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/// 绑定job名称
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/// </summary>
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public string bingdingJobName { get; set; }
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/// <summary>
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/// 工具名称
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/// </summary>
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public string toolName { get; set; } = string.Empty;
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/// <summary>
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/// 输入姿态
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/// </summary>
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public PosXYU inputPose = new PosXYU();
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/// <summary>
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/// 制作模板时的输入位姿
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/// </summary>
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public PosXYU templatePose = new PosXYU();
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/// <summary>
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/// 是否显示匹配到的模板
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/// </summary>
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internal bool showTemplate { get; set; } = true;
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/// <summary>
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/// 是否显示中心十字架
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/// </summary>
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internal bool showCross { get; set; } = true;
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/// <summary>
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/// 是否显示特征
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/// </summary>
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internal bool showFeature { get; set; } = true;
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/// <summary>
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/// 显示结果序号
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/// </summary>
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internal bool showIndex { get; set; } = true;
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/// <summary>
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/// 是否显示搜索区域
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/// </summary>
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internal bool showSearchRegion { get; set; } = true;
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/// <summary>
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/// 模板句柄
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/// </summary>
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internal HTuple modelID = -1;
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/// <summary>
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/// 行列间隔像素数
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/// </summary>
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internal int spanPixelNum { get; set; } = 100;
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/// <summary>
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/// 排序模式
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/// </summary>
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// internal SortMode sortMode = SortMode.从上至下且从左至右;
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/// <summary>
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/// 模板区域
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/// </summary>
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internal HObject templateRegion;
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/// <summary>
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/// 在进行模板创建及匹配时进行的图像预处理
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/// </summary>
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public ImagePreProcess imageProcess { get; set; } = new ImagePreProcess();
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/// <summary>
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/// 搜索区域图像
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/// </summary>
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internal HObject reducedImage;
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/// <summary>
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/// 最小匹配分数
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/// </summary>
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internal double minScore { get; set; } = 0.5;
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/// <summary>
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/// 匹配个数
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/// </summary>
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internal int matchNum { get; set; } = 1;
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/// <summary>
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/// 起始角度
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/// </summary>
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internal int startAngle { get; set; } = -30;
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/// <summary>
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/// 角度范围
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/// </summary>
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internal int angleRange { get; set; } = 360;
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/// <summary>
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/// 角度步长
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/// </summary>
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internal int angleStep { get; set; } = 1;
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/// <summary>
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/// 对比度
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/// </summary>
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internal int contrast { get; set; } = 30;
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/// <summary>
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/// 超时处理
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/// </summary>
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internal int timeOut { get; set; } = 500;
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/// <summary>
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/// 训练时所使用的模板图像，不点击获取图像时，不进行更新
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/// </summary>
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[NonSerialized]
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public HObject oldTrainImage;
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public bool isCreateModel { get; set; }
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internal string pmaModelName { get; set; } = Guid.NewGuid().ToString();
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/// <summary>
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/// 剪出的模板图像
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/// </summary>
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[NonSerialized]
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public HObject modelPartImage = new HObject();
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/// <summary>
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/// 模板位置和实际位置的姿态差异
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/// </summary>
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internal HTuple posHomMat2D = new HTuple();
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public override void DispMainWindow(HWindowTool_Smart dispHWindow)
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{
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if (showFeature)
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{
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ShowTemplate(dispHWindow, false);
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}
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}
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/// <summary>
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/// 极性
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/// </summary>
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internal string polarity { get; set; } = "use_polarity";
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/// <summary>
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/// 工具锁
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/// </summary>
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private object obj { get; set; } = new object();
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/// <summary>
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/// 模板匹配结果
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/// </summary>
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public List<MatchResult> L_resultList { get; set; } = new List<MatchResult>() { };
