Halcon的一些简单的用法的介绍

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图像的采集以及曝光的设定

```js // Local iconic variables

HObject ho_Image=null;

// Local control variables 

HTuple hv_AcqHandle = null;
// Initialize local and output iconic variables 
HOperatorSet.GenEmptyObj(out ho_Image);
//Image Acquisition 01: Code generated by Image Acquisition 01
//Image Acquisition 01: Attention: The initialization may fail in case parameters need to
//Image Acquisition 01: be set in a specific order (e.g., image resolution vs. offset).
HOperatorSet.OpenFramegrabber("GigEVision2", 0, 0, 0, 0, 0, 0, "progressive", 
    -1, "default", -1, "false", "default", "GP130000016", 0, -1, out hv_AcqHandle);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "Width", 1280);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "Height", 1016);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "OffsetX", 0);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "PixelFormat", "Mono8");
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "TriggerLoopPeriod", 1000000);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "ExposureTime", 4998.06);
HOperatorSet.GrabImageStart(hv_AcqHandle, -1);
while ((int)(1) != 0)
{
  ho_Image.Dispose();
  HOperatorSet.GrabImageAsync(out ho_Image, hv_AcqHandle, -1);
  //Image Acquisition 01: Do something
}
HOperatorSet.CloseFramegrabber(hv_AcqHandle);
ho_Image.Dispose();

```

铁钩位置的判断

C# 代码

```js // // File generated by HDevelop for HALCON/.NET (C#) Version 18.11.0.1 // Non-ASCII strings in this file are encoded in local-8-bit encoding (cp936). // // Please note that non-ASCII characters in string constants are exported // as octal codes in order to guarantee that the strings are correctly // created on all systems, independent on any compiler settings. // // Source files with different encoding should not be mixed in one project. //

using HalconDotNet;

public partial class HDevelopExport {

if !(NOEXPORTMAIN || NOEXPORTAPP_MAIN)

public HDevelopExport() { // Default settings used in HDevelop HOperatorSet.SetSystem("width", 512); HOperatorSet.SetSystem("height", 512); if (HalconAPI.isWindows) HOperatorSet.SetSystem("usewindowthread","true"); action(); }

endif

// Procedures // Chapter: Develop // Short Description: Open a new graphics window that preserves the aspect ratio of the given image size. public void devopenwindowfitsize (HTuple hvRow, HTuple hvColumn, HTuple hvWidth, HTuple hvHeight, HTuple hvWidthLimit, HTuple hvHeightLimit, out HTuple hv_WindowHandle) {

// Local iconic variables 

// Local control variables 

HTuple hv_MinWidth = new HTuple(), hv_MaxWidth = new HTuple();
HTuple hv_MinHeight = new HTuple(), hv_MaxHeight = new HTuple();
HTuple hv_ResizeFactor = new HTuple(), hv_TempWidth = new HTuple();
HTuple hv_TempHeight = new HTuple(), hv_WindowWidth = new HTuple();
HTuple hv_WindowHeight = new HTuple();
// Initialize local and output iconic variables 
hv_WindowHandle = new HTuple();
//This procedure open a new graphic window
//such that it fits into the limits specified by WidthLimit
//and HeightLimit, but also maintains the correct aspect ratio
//given by Width and Height.
//
//If it is impossible to match the minimum and maximum extent requirements
//at the same time (f.e. if the image is very long but narrow),
//the maximum value gets a higher priority.
