using HalconDotNet;
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using LB_VisionControls;
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using LB_VisionProcesses.Alogrithms.Halcon;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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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 System.Xml.Linq;
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using static LB_VisionProcesses.Alogrithms.Halcon.HFindModelTool;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.ToolTip;
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namespace LB_VisionProcesses.Alogrithms.Halcon
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{
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public class HFindMultiModelTool : TAlgorithm
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{
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public List<HFindModelTool> HFindModelTools = new List<HFindModelTool>();
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public HFindMultiModelTool()
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{
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strProcessClass = "LB_VisionProcesses.Alogrithms.Halcon.HFindMultiModelTool";
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strProcessName = "Halcon2D_多模板匹配工具";
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MaxTimeOut = 10000;
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//ModelsFullPath：模板路径
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Params.Inputs.Add("ModelsFullPath", new List<string>());
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//ModelType：模板类型
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Params.Inputs.Add("ModelType", "各向异形模板");
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//AngleStart：搜索时的起始角度[需要转换为弧度]
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Params.Inputs.Add("AngleStart", -5.0);
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//AngleExtent：搜索时的角度范围,0表示无角度搜索[需要转换为弧度]
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Params.Inputs.Add("AngleExtent", 10.0);
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//AngleStep：角度步长--弧度[角度步长 >= 0和角度步长 <= pi / 16]
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Params.Inputs.Add("AngleStep", "auto");
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Params.Inputs.Add("ScaleRMin", 0.9);
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Params.Inputs.Add("ScaleRMax", 1.1);
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Params.Inputs.Add("ScaleCMin", 0.9);
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Params.Inputs.Add("ScaleCMax", 1.1);
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//MinScore：被找到的模板最小分数
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Params.Inputs.Add("MinScore", 0.5);
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//NumMatches：要找到的模板最多的实例数,0则找到所有可能的匹配
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Params.Inputs.Add("NumMatches", 0);
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//MaxOverlap：允许找到的模型实例的最大重叠比例, 建议值：0.0,0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1.0
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Params.Inputs.Add("MaxOverlap", 0.2);
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//SubPixel：计算精度的设置
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//'none' 不适用亚像素,最大误差为半个像素
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//'interpolation' 差值得到亚像素精度
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//'least_squares', 'least_squares_high', 'least_squares_very_high'
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//'max_deformation 1', 'max_deformation 2', 'max_deformation 3', 'max_deformation 4'
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Params.Inputs.Add("SubPixel", "none");
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//NumLevels：搜索时金字塔的层级,0表示不使用金字塔
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Params.Inputs.Add("NumLevels", 0);
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//Greediness：贪婪度,搜索启发式,一般都设为0.8,越高速度越快,容易出现找不到的情况
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Params.Inputs.Add("Greediness", 0.8);
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Params.Inputs.Add("ResultType", "");
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Params.Inputs.Add("MinCount", 0);
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Params.Inputs.Add("MaxCount", 9999);
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Params.Outputs.Add("CenterX", new List<double>());
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Params.Outputs.Add("CenterY", new List<double>());
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Params.Outputs.Add("Phi", new List<double>());
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Params.Outputs.Add("Score", new List<double>());
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Params.Outputs.Add("Count", 0);
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}
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private static readonly object lockObj = new object();
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/// <summary>
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/// 运行算子
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/// </summary>
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public override void TAlgorithmMain()
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{
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lock (lockObj)
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{
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#region 初始化变量
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#endregion
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try
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{
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if (InputImage == null)
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{
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Msg = "输入图片为空";
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Result = false;
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return;
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}
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if (!(InputImage is HObject))
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{
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Msg = "输入图片格式不为HObject";
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Result = false;
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return;
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}
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object DomainImage = null;
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#region 裁剪区域
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if (!ReduceDomainImage(InputImage, ref DomainImage))
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{
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Msg = "裁剪区域失败";
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Result = false;
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return;
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}
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Record = new MsgRecord();
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#endregion
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#region 算子逻辑
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//判断是否有模板
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if (HFindModelTools.Count <= 0)
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{
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Msg = "未创建模板";
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Result = false;
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return;
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}
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HObject hoDomainImage = DomainImage as HObject;
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HTuple hv_Channels = new HTuple();
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//判断是否为灰度图
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using (HDevDisposeHelper dh = new HDevDisposeHelper())
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{