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/// <summary>
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/// 匹配模式
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/// </summary>
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public MatchMode matchMode { get; set; } = MatchMode.BasedShape;
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/// <summary>
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/// 缩放最小值
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/// </summary>
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public HTuple minScale { get; internal set; } = 0.9;
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/// <summary>
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/// 缩放最大值
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/// </summary>
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public HTuple maxScale { get; internal set; } = 1.1;
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public bool isAutoConstants { get; set; }
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public string modelFilePath { get; set; }
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public RegionType searchRegionType { get; set; }
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/// <summary>
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/// 文件存储路径
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/// </summary>
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public string trainImgPath, trainShmPath, trainModelPath, dataDirectory;
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[NonSerialized]
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public HObject SearchRegion;
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public void InitTool()
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{
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trainImgPath = ConfigData.ConfigPath + $"\\{bingdingJobName}\\{toolName}_{pmaModelName}_TrainImage.bmp";
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trainShmPath = ConfigData.ConfigPath + $"\\{bingdingJobName}\\{toolName}_{pmaModelName}.Shm";
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trainModelPath = ConfigData.ConfigPath + $"\\{bingdingJobName}\\{toolName}_{pmaModelName}_ModelImage.bmp";
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dataDirectory = ConfigData.ConfigPath + $"\\{bingdingJobName}\\";
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}
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public override void Run(SoftwareRunState softwareState)
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{
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Stopwatch sw = new Stopwatch();
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sw.Restart();
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softwareRunState = softwareState;
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if (inputImage == null)
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{
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toolRunStatu = ToolRunStatu.Lack_Of_Input_Image;
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runMessage = "工具输入图像为空";
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FormPMAlignTool.Instance.SetToolStatus(runMessage, toolRunStatu);
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return;
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}
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try
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{
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if (softwareRunState == SoftwareRunState.Debug)
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{
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DispImage();
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}
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if (inputPose != null)
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{
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HTuple Row = inputPose.X - templatePose.X;
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HTuple Col = inputPose.Y - templatePose.Y;
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HTuple angle = inputPose.U - templatePose.U;
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HTuple _homMat2D;
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HOperatorSet.HomMat2dIdentity(out _homMat2D);
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HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
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HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
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//对预期线的找模板区域做放射变换
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}
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HObject findModelImg = ProcessImage(inputImage);
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int ret = FindModelTemplate(findModelImg);
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UpdateResultDataGridview();
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ToolRunStatu myState = ret == 0 ? ToolRunStatu.Succeed : ToolRunStatu.Model_UnFound;
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toolRunStatu = myState;
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string retMsg = ret == 0 ? $"{toolName}工具运行成功,已找到匹配项！" : $"{toolName}未找到匹配项";
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runMessage = retMsg;
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sw.Stop();
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runTime = $"运行时间： {sw.ElapsedMilliseconds} ms";
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FormPMAlignTool.Instance.SetToolStatus(retMsg, myState);
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}
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catch (Exception ex)
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{
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FormPMAlignTool.Instance.SetToolStatus($"{toolName}工具运行异常，异常原因： {ex}", ToolRunStatu.Tool_Run_Error);
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}
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finally
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{
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}
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}
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public void UpdateResultDataGridview()
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{
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FormPMAlignTool.Instance.dgv_matchResult.Rows.Clear();
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Clear();
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Add("num", "序号");
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Add("Socre", "分值");
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Add("Row", "行");
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Add("Col", "列");
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//FormPMAlignTool.Instance.dgv_matchResult.Columns.Add("Angle", "角度");
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int count = 0;
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foreach (var item in L_resultList)
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{
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FormPMAlignTool.Instance.dgv_matchResult.Rows.Add(++count, item.Socre, item.Row, item.Col, item.Angle);
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}
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}
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public void UpdateParamsFromUI()
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{
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minScore = FormPMAlignTool.Instance.nud_minScore.Value;
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startAngle = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStart.Value);
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angleRange = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleRange.Value);
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angleStep = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStep.Value);
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polarity = FormPMAlignTool.Instance.cbx_polarity.TextStr;
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isAutoConstants = FormPMAlignTool.Instance.ckb_autoContrast.Checked;
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minScale = FormPMAlignTool.Instance.nud_ScaleStart.Value;
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maxScale = FormPMAlignTool.Instance.nud_ScaleRange.Value;
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timeOut = Convert.ToInt16(FormPMAlignTool.Instance.nud_Timeout.Value);
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contrast = Convert.ToInt16(FormPMAlignTool.Instance.tkb_contrast.Value);
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}
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public override void DispImage()
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{
