機器視覺(定位源碼)

1、 機器視覺-定位識別源碼(完全基于幾何算法的定位, 精度高、速度快、識別能力及抗干擾能力強;引用地址:www.qianli- 注冊會員下載VB,VC實現(xiàn)源碼, 其中對圖片的處理代碼)/ KMDVisionDemoDlg.cpp : implementation file/#include "stdafx.h"#include "KMDVisionDemo.h"#include "KMDVisionDemoDlg.h"#ifdef _DEBUG#define new DEBUG_NEW#undef THIS_FILEstatic cha

2、r THIS_FILE = _FILE_;#endif/ CAboutDlg dialog used for App Aboutclass CAboutDlg : public CDialogpublic:CAboutDlg();/ Dialog Data/AFX_DATA(CAboutDlg)enum IDD = IDD_ABOUTBOX ;/AFX_DATA/ ClassWizard generated virtual function overrides/AFX_VIRTUAL(CAboutDlg)protected:virtual void DoDataExchange(CDataEx

3、change* pDX); / DDX/DDV support/AFX_VIRTUAL/ Implementationprotected:/AFX_MSG(CAboutDlg)/AFX_MSGDECLARE_MESSAGE_MAP();CAboutDlg:CAboutDlg() : CDialog(CAboutDlg:IDD)/AFX_DATA_INIT(CAboutDlg)/AFX_DATA_INITvoid CAboutDlg:DoDataExchange(CDataExchange* pDX)CDialog:DoDataExchange(pDX);/AFX_DATA_MAP(CAbout

4、Dlg)/AFX_DATA_MAPBEGIN_MESSAGE_MAP(CAboutDlg, CDialog)/AFX_MSG_MAP(CAboutDlg)/ No message handlers/AFX_MSG_MAPEND_MESSAGE_MAP()/ CKMDVisionDemoDlg dialogCKMDVisionDemoDlg:CKMDVisionDemoDlg(CWnd* pParent /*=NULL*/): CDialog(CKMDVisionDemoDlg:IDD, pParent)/AFX_DATA_INIT(CKMDVisionDemoDlg)m_Score = 0;m

5、_DownZoom = 1.0f;m_UpZoom = 1.0f;m_MaxAngle = 45;m_MinAngle = -45;m_PyrLevel = 1;m_MatchNum = 1;m_pRawData = NULL;m_pDispData = NULL;m_hMVC1000=NULL;IsMatching=FALSE;IsCamera=FALSE;/AFX_DATA_INIT/ Note that LoadIcon does not require a subsequent DestroyIcon in Win32m_hIcon = AfxGetApp()->LoadIcon

6、(IDR_MAINFRAME);void CKMDVisionDemoDlg:DoDataExchange(CDataExchange* pDX)CDialog:DoDataExchange(pDX);/AFX_DATA_MAP(CKMDVisionDemoDlg)DDX_Control(pDX, IDC_VIEWWND, m_ViewWnd);DDX_Control(pDX, IDC_SCROLLBARV, m_VScroBar);DDX_Control(pDX, IDC_SCROLLBARH, m_HScroBar);DDX_Text(pDX, IDC_MATCHNUM, m_MatchN

7、um);DDV_MinMaxInt(pDX, m_MatchNum, 1, 80);DDX_Text(pDX, IDC_ZOOMBEDIT, m_UpZoom);DDV_MinMaxFloat(pDX, m_UpZoom, 1.f, 5.f);DDX_Text(pDX, IDC_ZOOMSEDIT, m_DownZoom);DDV_MinMaxFloat(pDX, m_DownZoom, 0.1f, 1.f);DDX_Text(pDX, IDC_SCORE, m_Score);DDV_MinMaxInt(pDX, m_Score, 20, 100);DDX_Text(pDX, IDC_PYRL

