halcon模板匹配

此章节只介绍形状模板匹配的部分，还有灰度模板匹配等，具体看halcon的手册；一般来说，形状模板匹配在工业视觉中用的最多

模板匹配流程：

1. 选一副成像清晰的图片，尤其是边缘成像以及图片背景（很重要，直接决定模板匹配是否稳定。)
2. 画模板区域，并将画的区域裁剪下来当作模板匹配区域（画的区域必须是每张图片都具有的特征且边缘特征明显）
3. 测试模板区域的稳定性

以下为halcon代码

* 读原始模板图
modelPath:= 'Model_01'
read_image (Image, 'D:/Project/Run_d/model/'+modelPath+'.bmp')

dev_close_window ()
get_image_size (Image, Width, Height)
dev_get_window (WindowHandle)
dev_display (Image)

* 图像预处理
decompose3 (Image, Image1, Image2, Image3)
trans_from_rgb (Image1, Image2, Image3, ImageH, ImageS, ImageV, 'hsv')
mult_image (Image3, Image3, ImageResult, 0.01, 0)
* mean_image (ImageResult, ImageMean, 5, 5)
median_image (ImageResult, ImageMedian, 'circle', 9, 'mirrored')


* 画模板匹配区域（画的区域必须是所有图片都共有的且清晰的区域）
gen_circle (ROI_0, 2306.29, 624.816, 36.4156)
gen_rectangle2 (TMP_Region, 1036.1, 2770.63, rad(-53.3634), 23.071, 8.31533)
union2 (ROI_0, TMP_Region, ROI_0)
gen_rectangle2 (TMP_Region, 3930.64, 2770.71, rad(-41.6901), 15.9835, 7.08005)
union2 (ROI_0, TMP_Region, ROI_0)
gen_rectangle2 (TMP_Region, 3532.98, 2764.16, rad(31.8632), 21.3319, 10.0028)
union2 (ROI_0, TMP_Region, ROI_0)

* 裁剪区域，生成模板
reduce_domain (ImageMedian, ROI_0, ImageReduced)

* 设置匹配角度，搜索精度等
create_shape_model (ImageReduced, 'auto', -rad(180), rad(360), 'auto', 'auto', 'use_polarity', 'auto', 'auto', ModelID)
get_shape_model_contours (ModelContours, ModelID, 1)

* 验证模板匹配是否正确
find_shape_model (ImageMedian, ModelID,-rad(180), rad(360), 0.3, 1, 0.5, 'least_squares', 0, 0.9, RefRow, RefColumn, RefAngle, Score1)
dev_display_shape_matching_results (ModelID, 'red', RefRow, RefColumn, RefAngle, 1, 1, 0)

* 保存模板
saveModelPath:='D:/Project/'+modelPath+'/'
write_shape_model (ModelID, saveModelPath+'shapeModel.shm')
tuple_concat(RefRow, RefColumn, Concat)
write_tuple (Concat, saveModelPath+'areaCenter.tup')

* 使用多张图片测试模板匹配算法是否具有稳定性
imagePath:='C:/Users/PC/Desktop/蓝光采图/01'
list_image_files (imagePath, 'default', [], ImageFiles)

for i:=0 to |ImageFiles|-1 by 1
    read_image (Image1, ImageFiles[i])
    
    * 图像预处理
    decompose3 (Image1, Image11, Image2, Image3)
    trans_from_rgb (Image11, Image2, Image3, ImageH, ImageS, ImageV, 'hsv')
    mult_image (Image3, Image3, Image3, 0.01, 0)
*     mean_image (Image3, Image3, 5, 5)
    median_image (Image3, Image3, 'circle', 9, 'mirrored')
    
    * 在图像中查找模板ModelID（也就是上述算法中裁剪下来的区域）
    find_shape_model (Image3, ModelID, -rad(180), rad(360), 0.5, 1, 1, 'least_squares',0, 0.9, RowCheck, ColumnCheck, AngleCheck, Score)
    
    * 显示匹配结果
    dev_display_shape_matching_results (ModelID, 'red',RowCheck, ColumnCheck, AngleCheck, 1, 1, 0)
    for j:=0 to |ColumnCheck|-1 by 1
        dev_display (Image1)
        if (Score>0.5)      
            vector_angle_to_rigid (RefRow, RefColumn, 0,   RowCheck[j], ColumnCheck[j], AngleCheck[j], HomMat2D)
            get_shape_model_contours (ModelContours1, ModelID, 1)
            affine_trans_contour_xld (ModelContours1, ContoursAffineTrans, HomMat2D)
            dev_clear_window ()
            dev_display (Image1)
            dev_display (ContoursAffineTrans)
            stop ()
            
        else
            stop ()
        endif
    endfor
    if (|ColumnCheck| == 0)
        stop ()
    endif
    
endfor