//
//Parse input tuple WidthLimit
if ((int)((new HTuple((new HTuple(hv_WidthLimit.TupleLength())).TupleEqual(0))).TupleOr(
    new HTuple(hv_WidthLimit.TupleLess(0)))) != 0)
{
  hv_MinWidth.Dispose();
  hv_MinWidth = 500;
  hv_MaxWidth.Dispose();
  hv_MaxWidth = 800;
}
else if ((int)(new HTuple((new HTuple(hv_WidthLimit.TupleLength())).TupleEqual(
    1))) != 0)
{
  hv_MinWidth.Dispose();
  hv_MinWidth = 0;
  hv_MaxWidth.Dispose();
  hv_MaxWidth = new HTuple(hv_WidthLimit);
}
else
{
  hv_MinWidth.Dispose();
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  hv_MinWidth = hv_WidthLimit.TupleSelect(
      0);
  }
  hv_MaxWidth.Dispose();
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  hv_MaxWidth = hv_WidthLimit.TupleSelect(
      1);
  }
}
//Parse input tuple HeightLimit
if ((int)((new HTuple((new HTuple(hv_HeightLimit.TupleLength())).TupleEqual(0))).TupleOr(
    new HTuple(hv_HeightLimit.TupleLess(0)))) != 0)
{
  hv_MinHeight.Dispose();
  hv_MinHeight = 400;
  hv_MaxHeight.Dispose();
  hv_MaxHeight = 600;
}
else if ((int)(new HTuple((new HTuple(hv_HeightLimit.TupleLength())).TupleEqual(
    1))) != 0)
{
  hv_MinHeight.Dispose();
  hv_MinHeight = 0;
  hv_MaxHeight.Dispose();
  hv_MaxHeight = new HTuple(hv_HeightLimit);
}
else
{
  hv_MinHeight.Dispose();
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  hv_MinHeight = hv_HeightLimit.TupleSelect(
      0);
  }
  hv_MaxHeight.Dispose();
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  hv_MaxHeight = hv_HeightLimit.TupleSelect(
      1);
  }
}
//
//Test, if window size has to be changed.
hv_ResizeFactor.Dispose();
hv_ResizeFactor = 1;
//First, expand window to the minimum extents (if necessary).
if ((int)((new HTuple(hv_MinWidth.TupleGreater(hv_Width))).TupleOr(new HTuple(hv_MinHeight.TupleGreater(
    hv_Height)))) != 0)
{
  hv_ResizeFactor.Dispose();
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  hv_ResizeFactor = (((((hv_MinWidth.TupleReal()
      )/hv_Width)).TupleConcat((hv_MinHeight.TupleReal())/hv_Height))).TupleMax()
      ;
  }
}
hv_TempWidth.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_TempWidth = hv_Width*hv_ResizeFactor;
}
hv_TempHeight.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_TempHeight = hv_Height*hv_ResizeFactor;
}
//Then, shrink window to maximum extents (if necessary).
if ((int)((new HTuple(hv_MaxWidth.TupleLess(hv_TempWidth))).TupleOr(new HTuple(hv_MaxHeight.TupleLess(
    hv_TempHeight)))) != 0)
{
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  {
  HTuple 
    ExpTmpLocalVar_ResizeFactor = hv_ResizeFactor*((((((hv_MaxWidth.TupleReal()
      )/hv_TempWidth)).TupleConcat((hv_MaxHeight.TupleReal())/hv_TempHeight))).TupleMin()
      );
  hv_ResizeFactor.Dispose();
  hv_ResizeFactor = ExpTmpLocalVar_ResizeFactor;
  }
  }
}
hv_WindowWidth.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_WindowWidth = hv_Width*hv_ResizeFactor;
}
hv_WindowHeight.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_WindowHeight = hv_Height*hv_ResizeFactor;
}
//Resize window
HOperatorSet.SetWindowAttr("background_color","black");
HOperatorSet.OpenWindow(hv_Row,hv_Column,hv_WindowWidth,hv_WindowHeight,0,"visible","",out hv_WindowHandle);
HDevWindowStack.Push(hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  HOperatorSet.SetPart(HDevWindowStack.GetActive(), 0, 0, hv_Height-1, hv_Width-1);
  }
}

hv_MinWidth.Dispose();
hv_MaxWidth.Dispose();
hv_MinHeight.Dispose();
hv_MaxHeight.Dispose();
hv_ResizeFactor.Dispose();
hv_TempWidth.Dispose();