8、EVEL, m_PyrLevel);DDV_MinMaxInt(pDX, m_PyrLevel, 1, 4);DDX_Text(pDX, IDC_MAXANGLEEDIT, m_MaxAngle);DDV_MinMaxInt(pDX, m_MaxAngle, -180, 180);DDX_Text(pDX, IDC_MINANGLEEDIT, m_MinAngle);DDV_MinMaxInt(pDX, m_MinAngle, -180, 180);/AFX_DATA_MAPvoid CALLBACK RawCallBack(LPVOID lpParam, LPVOID lpUser)BYTE

9、 *pDataBuffer = (BYTE*)lpParam;CKMDVisionDemoDlg *pDemoDlg = (CKMDVisionDemoDlg*)lpUser;for(int i=0;i<480;i+)memcpy(pDemoDlg->m_pDispData+i*640,pDataBuffer+(479-i)*640,640);pDemoDlg->DrawImage();BEGIN_MESSAGE_MAP(CKMDVisionDemoDlg, CDialog)/AFX_MSG_MAP(CKMDVisionDemoDlg)ON_WM_SYSCOMMAND()ON

10、_WM_PAINT()ON_WM_QUERYDRAGICON()ON_BN_CLICKED(IDC_SETMODELAREA, OnSetmodelarea)ON_BN_CLICKED(IDC_OPENMODELIMAGE, OnOpenmodelimage)ON_BN_CLICKED(IDC_MAKEMODEL, OnMakemodel)ON_BN_CLICKED(IDC_OPENSEARCHIMAGE, OnOpensearchimage)ON_BN_CLICKED(IDC_SETSEARCHAREA, OnSetsearcharea)ON_BN_CLICKED(IDC_TRYMODEL,

11、 OnTrymodel)ON_WM_HSCROLL()ON_WM_VSCROLL()ON_WM_LBUTTONDOWN()ON_BN_CLICKED(IDC_OPENMODEL, OnOpenmodel)ON_EN_CHANGE(IDC_SCORE, OnChangeScore)ON_EN_CHANGE(IDC_ZOOMSEDIT, OnChangeZoomsedit)ON_EN_CHANGE(IDC_ZOOMBEDIT, OnChangeZoombedit)ON_EN_CHANGE(IDC_PYRLEVEL, OnChangePyrlevel)ON_BN_CLICKED(IDC_SAVEMO

12、DEL, OnSavemodel)ON_EN_CHANGE(IDC_MATCHNUM, OnChangeMatchnum)ON_BN_CLICKED(IDC_OPENCAMERA, OnOpencamera)ON_WM_TIMER()ON_BN_CLICKED(IDC_OPENMODELIMAGE2, OnOpenmodelimage2)ON_BN_CLICKED(IDC_DISPLAYREAL, OnDisplayreal)/AFX_MSG_MAPEND_MESSAGE_MAP()/ CKMDVisionDemoDlg message handlersBOOL CKMDVisionDemoD

13、lg:OnInitDialog()CDialog:OnInitDialog();/ Add "About." menu item to system menu./ IDM_ABOUTBOX must be in the system command range.ASSERT(IDM_ABOUTBOX & 0xFFF0) = IDM_ABOUTBOX);ASSERT(IDM_ABOUTBOX < 0xF000);CMenu* pSysMenu = GetSystemMenu(FALSE);if (pSysMenu != NULL)CString strAbout

14、Menu;strAboutMenu.LoadString(IDS_ABOUTBOX);if (!strAboutMenu.IsEmpty()pSysMenu->AppendMenu(MF_SEPARATOR);pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);/ Set the icon for this dialog. The framework does this automatically/ when the application's main window is not a dialogSetI

15、con(m_hIcon, TRUE);/ Set big iconSetIcon(m_hIcon, FALSE);/ Set small icon/ TODO: Add extra initialization hereCClientDC dc(this);m_dcMem.CreateCompatibleDC( &dc ); m_VScroBar.ShowWindow(false); /Hide Vertical Scroll Bar m_HScroBar.ShowWindow(false); /Hide Horizontal Scroll Bar m_Score=60;m_MinAn

