Halcon和VisionMaster还有Opencv中旋转矩形的处理

 ​​​​​​一、Halcon中旋转矩形定义和画旋转矩形

         Halcon中使用gen_rectangle2 (Rect5, 10, 10, 0, 2.1, 2.1)生成旋转矩形，

二、VisionMaster中旋转矩形和画旋转矩形

三、Opencv中旋转矩形与System.Drawing.Rectangle转换

四、用OpencvSharp，提取大图中的旋转矩形，并转为0度图像的函数

        /// <summary>
        /// 裁剪旋转ROI图像
        /// 从原始的图像中，将旋转矩形区域裁剪后，反向旋转正后的图像。
        /// </summary>
        /// <param name="theSrcMat"></param>
        /// <param name="theSrcRoiRotaRect"></param>
        /// <param name="theDstMat"></param>
        /// <returns></returns>
        bool CutRotaRectImage(Mat theSrcMat, FHRotaRect theSrcRoiRotaRect, ref Mat theDstMat)
        { 
            //参数检查
            if (theSrcMat == null) {
                return false;
            }
            
            //是否包含
            System.Drawing.Rectangle bigRect = new System.Drawing.Rectangle(0,0, theSrcMat.Width, theSrcMat.Height);
            if (false ==  theSrcRoiRotaRect.IsInBigRect(bigRect)) {
                return false;
            }
              

            if (theSrcRoiRotaRect.Angle == 0 || theSrcRoiRotaRect.Angle == -360 || theSrcRoiRotaRect.Angle == 360) {        
                //0度处理
                OpenCvSharp.Rect roiRect = new OpenCvSharp.Rect((int)Math.Floor(theSrcRoiRotaRect.CentX - (theSrcRoiRotaRect.W - 1) / 2.0),
                                                                (int)Math.Floor(theSrcRoiRotaRect.CentY - (theSrcRoiRotaRect.H - 1) / 2.0),
                                                                (int)Math.Ceiling(theSrcRoiRotaRect.W), 
                                                                (int)Math.Ceiling(theSrcRoiRotaRect.H));
                if (theDstMat == null ||
                   theDstMat.Size() != roiRect.Size ||
                   theDstMat.Type() != theDstMat.Type()) {
                   theDstMat = new Mat(roiRect.Size, theSrcMat.Type());
                }
                
                Mat tempRoiMat = new Mat(theSrcMat, roiRect);
                tempRoiMat.CopyTo(theDstMat);

            } else if (theSrcRoiRotaRect.Angle == -180 || theSrcRoiRotaRect.Angle == 180) {
                //±180度处理
                OpenCvSharp.Rect roiRect = new OpenCvSharp.Rect((int)Math.Floor(theSrcRoiRotaRect.CentX - (theSrcRoiRotaRect.W - 1) / 2.0),
                                                                (int)Math.Floor(theSrcRoiRotaRect.CentY - (theSrcRoiRotaRect.H - 1) / 2.0),
                                                                (int)Math.Ceiling(theSrcRoiRotaRect.W),
                                                                (int)Math.Ceiling(theSrcRoiRotaRect.H));
                if (theDstMat == null ||
                   theDstMat.Size() != roiRect.Size ||
                   theDstMat.Type() != theDstMat.Type()) {
                    theDstMat = new Mat(roiRect.Size, theSrcMat.Type());
                }

                Mat tempRoiMat = new Mat(theSrcMat, roiRect);
                theDstMat = tempRoiMat.Flip(FlipMode.X);
            } else {
                //其它角度处理
                //a.外接正矩形
                System.Drawing.Rectangle srcRoiRect = theSrcRoiRotaRect.BoundingRect();
                srcRoiRect = System.Drawing.Rectangle.Intersect(srcRoiRect, new System.Drawing.Rectangle(0, 0, theSrcMat.Width, theSrcMat.Height));
                Mat srcRoiMat = new Mat(theSrcMat, new OpenCvSharp.Rect(srcRoiRect.X, srcRoiRect.Y, srcRoiRect.Width, srcRoiRect.Height));

                OpenCvSharp.Size dstSz = new OpenCvSharp.Size((int)Math.Ceiling(theSrcRoiRotaRect.W), 
                                                              (int)Math.Ceiling(theSrcRoiRotaRect.H));
                //b.求旋转矩阵            
                Mat rotaMat = Cv2.GetRotationMatrix2D(new Point2f((float)((srcRoiRect.Width-1) / 2.0),
                                                                  (float)((srcRoiRect.Height-1) / 2.0)),
                                                      theSrcRoiRotaRect.Angle,
                                                      1);
                //针对偏移，修改工A02,A12
                double a02 = rotaMat.Get<double>(0, 2);
                double a12 = rotaMat.Get<double>(1, 2);
                double pianyiX = (dstSz.Width - 1) / 2.0 - (srcRoiRect.Width - 1) / 2.0;
                double pianyiY = (dstSz.Height - 1) / 2.0 - (srcRoiRect.Height - 1) / 2.0;
                rotaMat.Set(0, 2, a02 + pianyiX);
                rotaMat.Set(1, 2, a12 + pianyiY);

                //c.旋转图像 
                if (theDstMat == null ||
                    theDstMat.Size() != dstSz ||
                    theDstMat.Type() != theDstMat.Type()) {
                    theDstMat = new Mat(dstSz, theSrcMat.Type());
                }
                theDstMat.SetTo(new Scalar(0, 0, 0)); 
                Cv2.WarpAffine(srcRoiMat, theDstMat, rotaMat, theDstMat.Size(), InterpolationFlags.Linear, BorderTypes.Replicate); 

                mBindPara.CombinShow2 = new FengHua.ShowCtrl2.ShowImgPara(srcRoiMat);
            }
            return true;
        }