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FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
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if (inputImage != null)
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{
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FormPMAlignTool.Instance.myHwindow.DispHWindow.DispObj(inputImage);
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}
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}
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private void CreateModelRegion()
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{
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HOperatorSet.GenEmptyObj(out templateRegion);
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foreach (var item in FormPMAlignTool.Instance.templateModelListAdd)
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{
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HObject selectObj = item.GetDrawingObjectIconic();
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HOperatorSet.Union2(selectObj, templateRegion, out templateRegion);
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}
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foreach (var item in FormPMAlignTool.Instance.templateModelListSub)
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{
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HObject selectObj = item.GetDrawingObjectIconic();
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HOperatorSet.Difference(templateRegion, selectObj, out templateRegion);
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}
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}
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public void SetParamsFromUI()
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{
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minScore = FormPMAlignTool.Instance.nud_minScore.Value;
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startAngle = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStart.Value);
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angleRange = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleRange.Value);
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angleStep = Convert.ToInt16(FormPMAlignTool.Instance.nud_angleStep.Value);
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polarity = FormPMAlignTool.Instance.cbx_polarity.TextStr;
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isAutoConstants = FormPMAlignTool.Instance.ckb_autoContrast.Checked;
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minScale = FormPMAlignTool.Instance.nud_ScaleStart.Value;
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maxScale = FormPMAlignTool.Instance.nud_ScaleRange.Value;
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}
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public int CreateModelTemplate(bool setInputModelRegion, HObject inputModelRegion)
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{
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HObject template;
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oldTrainImage = inputImage;
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// 判断是否从外部输入模板
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if(setInputModelRegion)
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{
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templateRegion = inputModelRegion;
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}
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else
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{
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if (FormPMAlignTool.Instance.templateModelListAdd.Count == 0)
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{
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LoggerClass.WriteLog($"{toolName}未划定模板建立区域", MsgLevel.Exception);
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isCreateModel = false;
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return -1;
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}
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CreateModelRegion();
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}
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HObject createModelImg;
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HOperatorSet.GenEmptyObj(out createModelImg);
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createModelImg = ProcessImage(inputImage);
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HOperatorSet.ReduceDomain(createModelImg, templateRegion, out template);
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HOperatorSet.CropDomain(template, out modelPartImage);
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//SetParamsFromUI();
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try
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{
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HTuple rows, cols, angles, scores, scale;
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if (matchMode == MatchMode.BasedShape)
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{
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HOperatorSet.CreateShapeModel(template,
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"auto",
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0,
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360,
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"auto",
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"auto",
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polarity,
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isAutoConstants ? (HTuple)"auto" : (HTuple)contrast,
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"auto",
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out modelID);
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HOperatorSet.FindShapeModel(createModelImg,
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(HTuple)modelID,
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange - startAngle).TupleRad(),
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(HTuple)minScore,
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(HTuple)matchNum,
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(HTuple)0.5,
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(HTuple)"least_squares",
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(HTuple)0,
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(HTuple)0.9,
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out rows,
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out cols,
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out angles,
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out scores);
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}
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else
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{
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HOperatorSet.CreateNccModel(template,
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"auto",
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange).TupleRad(),
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"auto",
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"use_polarity",
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out modelID);
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HOperatorSet.FindNccModel(createModelImg,
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(HTuple)modelID,
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange - startAngle).TupleRad(),
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(HTuple)minScore,
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(HTuple)matchNum,
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(HTuple)0.5,
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(HTuple)"true",
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(HTuple)0,
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out rows,
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out cols,
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out angles,
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out scores);
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}
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isCreateModel = true;
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// 模板句柄信息
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Directory.CreateDirectory(dataDirectory);
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HOperatorSet.WriteShapeModel(modelID, trainShmPath);
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HOperatorSet.WriteImage(inputImage, "bmp", 0, trainImgPath);
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HOperatorSet.WriteImage(modelPartImage, "bmp", 0, trainModelPath);
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if (scores != null && scores.Type != HTupleType.EMPTY)
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{
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templatePose = new PosXYU { X = rows[0].D, Y = cols[0].D , U = angles[0].D };