hv_TempHeight.Dispose();
hv_WindowWidth.Dispose();
hv_WindowHeight.Dispose();

return;

}

if !NOEXPORTMAIN

// Main procedure private void action() {

// Local iconic variables 

HObject ho_Image=null, ho_ImageSub=null, ho_Regions=null;
HObject ho_ImageReduced=null, ho_ImageScaled=null, ho_RegionDilation=null;
HObject ho_RegionErosion=null, ho_RegionFillUp=null, ho_ImageMedian=null;
HObject ho_ImageGauss=null, ho_ImageScaled1=null, ho_ConnectedRegions=null;
HObject ho_SelectedRegions=null, ho_ConnectedRegions1=null;
HObject ho_Region=null, ho_ObjectSelected=null, ho_Cross=null;

// Local control variables 

HTuple hv_Files = new HTuple(), hv_Index1 = new HTuple();
HTuple hv_Width = new HTuple(), hv_Height = new HTuple();
HTuple hv_WindowHandle = new HTuple(), hv_Area = new HTuple();
HTuple hv_Row = new HTuple(), hv_Column = new HTuple();
HTuple hv_UsedThreshold = new HTuple(), hv_Rows1 = new HTuple();
HTuple hv_Columns1 = new HTuple(), hv_Length = new HTuple();
HTuple hv_Sorted = new HTuple(), hv_Indices = new HTuple();
HTuple hv_tuple = new HTuple(), hv_Index = new HTuple();
HTuple hv_Max = new HTuple(), hv_Min = new HTuple(), hv_tiegou = new HTuple();
HTuple hv_Inverted = new HTuple(), hv_tiegou1 = new HTuple();
// Initialize local and output iconic variables 
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_ImageSub);
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_ImageScaled);
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_ImageMedian);
HOperatorSet.GenEmptyObj(out ho_ImageGauss);
HOperatorSet.GenEmptyObj(out ho_ImageScaled1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_Cross);
hv_Files.Dispose();
HOperatorSet.ListFiles("D:/资料/车钩资料/车钩/newimage", "files", out hv_Files);
for (hv_Index1=1; (int)hv_Index1<=(int)((new HTuple(hv_Files.TupleLength()))-1); hv_Index1 = (int)hv_Index1 + 1)
{
  using (HDevDisposeHelper dh = new HDevDisposeHelper())
  {
  ho_Image.Dispose();
  HOperatorSet.ReadImage(out ho_Image, hv_Files.TupleSelect(hv_Index1));
  }
  hv_Width.Dispose();hv_Height.Dispose();
  HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
  if (HDevWindowStack.IsOpen())
  {
    HOperatorSet.CloseWindow(HDevWindowStack.Pop());
  }
  hv_WindowHandle.Dispose();
  dev_open_window_fit_size(0, 0, hv_Width, hv_Width, -1, -1, out hv_WindowHandle);

  ho_ImageSub.Dispose();
  HOperatorSet.SubImage(ho_Image, ho_Image, out ho_ImageSub, 0, 25);
  hv_Width.Dispose();hv_Height.Dispose();
  HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);

  if (HDevWindowStack.IsOpen())
  {
    HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
  }

  ho_Regions.Dispose();
  HOperatorSet.AutoThreshold(ho_Image, out ho_Regions, 10);

  ho_ImageReduced.Dispose();
  HOperatorSet.ReduceDomain(ho_Image, ho_Regions, out ho_ImageReduced);
  //图像增强
  ho_ImageScaled.Dispose();
  HOperatorSet.ScaleImage(ho_ImageReduced, out ho_ImageScaled, 0, 0.0);
  //将目标区域进行膨胀处理
  ho_RegionDilation.Dispose();
  HOperatorSet.DilationCircle(ho_Regions, out ho_RegionDilation, 2);

  //将目标区域进行腐蚀处理
  ho_RegionErosion.Dispose();
  HOperatorSet.ErosionCircle(ho_RegionDilation, out ho_RegionErosion, 5);

  //填充孔洞
  ho_RegionFillUp.Dispose();
  HOperatorSet.FillUp(ho_RegionErosion, out ho_RegionFillUp);
  ho_ImageMedian.Dispose();
  HOperatorSet.MedianImage(ho_ImageScaled, out ho_ImageMedian, "circle", 1, "mirrored");
  ho_ImageGauss.Dispose();
  HOperatorSet.GaussFilter(ho_ImageMedian, out ho_ImageGauss, 5);
  ho_ImageScaled1.Dispose();
  HOperatorSet.ScaleImage(ho_ImageGauss, out ho_ImageScaled1, 1, 1);