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try
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{
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HOperatorSet.CountChannels(hoDomainImage, out hv_Channels);
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if (hv_Channels.TupleInt() != 1)
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HOperatorSet.Rgb1ToGray(hoDomainImage, out hoDomainImage);
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//转换后再次检查是否为灰度图
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HOperatorSet.CountChannels(hoDomainImage, out hv_Channels);
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if (hv_Channels.TupleInt() != 1)
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{
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HOperatorSet.Rgb1ToGray(hoDomainImage, out hoDomainImage);
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Msg = "输入图片不为灰度图";
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Result = false;
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return;
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}
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}
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catch
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{
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Msg = "输入图片不为灰度图且转换失败";
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Result = false;
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return;
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}
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}
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List<double> CenterX = new List<double>();
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List<double> CenterY = new List<double>();
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List<double> Phi = new List<double>();
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List<double> Score = new List<double>();
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double AngleStart = Convert.ToDouble(Params.Inputs["AngleStart"]);
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double AngleExtent = Convert.ToDouble(Params.Inputs["AngleExtent"]);
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double MinScore = Convert.ToDouble(Params.Inputs["MinScore"]);
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int NumMatches = ProcessParams.ConvertToInt32(Params.Inputs["NumMatches"]);
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double MaxOverlap = Convert.ToDouble(Params.Inputs["MaxOverlap"]);
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string SubPixel = ProcessParams.ConvertToString(Params.Inputs["SubPixel"]);
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string NumLevels = ProcessParams.ConvertToString(Params.Inputs["NumLevels"]);
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double Greediness = Convert.ToDouble(Params.Inputs["Greediness"]);
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double ScaleRMin = Convert.ToDouble(Params.Inputs["ScaleRMin"]);
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double ScaleRMax = Convert.ToDouble(Params.Inputs["ScaleRMax"]);
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double ScaleCMin = Convert.ToDouble(Params.Inputs["ScaleCMin"]);
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double ScaleCMax = Convert.ToDouble(Params.Inputs["ScaleCMax"]);
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HTuple AnisoShapeModels = null;
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HTuple LocalDeformableModel = null;
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List<string> ModelsName = new List<string>();
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List<double> ModelsWidth = new List<double>();
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List<double> ModelsHeight = new List<double>();
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foreach (var HFindModelTool in HFindModelTools)
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{
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if (HFindModelTool.ModelID.Type == ModelType.各向异形模板)
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{
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//模板为空时跳过
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if (HFindModelTool.ModelID.hvModel == null)
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{
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Msg = $"{HFindModelTool.strProcessName}的模板为空";
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Result = false;
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return;
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}
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if (AnisoShapeModels == null)
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AnisoShapeModels = new HTuple();
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HOperatorSet.SetShapeModelParam(HFindModelTool.ModelID.hvModel
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, "timeout", MaxTimeOut - 1000); // 设置模板匹配的超时时间为5秒
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AnisoShapeModels = AnisoShapeModels.TupleConcat(HFindModelTool.ModelID.hvModel);
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ModelsName.Add(HFindModelTool.ModelID.ModelName);
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ModelsWidth.Add(HFindModelTool.ModelID.Width);
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ModelsHeight.Add(HFindModelTool.ModelID.Height);
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//AngleStart = Convert.ToDouble(HFindModelTool.Params.Inputs["AngleStart"]);
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//AngleExtent = Convert.ToDouble(HFindModelTool.Params.Inputs["AngleExtent"]);
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//MinScore = Convert.ToDouble(HFindModelTool.Params.Inputs["MinScore"]);
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//NumMatches = ProcessParams.ConvertToInt32(HFindModelTool.Params.Inputs["NumMatches"]);
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//MaxOverlap = Convert.ToDouble(HFindModelTool.Params.Inputs["MaxOverlap"]);
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//SubPixel = ProcessParams.ConvertToString(HFindModelTool.Params.Inputs["SubPixel"]);
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//NumLevels = ProcessParams.ConvertToString(HFindModelTool.Params.Inputs["NumLevels"]);
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//Greediness = Convert.ToDouble(HFindModelTool.Params.Inputs["Greediness"]);
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//ScaleRMin = Convert.ToDouble(HFindModelTool.Params.Inputs["ScaleRMin"]);
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//ScaleRMax = Convert.ToDouble(HFindModelTool.Params.Inputs["ScaleRMax"]);
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//ScaleCMin = Convert.ToDouble(HFindModelTool.Params.Inputs["ScaleCMin"]);
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//ScaleCMax = Convert.ToDouble(HFindModelTool.Params.Inputs["ScaleCMax"]);
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}
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else if (HFindModelTool.ModelID.Type == ModelType.局部变形模板)
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{
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// 局部变形模板没有多模板匹配 暂时顺序遍历
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if (LocalDeformableModel == null)
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LocalDeformableModel = new HTuple();
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LocalDeformableModel = LocalDeformableModel.TupleConcat(HFindModelTool.ModelID.hvModel);
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HFindModelTool.InputImage = hoDomainImage;
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if (HFindModelTool.Run())
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{
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HOperatorSet.GetImageSize(HFindModelTool.ModelID.hoImage, out HTuple ho_ModelWidth, out HTuple ho_ModelHeight);
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List<double> resultX = HFindModelTool.Params.Outputs["CenterX"] as List<double>;