16、gle=-45;m_MaxAngle=45;m_DownZoom=0.8;m_UpZoom=1.2;m_MatchNum=1;m_hBmpNew = NULL;ImgWidth=640;ImgHeight=480;OriginCenterX=0;OriginCenterY=0;OriginCornerX=0;OriginCornerY=0;m_maxMatchNumbers=1;m_minMatchScore=m_Score;DownScale=m_DownZoom;UpScale=m_UpZoom;FinalScale=0;ModelOffsetX=0;ModelOffsetY=0;Resu

17、ltX=0;ResultY=0;/FocusVisionModel=NULL;/FocusVisionModel=new CFocusVision;CString ss;ss.Format("%d",m_minMatchScore);GetDlgItem(IDC_SCORE)->SetWindowText(ss);ss.Format("%f",DownScale);GetDlgItem(IDC_ZOOMSEDIT)->SetWindowText(ss);ss.Format("%f",UpScale);GetDlgItem(

18、IDC_ZOOMBEDIT)->SetWindowText(ss);ss.Format("%d",m_MinAngle);GetDlgItem(IDC_MINANGLEEDIT)->SetWindowText(ss);ss.Format("%d",m_MaxAngle);GetDlgItem(IDC_MAXANGLEEDIT)->SetWindowText(ss);ss.Format("%d",m_MatchNum);GetDlgItem(IDC_MATCHNUM)->SetWindowText(ss);m_V

19、iewWnd.GetClientRect(&m_DisplayRect); initData();initImageParam();initcamera();Start();return true ; / return TRUE unless you set the focus to a controlvoid CKMDVisionDemoDlg:OnSysCommand(UINT nID, LPARAM lParam)if (nID & 0xFFF0) = IDM_ABOUTBOX)CAboutDlg dlgAbout;dlgAbout.DoModal();elseCDial

20、og:OnSysCommand(nID, lParam);/ If you add a minimize button to your dialog, you will need the code below/ to draw the icon. For MFC applications using the document/view model,/ this is automatically done for you by the framework.void CKMDVisionDemoDlg:OnPaint() if (IsIconic()CPaintDC dc(this); / dev

21、ice context for paintingSendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);/ Center icon in client rectangleint cxIcon = GetSystemMetrics(SM_CXICON);int cyIcon = GetSystemMetrics(SM_CYICON);CRect rect;GetClientRect(&rect);int x = (rect.Width() - cxIcon + 1) / 2;int y = (rect.Height() -

22、cyIcon + 1) / 2;/ Draw the icondc.DrawIcon(x, y, m_hIcon);elseCPaintDC dc(this); dc.BitBlt(offsetx,offsety,m_size.cx,m_size.cy,&m_dcMem, sourcex, sourcey,SRCCOPY);CDC*pDC = m_ViewWnd.GetDC(); PatKernal.Draw(pDC,0x00,0xff,0x00);SearchKernal.Draw(pDC,0x00,0xff,0x00);ReleaseDC(pDC);erase=false;CDia

23、log:OnPaint();/ The system calls this to obtain the cursor to display while the user drags/ the minimized window.HCURSOR CKMDVisionDemoDlg:OnQueryDragIcon()return (HCURSOR) m_hIcon;void CKMDVisionDemoDlg:OnDisplayreal() / TODO: Add your control notification handler code hereStart();void CKMDVisionDe

24、moDlg:OnOpenmodelimage() / TODO: Add your control notification handler code hereMV_Usb2GetRawData(m_hMVC1000, &m_CapInfo);CString strFile = "c:rawData.bmp"SaveRawAsBmp(&m_CapInfo, strFile );Stop();/SearchKernal.m_rect.SetRect(0,0,0,0);PathName2="c:rawData.bmp"ShowImage();

25、OpenModImg(PathName2.GetBuffer(50);void CKMDVisionDemoDlg:OnOpenmodelimage2() / TODO: Add your control notification handler code hereStop();CString sFilter = ("圖象文件(*.bmp)|*.bmp");CFileDialog opendlg(TRUE, NULL, NULL, OFN_HIDEREADONLY | OFN_FILEMUSTEXIST, sFilter, this); if( opendlg.DoModa