  ho_ConnectedRegions.Dispose();
  HOperatorSet.Connection(ho_RegionFillUp, out ho_ConnectedRegions);

  ho_SelectedRegions.Dispose();
  HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions, "area", "and", 
      500000, 3000000);

  ho_ConnectedRegions1.Dispose();
  HOperatorSet.Connection(ho_SelectedRegions, out ho_ConnectedRegions1);

  hv_Area.Dispose();hv_Row.Dispose();hv_Column.Dispose();
  HOperatorSet.AreaCenter(ho_ConnectedRegions1, out hv_Area, out hv_Row, out hv_Column);

  if ((int)((new HTuple(hv_Row.TupleGreater(600))).TupleAnd(new HTuple(hv_Column.TupleGreater(
      1500)))) != 0)
  {


    if (HDevWindowStack.IsOpen())
    {
      HOperatorSet.DispObj(ho_ConnectedRegions1, HDevWindowStack.GetActive());
    }



    ho_Region.Dispose();hv_UsedThreshold.Dispose();
    HOperatorSet.BinaryThreshold(ho_Image, out ho_Region, "max_separability", 
        "dark", out hv_UsedThreshold);
    ho_ConnectedRegions.Dispose();
    HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
    if (HDevWindowStack.IsOpen())
    {
      HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 3);
    }
    //提取线条
    ho_ObjectSelected.Dispose();
    HOperatorSet.SelectObj(ho_ConnectedRegions, out ho_ObjectSelected, 1);
    hv_Rows1.Dispose();hv_Columns1.Dispose();
    HOperatorSet.GetRegionPolygon(ho_ObjectSelected, 5, out hv_Rows1, out hv_Columns1);
    //显示线条上的拐点
    ho_Cross.Dispose();
    HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Rows1, hv_Columns1, 30, 
        0.785398);
    hv_Length.Dispose();
    HOperatorSet.TupleLength(hv_Rows1, out hv_Length);
    if ((int)(new HTuple(hv_Length.TupleGreater(14))) != 0)
    {
      //数组升序
      hv_Sorted.Dispose();
      HOperatorSet.TupleSort(hv_Columns1, out hv_Sorted);
      hv_Indices.Dispose();
      HOperatorSet.TupleSortIndex(hv_Columns1, out hv_Indices);
      hv_tuple.Dispose();
      hv_tuple = new HTuple();
      for (hv_Index=1; (int)hv_Index<=13; hv_Index = (int)hv_Index + 1)
      {

        using (HDevDisposeHelper dh = new HDevDisposeHelper())
        {
        {
        HTuple 
          ExpTmpLocalVar_tuple = hv_tuple.TupleConcat(
            hv_Rows1.TupleSelect(hv_Indices.TupleSelect(hv_Index)));
        hv_tuple.Dispose();
        hv_tuple = ExpTmpLocalVar_tuple;
        }
        }

      }
      hv_Max.Dispose();
      HOperatorSet.TupleMax(hv_tuple, out hv_Max);
      hv_Min.Dispose();
      HOperatorSet.TupleMin(hv_tuple, out hv_Min);
      hv_tiegou.Dispose();
      using (HDevDisposeHelper dh = new HDevDisposeHelper())
      {
      hv_tiegou = ((hv_Max-hv_Min)/2)+hv_Min;
      }
    }


  }
  else if ((int)((new HTuple(hv_Row.TupleGreater(600))).TupleAnd(new HTuple(hv_Column.TupleLess(
      1000)))) != 0)
  {
    ho_Region.Dispose();hv_UsedThreshold.Dispose();
    HOperatorSet.BinaryThreshold(ho_Image, out ho_Region, "max_separability", 
        "dark", out hv_UsedThreshold);
    ho_ConnectedRegions.Dispose();
    HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
    if (HDevWindowStack.IsOpen())
    {
      HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 3);
    }
    //提取线条
    ho_ObjectSelected.Dispose();
    HOperatorSet.SelectObj(ho_ConnectedRegions, out ho_ObjectSelected, 1);
    hv_Rows1.Dispose();hv_Columns1.Dispose();
    HOperatorSet.GetRegionPolygon(ho_ObjectSelected, 5, out hv_Rows1, out hv_Columns1);
    //显示线条上的拐点
    ho_Cross.Dispose();
    HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Rows1, hv_Columns1, 30, 