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List<double> resultY = HFindModelTool.Params.Outputs["CenterY"] as List<double>;
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List<double> resultPhi = HFindModelTool.Params.Outputs["Phi"] as List<double>;
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List<double> resultScore = HFindModelTool.Params.Outputs["Score"] as List<double>;
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for (int i = 0; i < resultX.Count; i++)
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{
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CenterX.Add(resultX[i]);
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CenterY.Add(resultY[i]);
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Phi.Add(resultPhi[i]);
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Score.Add(resultScore[i]);
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HOperatorSet.GenRectangle2(out HObject hRectangle, resultY[i], resultX[i], resultPhi[i], ho_ModelWidth / 2, ho_ModelHeight / 2);
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((MsgRecord)Record).AddRecord($"{strProcessName}.{HFindModelTool.ModelID.ModelName}-{i}"
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, resultY[i] - ho_ModelHeight / 2, resultX[i] - ho_ModelWidth / 2, hRectangle);
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}
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}
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}
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}
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// 各向异形模板有多模板匹配直接运行
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if (AnisoShapeModels != null)
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{
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//0.5为最低分数阈值，后续通过MinScore过滤
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HOperatorSet.FindAnisoShapeModels(hoDomainImage, AnisoShapeModels
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, AngleStart / 180.0 * Math.PI, AngleExtent / 180.0 * Math.PI
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, ScaleRMin, ScaleRMax
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, ScaleCMin, ScaleCMax
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, 0.5, NumMatches, MaxOverlap, SubPixel
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, NumLevels == "auto" ? NumLevels : Convert.ToInt32(NumLevels)
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, Greediness
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, out HTuple hv_CenterRow, out HTuple hv_CenterColumn
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, out HTuple hv_CenterPhi
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, out _, out _, out HTuple hv_Score, out HTuple model);
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for (int i = 0; i < model.Length; i++)
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{
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if (hv_Score[i].D < MinScore)
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continue;
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int index = model[i].I;
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CenterX.Add(Math.Round(hv_CenterColumn[i].D, 3));
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CenterY.Add(Math.Round(hv_CenterRow[i].D, 3));
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if (i >= hv_CenterPhi.Length)
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Phi.Add(0);
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else
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Phi.Add(Math.Round(hv_CenterPhi[i].D, 3));
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Score.Add(Math.Round(hv_Score[i].D, 3));
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HOperatorSet.GenRectangle2(out HObject hRectangle, hv_CenterRow[i].D, hv_CenterColumn[i].D
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, hv_CenterPhi[i].D, ModelsWidth[index] / 2, ModelsHeight[index] / 2);
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((MsgRecord)Record).AddRecord($"{strProcessName}.{ModelsName[index]}-{i}"
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, hv_CenterRow[i] - ModelsHeight[index] / 2
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, hv_CenterColumn[i] - ModelsWidth[index] / 2, hRectangle);
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}
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}
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#endregion
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#region 结果处理
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Params.Outputs["CenterX"] = CenterX;
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Params.Outputs["CenterY"] = CenterY;
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Params.Outputs["Phi"] = Phi;
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Params.Outputs["Score"] = Score;
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Params.Outputs["Count"] = Score.Count;
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#endregion
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#region 生成OutputImage给后续处理
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try
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{
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OutputImage = hoDomainImage;
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}
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catch (Exception ex)
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{
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Msg = "生成OutputImage失败,原因是:" + ex.ToString();
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Result = false;
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return;
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}
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#endregion
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if (Msg == "运行超时")
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{
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Result = false;
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Record.ChangeAll2False();
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return;
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}
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int MinCount = ProcessParams.ConvertToInt32(Params.Inputs["MinCount"]);
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int MaxCount = ProcessParams.ConvertToInt32(Params.Inputs["MaxCount"]);
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if (CenterX.Count < MinCount || CenterX.Count > MaxCount)
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{
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Msg = string.Format("结果个数超出范围({0},{1})", MinCount, MaxCount);
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Result = false;
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Record.ChangeAll2False();
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return;
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}
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Msg = "运行成功";
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Result = true;
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return;
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}
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catch (Exception ex)
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{
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Msg = "运行失败,原因是:" + ex.ToString().TrimEnd();
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OutputImage = null;
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Result = false;
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return;
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}
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finally
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{
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if (!Result)
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{
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Params.Outputs["CenterX"] = 0;
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Params.Outputs["CenterY"] = 0;