26、l ()=IDOK ) PathName2 = opendlg.GetPathName();SearchKernal.m_rect.SetRect(0,0,0,0);ShowImage();OpenModImg(PathName2.GetBuffer(50);void CKMDVisionDemoDlg:OnSetmodelarea() / TODO: Add your control notification handler code hereSearchKernal.m_rect.SetRect(0,0,0,0);CDC *pDC = m_ViewWnd.GetDC(); PatKerna

27、l.m_rect.SetRect(10,10,180,120);PatKernal.m_nStyle = CRectTracker:solidLine;PatKernal.Draw(pDC,0x00,0xff,0x00);Invalidate(false);ReleaseDC(pDC);void CKMDVisionDemoDlg:OnMakemodel() / TODO: Add your control notification handler code hereSearchKernal.m_rect.SetRect(0,0,0,0);SetModAreas(PatKernal.m_rec

28、t.left+ModelOffsetX,PatKernal.m_rect.top+ModelOffsetY,PatKernal.m_rect.Width(),PatKernal.m_rect.Height();PatKernal.m_rect.SetRect(0,0,0,0);Invalidate(false);BOOL rst=AddMod(0,60);if(!rst)MessageBox("幾何特征過少，幾何模板定制失敗!程序執(zhí)行灰度定位!");SetMinAngles(-30);SetMaxAngles(30);void CKMDVisionDemoDlg:OnSav

29、emodel() / TODO: Add your control notification handler code hereBOOL rst=SaveMod("c:KMDVi");if(!rst)MessageBox("幾何特征過少,保存灰度模板!");void CKMDVisionDemoDlg:OnOpenmodel() / TODO: Add your control notification handler code hereLoadMod("c:KMDVi");void CKMDVisionDemoDlg:OnOpenc

30、amera() / TODO: Add your control notification handler code hereIsCamera=TRUE;Start();void CKMDVisionDemoDlg:OnOpensearchimage() / TODO: Add your control notification handler code hereStop();IsCamera=FALSE;ModelOffsetX=0;ModelOffsetY=0;CString sFilter = ("圖象文件(*.bmp)|*.bmp");CFileDialog ope

31、ndlg(TRUE, NULL, NULL, OFN_HIDEREADONLY | OFN_FILEMUSTEXIST, sFilter, this); if( opendlg.DoModal ()=IDOK )PathName2 = opendlg.GetPathName();ShowImage();OpenSearchImg(PathName2.GetBuffer(50);void CKMDVisionDemoDlg:OnSetsearcharea() / TODO: Add your control notification handler code hereCDC *pDC = m_V

32、iewWnd.GetDC(); SearchKernal.m_rect.SetRect(10,10,620,460);SearchKernal.m_nStyle = CRectTracker:solidLine;SearchKernal.Draw(pDC,0x00,0xff,0x00);Invalidate(false);ReleaseDC(pDC);void CKMDVisionDemoDlg:OnTrymodel() / TODO: Add your control notification handler code hereif(IsCamera)if(!IsMatching)SetTi

33、mer(1,50,NULL);IsMatching=TRUE;elseKillTimer(1);IsMatching=FALSE;Stop();elseSetMinAngles(-60);SetMaxAngles(60);SearchKernalRect=SearchKernal.m_rect;MatchTime.Reset();SetSearchAreas(SearchKernalRect.left,SearchKernalRect.top,SearchKernalRect.Width(),SearchKernalRect.Height();/SetSearchAreas(10,10,620

34、,460);RunSearchs(0);float MatchSpeed=MatchTime.GetTime(TRUE);float Angle= GetSearchAngles(0);int ModelWidth=GetModWidths();int ModelHeight=GetModHeights();for(int i=0;i<m_MatchNum;i+)ResultX=GetSearchResultsX(i,"Null");ResultY=GetSearchResultsY(i,"Null");CString ss;ss.Format(&