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}
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}
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catch (Exception ex)
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{
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Logger.LoggerClass.WriteLog($"{toolName}创建模板时出现异常", ex);
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isCreateModel = false;
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return -1;
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}
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finally
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{
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// FormPMAlignTool.Instance.templateModelListAdd.Clear();
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// FormPMAlignTool.Instance.templateModelListSub.Clear();
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}
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return 0;
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}
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public int FindModelTemplate(HObject findModelImage)
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{
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if (!File.Exists(trainShmPath))
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{
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LoggerClass.WriteLog($"{toolName}未创建或加载模板", MsgLevel.Exception);
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return -1;
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}
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HOperatorSet.ReadShapeModel(trainShmPath, out modelID);
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HObject image;
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if (searchRegionType == RegionType.AllImage)
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{
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image = findModelImage;
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}
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else
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{
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HOperatorSet.ReduceDomain(inputImage, SearchRegion, out reducedImage);
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image = reducedImage;
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}
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HTuple rows, cols, angles, scores;
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L_resultList.Clear();
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try
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{
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image = ProcessImage(image);
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if (matchMode == MatchMode.BasedShape)
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{
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HTuple temp;
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HOperatorSet.FindShapeModel(image,
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(HTuple)modelID,
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange - startAngle).TupleRad(),
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(HTuple)minScore,
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(HTuple)matchNum,
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(HTuple)0.5,
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(HTuple)"least_squares",
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(HTuple)0,
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(HTuple)0.7,
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out rows,
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out cols,
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out angles,
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out scores);
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/*
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HOperatorSet.FindScaledShapeModel(image,
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(HTuple)modelID,
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange - startAngle).TupleRad(),
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minScale,
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maxScale,
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(HTuple)minScore,
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(HTuple)matchNum,
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(HTuple)0.5,
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(HTuple)"least_squares",
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(HTuple)0,
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(HTuple)0.9,
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out rows,
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out cols,
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out angles,
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out temp,
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out scores);
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*/
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}
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else
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{
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HOperatorSet.FindNccModel(image,
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(HTuple)modelID,
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((HTuple)startAngle).TupleRad(),
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((HTuple)angleRange - startAngle).TupleRad(),
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(HTuple)minScore,
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(HTuple)matchNum,
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(HTuple)0.5,
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(HTuple)"true",
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(HTuple)0,
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out rows,
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out cols,
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out angles,
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out scores);
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}
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if (rows.TupleLength() > 0)
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{
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for (int i = 0; i < rows.TupleLength(); i++)
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{
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MatchResult matchResult = new MatchResult();
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matchResult.Row = Math.Round((double)rows[i], 3);
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matchResult.Col = Math.Round((double)cols[i], 3);
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matchResult.Angle = Math.Round((double)angles[i], 3);
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matchResult.Socre = Math.Round((double)scores[i], 3);
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L_resultList.Add(matchResult);
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}
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MatchResult temp;
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// 将匹配结果按分值由大到小排序
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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;
|
|
}
|
|
}
|
|
}
|
|
HOperatorSet.VectorAngleToRigid(templatePose.X, templatePose.Y, templatePose.U, L_resultList[0].Row, L_resultList[0].Col, L_resultList[0].Angle, out posHomMat2D);
|
|
}
|
|
if (softwareRunState == SoftwareRunState.Debug)
|
|
{
|
|
FormPMAlignTool.Instance.myHwindow.DispHWindow.ClearWindow();
|
|
FormPMAlignTool.Instance.myHwindow.DispImage(inputImage);
|
|
}
|
|
if (L_resultList.Count > 0)
|
|
{
|
|
toolRunStatu = ToolRunStatu.Succeed;
|
|
if (softwareRunState == SoftwareRunState.Debug)
|
|
{
|
|
ShowTemplate(FormPMAlignTool.Instance.myHwindow);
|
|
}
|
|
return 0;
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
LoggerClass.WriteLog($"{toolName}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(HWindowTool_Smart dispHWindow, bool clearImg = false)
|
|
{
|
|
try
|
|
{
|
|
if (modelID == null)
|
|
{
|
|
return;
|
|
}
|
|
if(clearImg)
|
|
{
|
|
dispHWindow.DispHWindow.ClearWindow();
|
|
dispHWindow.DispImage(inputImage);
|
|
}
|
|
if(L_resultList.Count > 0)
|
|
{
|
|
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.DispHWindow.SetColor("green");
|
|
dispHWindow.DispHWindow.DispObj(contour);
|
|
}
|
|
}
|
|
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Logger.LoggerClass.WriteLog($"{toolName}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
|
|
{
|
|
public ProcessAlg erosionValue1 { get; set; } = new ProcessAlg();
|
|
public ProcessAlg dilationValue { get; set; } = new ProcessAlg();
|
|
public ProcessAlg erosionValue2 { get; set; } = new ProcessAlg();
|
|
}
|
|
[Serializable]
|
|
public class ProcessAlg
|
|
{
|
|
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;
|
|
}
|
|
}
|