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Params.Outputs["Angle"] = 0;
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Params.Outputs["Score"] = 0;
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Params.Outputs["Count"] = 0;
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}
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bCompleted = true;
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#region 内存释放
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#endregion
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}
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}
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}
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/// <summary>
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/// 加载算法
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/// </summary>
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/// <param name="fullPath">完整路径带.json</param>
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/// <returns></returns>
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public override bool Load(string fullPath)
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{
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try
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{
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if (string.IsNullOrEmpty(fullPath))
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return false;
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if (!fullPath.Contains(".json"))
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{
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Debug.WriteLine("文件路径不完整");
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return false;
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}
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if (fullPath.StartsWith(".\\"))
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{
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// 判断原字符串长度是否大于等于2，避免越界
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if (fullPath.Length >= 2)
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{
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// 替换开头两个字符
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fullPath = Application.StartupPath + fullPath.Substring(2);
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Debug.WriteLine($"修改后的字符串: {fullPath}");
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}
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}
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// 获取不带文件名的目录路径
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string directoryPath = Path.GetDirectoryName(fullPath);
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strProcessName = Path.GetFileNameWithoutExtension(fullPath);
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// 修正真实路径,模板匹配工具其路径为一个文件夹,而不是一个文件
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fullPath = directoryPath + "\\" + strProcessName + "\\" + strProcessName + ".json";
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if (!File.Exists(fullPath))
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{
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Debug.WriteLine("文件不存在创建空文件");
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Save(directoryPath);
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return true;
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}
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string strJson = string.Empty;
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using (StreamReader streamReader = new StreamReader(fullPath, Encoding.UTF8))
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{
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strJson = streamReader.ReadToEnd();
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streamReader.Close();
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}
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Params = JsonConvert.DeserializeObject<ProcessParams>(strJson);
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if (Params == null)
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return false;
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// 反序列化后修复数据
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Params.FixDeserializedData();
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HFindModelTools.Clear(); HFindModelTools = new List<HFindModelTool>();
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List<string> ModelsFullPath = (JArray.FromObject(Params.Inputs["ModelsFullPath"])).ToObject<List<string>>();
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foreach (var ModelFullPath in ModelsFullPath)
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{
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HFindModelTool hFindModelTool = new HFindModelTool();
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hFindModelTool.Load(ModelFullPath);
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hFindModelTool.strProcessName = hFindModelTool.ModelID.ModelName;
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HFindModelTools.Add(hFindModelTool);
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}
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return true;
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}
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catch { return false; }
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}
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/// <summary>
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/// 保存算法
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/// </summary>
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/// <param name="filePath">不带.json</param>
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/// <returns></returns>
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public override bool Save(string filePath)
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{
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try
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{
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// 获取文件夹名称
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string ModelFilePath = filePath + "\\" + strProcessName;
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if (Directory.Exists(ModelFilePath))
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Directory.Delete(ModelFilePath, true);
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List<string> ModelsFullPath = new List<string>();
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foreach (var HFindModelTool in HFindModelTools)
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{
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HFindModelTool.Save(ModelFilePath);
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ModelsFullPath.Add(ModelFilePath + "\\" + HFindModelTool.ModelID.ModelName + ".json");
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if (HFindModelTool.InputImage != null && HFindModelTool.InputImage is HObject)
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{
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((HObject)HFindModelTool.InputImage).Dispose();
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HFindModelTool.InputImage = null;
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}
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}
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Params.Inputs["ModelsFullPath"] = ModelsFullPath;
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// 修正真实路径,模板匹配工具其路径为一个文件夹,而不是一个文件
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filePath += ("\\" + strProcessName);
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base.Save(filePath);
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return true;
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}
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catch { return false; }
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}
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}
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}
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