35、quot;定位時間Time=%fn模板的中心位置為 X=%fY=%fn定位后的中心位置為 X=%f Y=%f(單位:像素) Angle=%fn分數(shù)是%dn",MatchSpeed,GetModOrgCornerX(),GetModOrgCornerY(),ResultX,ResultY,Angle,GetSearchScores(i);GetDlgItem(IDC_RESULTTEXT)->SetWindowText(ss);if(ResultX!=0 && ResultY!=0)DrawResult(ResultX-ModelOffsetX, ResultY-

36、ModelOffsetY,GetModWidths(),GetModHeights();void CKMDVisionDemoDlg:OnHScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar) switch (nSBCode)case SB_TOP:sourcex = 0;break;case SB_BOTTOM:sourcex = INT_MAX;break;case SB_THUMBTRACK:sourcex= nPos;break;m_HScroBar.SetScrollPos(sourcex);ModelOffsetX=sour

37、cex;erase=true;InvalidateRect(&rectStaticClient);CDialog:OnHScroll(nSBCode, nPos, pScrollBar);CDialog:OnVScroll(nSBCode, nPos, pScrollBar);void CKMDVisionDemoDlg:OnVScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar) switch (nSBCode)case SB_TOP:sourcey = 0;break;case SB_BOTTOM:sourcey = INT_

38、MAX;break;case SB_THUMBTRACK:sourcey = nPos;break;m_VScroBar.SetScrollPos(sourcey);ModelOffsetY=sourcey;erase=true;InvalidateRect(&rectStaticClient);CDialog:OnHScroll(nSBCode, nPos, pScrollBar);CDialog:OnVScroll(nSBCode, nPos, pScrollBar);void CKMDVisionDemoDlg:ShowImage()if(m_hBmpNew != NULL) D

39、eleteObject(m_hBmpNew);sourcex=sourcey=0;m_hBmpNew =(HBITMAP) LoadImage(AfxGetInstanceHandle(), / handle to instancePathName2, / name or identifier of the image (root is where project is)IMAGE_BITMAP, / image types0, / desired width0, / desired heightLR_LOADFROMFILE); if( m_hBmpNew = NULL ) return;/

40、 put the HBITMAP info into the CBitmap (but not the bitmap itself)elsem_ViewWnd.GetClientRect( &rectStaticClient );rectStaticClient.NormalizeRect();m_size.cx = rectStaticClient.Width(); / zero basedm_size.cy = rectStaticClient.Height(); / zero basedm_ViewWnd.ClientToScreen( &rectStaticClient

41、 );ScreenToClient( &rectStaticClient);m_pt.x = rectStaticClient.left;m_pt.y = rectStaticClient.top;GetObject( m_hBmpNew , sizeof(BITMAP), &m_bmInfo );ImgWidth=m_bmInfo.bmWidth;ImgHeight=m_bmInfo.bmHeight;VERIFY(m_hBmpOld = (HBITMAP)SelectObject(m_dcMem, m_hBmpNew);offsetx= m_pt.x;offsety=m_p

42、t.y;m_VScroBar.MoveWindow(offsetx+m_size.cx,offsety,16,m_size.cy);m_HScroBar.MoveWindow(offsetx,offsety+m_size.cy,m_size.cx,16);horz.cbSize = sizeof(SCROLLINFO);horz.fMask = SIF_ALL;horz.nMin = 0;horz.nMax = m_bmInfo.bmWidth-m_size.cx;horz.nPage =0;horz.nPos = 0;horz.nTrackPos=0;if(m_bmInfo.bmWidth&

43、lt;=m_size.cx) offsetx= m_pt.x;m_VScroBar.MoveWindow(offsetx+m_bmInfo.bmWidth,offsety,16,m_size.cy);m_HScroBar.ShowWindow(false);elsem_HScroBar.ShowWindow(true);m_HScroBar.SetScrollInfo(&horz);vert.cbSize = sizeof(SCROLLINFO);vert.fMask = SIF_ALL;vert.nMin = 0;vert.nMax = m_bmInfo.bmHeight-(m_si

