基于形状的多模板匹配，有如下几个关键点：
1. 创建模板的时候，需要将模板句柄组成数组
2. 匹配的时候需要使用find_shape_models算子
//多模板匹配
find_shape_models
Image：输入图像
ModelIDs：模板句柄（数组）
AngleStart：模板最小旋转开始角度
AngleExtent：旋转角度范围
MinScore：最低得分数
NumMatches：匹配的个数（0为所有的都匹配）
MaxOverlap：最大重叠度
Greediness：搜索贪婪度（贪婪度越大，搜索越快）
Row：找到模型实例的行坐标
Column：找到模型实例的列坐标
Angle：模型实例的旋转角度
Scale：模型实例的缩放度
Score：模型实例的分数
Model：模板实例的索引号
* This example program shows how to use HALCON's shape-based matching
* to find multiple different models in one call to find_shape_models. Note that this
* is one mode of operation that is frequently useful. However, the number of
* applications that can be solved with this mechanism is much larger. For
* another application where finding multiple models in one call is useful are
* applications where the same object can only occur in small angle ranges
* around a discrete set of angles, e.g., 0°, 90°, 180°, and 270°. In these cases,
* it would be wasteful to train the model for the full 360° rotation range and to
* match the model in this range. Instead, four models using the small angle
* ranges around the discrete set of angles should be generated from the same
* model image and used in the matching stage using four different angle ranges.
dev_update_pc ('off')
dev_update_window ('off')
dev_update_var ('off')
dev_close_window ()
dev_open_window (0, 0, 646, 482, 'black', WindowHandle)
dev_set_part (0, 0, 481, 645)
set_display_font (WindowHandle, 20, 'mono', 'true', 'false')
dev_set_draw ('margin')
dev_set_line_width (3)
* These colors will be used to graphically discern the different models in the
* visualization code below.
Colors := ['red','green','cyan']
* The models will be generated from hard-coded rectangles given by the
* following coordinates:
Row1 := [135,150,185]
Column1 := [250,170,220]
Row2 := [375,310,335]
Column2 := [355,395,375]
* The object Models will hold a set of XLD contours that represent the different
* models. They are used below to overlay the found models on the current
* image. XLD contours are used because they can be transformed much faster
* than regions. This creates a slight problem because in general multiple XLD
* contours will represent one model. Therefore, the start and end indices of the
* different models will be stored in IndexS and IndexE, respectively.
gen_empty_obj (Models)
IndexS := []
IndexE := []
* The variable ModelIDs holds the different models that are created below.
ModelIDs := []
* Likewise, RowsRef and ColumnsRef store the reference points of the different
* models. They are necessary to transform the models to the found instances
* in the current image.
*下面这个for循环，是为了得到3个模板的模板句柄数组
for J := 1 to 3 by 1
read_image (Image, 'metal-parts/metal-part-model-' + J$'02d')
dev_display (Image)
dev_set_color ('green')
set_tposition (WindowHandle, 20, 20)
write_string (WindowHandle, 'Generating shape model ' + J$'d')
gen_rectangle1 (Rectangle, Row1[J - 1], Column1[J - 1], Row2[J - 1], Column2[J - 1])
area_center (Rectangle, Area, Row, Column)
reduce_domain (Image, Rectangle, ImageReduced)
* Although we will use get_shape_model_contours below to obtain the
* representation of the model, we extract a model representation here using
* inspect_shape_model because this enables us to display the representation
* of the model while the model is being created.
inspect_shape_model (Image, ModelImages, ModelRegions, 1, 30)
* Since the shape models contain a few extraneous edges, they will be
* removed here to give a slightly nicer visualization.
connection (ModelRegions, ConnectedRegions)
select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 20, 100000)
union1 (SelectedRegions, ModelRegions)
gen_contours_skeleton_xld (ModelRegions, ModelContours, 1, 'filter')
dev_set_color ('red')
dev_display (ModelContours)
create_shape_model (ImageReduced, 5, rad(0), rad(360), 'auto', 'pregeneration', 'use_polarity', 30, 7, ModelID)
get_shape_model_contours (ModelCont, ModelID, 1)
select_shape_xld (ModelCont, ModelContours, 'contlength', 'and', 20, 1000)
* Count how many XLD contours there are in the current model and in the
* already stored models. This is necessary to compute IndexS and IndexE.
* 如下代码，IndexS 为各个模板轮廓的起始索引号（从1开始），IndexE 为各个模板轮廓的结束索引号
* ModelIDs 为模板句柄数组
count_obj (ModelContours, NumModel)
count_obj (Models, NumModels)
concat_obj (Models, ModelContours, Models)
IndexS := [IndexS,NumModels + 1]
IndexE := [IndexE,NumModels + NumModel]
ModelIDs := [ModelIDs,ModelID]
endfor
dev_set_color ('yellow')
set_tposition (WindowHandle, 50, 20)
write_string (WindowHandle, 'Press left button to start')
set_tposition (WindowHandle, 80, 20)
write_string (WindowHandle, 'and stop the demo.')
get_mbutton (WindowHandle, Row3, Column3, Button1)
wait_seconds (0.5)
dev_set_color ('red')
Button := 0
ImgNo := 1
* 下面的while循环，是模板匹配以及显示匹配的模板轮廓
while (Button != 1)
read_image (Image, 'metal-parts/metal-parts-' + ImgNo$'02d')
count_seconds (S1)
find_shape_models (Image, ModelIDs, rad(0), rad(360), 0.6, 0, 0.5, 'least_squares', 0, 0.6, Row, Column, Angle, Score, Model)
count_seconds (S2)
Time := (S2 - S1) * 1000
dev_display (Image)
Num := |Score|
* 仿射变换之后，显示找到的模板轮廓
for J := 0 to Num - 1 by 1
* Select the correct XLD contours from the Models object.
copy_obj (Models, ModelSelected, IndexS[Model[J]], IndexE[Model[J]] - IndexS[Model[J]] + 1)
* Compute the transformation from the model object to the current instance.
vector_angle_to_rigid (0, 0, 0, Row[J], Column[J], Angle[J], HomMat2D)
affine_trans_contour_xld (ModelSelected, ModelTrans, HomMat2D)
dev_set_color (Colors[Model[J]])
dev_display (ModelTrans)
endfor
dev_set_color ('yellow')
set_tposition (WindowHandle, 20, 20)
if (Num == 1)
write_string (WindowHandle, Num$'1d' + ' object found in ' + Time$'4.2f' + 'ms')
else
write_string (WindowHandle, Num$'1d' + ' objects found in ' + Time$'4.2f' + 'ms')
endif
ImgNo := ImgNo + 1
if (ImgNo > 15)
ImgNo := 1
endif
dev_error_var (Error, 1)
dev_set_check ('~give_error')
get_mposition (WindowHandle, R, C, Button)
dev_error_var (Error, 0)
dev_set_check ('give_error')
if (Error != H_MSG_TRUE)
Button := 0
endif
endwhile
for J := 0 to |ModelIDs| - 1 by 1
clear_shape_model (ModelIDs[J])
endfor