44、ze.cy);vert.nPage = 0;vert.nTrackPos=0;if(m_bmInfo.bmHeight<=m_size.cy)offsety= m_pt.y;m_HScroBar.MoveWindow(offsetx,offsety+m_bmInfo.bmHeight,m_size.cx,16);m_VScroBar.ShowWindow(false);elsem_VScroBar.ShowWindow(true);m_VScroBar.SetScrollInfo(&vert);InvalidateRect(&rectStaticClient);void

45、CKMDVisionDemoDlg:OnLButtonDown(UINT nFlags, CPoint point) CPoint pt =point-rectStaticClient.TopLeft();CPoint TopLeft,BottomRight;CPoint STopLeft,SBottomRight;if (PatKernal.HitTest(pt) != PatKernal.hitNothing )if (PatKernal.Track(&m_ViewWnd, pt)TopLeft=PatKernal.m_rect.TopLeft();BottomRight=PatK

46、ernal.m_rect.BottomRight();TopLeft.x+=rectStaticClient.TopLeft().x;TopLeft.y+=rectStaticClient.TopLeft().y;BottomRight.x=TopLeft.x+PatKernal.m_rect.Width();BottomRight.y=TopLeft.y+PatKernal.m_rect.Height();if(!(rectStaticClient.PtInRect(TopLeft) && rectStaticClient.PtInRect(BottomRight)PatKe

47、rnal.m_rect.SetRect(10,10,180,120);InvalidateRect(&rectStaticClient, false);if (SearchKernal.HitTest(pt) != SearchKernal.hitNothing )if (SearchKernal.Track(&m_ViewWnd, pt)STopLeft=SearchKernal.m_rect.TopLeft();SBottomRight=SearchKernal.m_rect.BottomRight();STopLeft.x+=rectStaticClient.TopLef

48、t().x;STopLeft.y+=rectStaticClient.TopLeft().y;SBottomRight.x=STopLeft.x+SearchKernal.m_rect.Width();SBottomRight.y=STopLeft.y+SearchKernal.m_rect.Height();if(!(rectStaticClient.PtInRect(STopLeft) && rectStaticClient.PtInRect(SBottomRight)SearchKernal.m_rect.SetRect(10,10,620,460);Invalidate

49、Rect(&rectStaticClient, false);CDialog:OnLButtonDown(nFlags, point);void CKMDVisionDemoDlg:DrawResult(float x,float y,int Width,int Height)CDC* pDC;pDC=m_ViewWnd.GetDC();CPen NewPen(PS_SOLID,2,0x0000ff);pDC->SelectObject(&NewPen);pDC->MoveTo(int)x,(int)y+10);pDC->LineTo(int)x,(int)y

50、-10);pDC->MoveTo(int)x+10,(int)y);pDC->LineTo(int)x-10,(int)y);pDC->MoveTo(int)(x-(Width-8)/2),(int)(y-(Height-8)/2);pDC->LineTo(int)(x-(Width-8)/2),(int)(y+(Height-8)/2);pDC->MoveTo(int)(x-(Width-8)/2),(int)(y-(Height-8)/2);pDC->LineTo(int)(x+(Width-8)/2),(int)(y-(Height-8)/2);pDC

51、->MoveTo(int)(x+(Width-8)/2),(int)(y+(Height-8)/2);pDC->LineTo(int)(x+(Width-8)/2),(int)(y-(Height-8)/2);pDC->MoveTo(int)(x+(Width-8)/2),(int)(y+(Height-8)/2);pDC->LineTo(int)(x-(Width-8)/2),(int)(y+(Height-8)/2);pDC->SelectStockObject(BLACK_PEN);ReleaseDC(pDC);void CKMDVisionDemoDlg:OnChangeScore() UpdateData(TRUE);SetMinScores(m_Score);void CKMDVisionDemoDlg:OnChangeZoomsedit() UpdateData(TRUE);SetMi