        0.785398);
    hv_Length.Dispose();
    HOperatorSet.TupleLength(hv_Rows1, out hv_Length);
    if ((int)(new HTuple(hv_Length.TupleGreater(17))) != 0)
    {
      //数组升序
      hv_Sorted.Dispose();
      HOperatorSet.TupleSort(hv_Columns1, out hv_Sorted);
      hv_Indices.Dispose();
      HOperatorSet.TupleSortIndex(hv_Columns1, out hv_Indices);
      hv_Inverted.Dispose();
      HOperatorSet.TupleInverse(hv_Indices, out hv_Inverted);
      hv_tuple.Dispose();
      hv_tuple = new HTuple();
      for (hv_Index=1; (int)hv_Index<=16; hv_Index = (int)hv_Index + 1)
      {

        using (HDevDisposeHelper dh = new HDevDisposeHelper())
        {
        {
        HTuple 
          ExpTmpLocalVar_tuple = hv_tuple.TupleConcat(
            hv_Rows1.TupleSelect(hv_Inverted.TupleSelect(hv_Index)));
        hv_tuple.Dispose();
        hv_tuple = ExpTmpLocalVar_tuple;
        }
        }

      }
      hv_Max.Dispose();
      HOperatorSet.TupleMax(hv_tuple, out hv_Max);
      hv_Min.Dispose();
      HOperatorSet.TupleMin(hv_tuple, out hv_Min);
      hv_tiegou1.Dispose();
      using (HDevDisposeHelper dh = new HDevDisposeHelper())
      {
      hv_tiegou1 = ((hv_Max-hv_Min)/2)+hv_Min;
      }
    }



  }

}
ho_Image.Dispose();
ho_ImageSub.Dispose();
ho_Regions.Dispose();
ho_ImageReduced.Dispose();
ho_ImageScaled.Dispose();
ho_RegionDilation.Dispose();
ho_RegionErosion.Dispose();
ho_RegionFillUp.Dispose();
ho_ImageMedian.Dispose();
ho_ImageGauss.Dispose();
ho_ImageScaled1.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_ConnectedRegions1.Dispose();
ho_Region.Dispose();
ho_ObjectSelected.Dispose();
ho_Cross.Dispose();

hv_Files.Dispose();
hv_Index1.Dispose();
hv_Width.Dispose();
hv_Height.Dispose();
hv_WindowHandle.Dispose();
hv_Area.Dispose();
hv_Row.Dispose();
hv_Column.Dispose();
hv_UsedThreshold.Dispose();
hv_Rows1.Dispose();
hv_Columns1.Dispose();
hv_Length.Dispose();
hv_Sorted.Dispose();
hv_Indices.Dispose();
hv_tuple.Dispose();
hv_Index.Dispose();
hv_Max.Dispose();
hv_Min.Dispose();
hv_tiegou.Dispose();
hv_Inverted.Dispose();
hv_tiegou1.Dispose();

}

endif

}

if !(NOEXPORTMAIN || NOEXPORTAPP_MAIN)

public class HDevelopExportApp { static void Main(string[] args) { new HDevelopExport(); } }

endif

``` halcon 代码

```js list_files ('D:/1--------------DAS-------------------工作/车钩资料/车钩图片', 'files', Files)

for Index1 := 1 to |Files| - 1 by 1 devclosewindow() readimage (Image, Files[Index1]) getimagesize(Image,Width,Height) devopenwindowfitsize(0,0,Width,Width,-1, -1, WindowHandle) devdisplay (Image) devsetdraw ('margin') devsetcolor ('red') settposition (WindowHandle, 300, 100) setdisplay_font (WindowHandle, 50, 'mono', 'true', 'false')

*此地开始检测
draw_line (WindowHandle, Row1, Column1, Row2, Column2)
LineParams := [Row1, Column1, Row2, Column2]
draw_line (WindowHandle, Row11, Column11, Row21, Column21)
try
     * 找直线
findallline (Image, Contours, Cross, Contour, Width, Height, LineParams, MetrologyHandle, Index, Row1, Column1, Parameter)
row1:=Parameter[0]
col1:=Parameter[1]
row2:=Parameter[2]
col2:=Parameter[3]
intersection_lines (Row11, Column11, Row21, Column21, row1, col1, row2, col2, Row3, Column3, IsOverlapping)
line:=[Row3,Column3-40,Row3,Column3+40]
findallline (Image, Contours, Cross, Contour, Width, Height, line, MetrologyHandle, Index, Row2, Column2, Parameter)
tuple_length (Row2, Length)
tuple_length (Row1, Length1)
if(Length<20)
    sum12:=Row2
sum13:=Row2
for Index2 := 0 to Length-1 by 1
    if (Row2[Index2]>Row1[Length1/2])
        Row2[Index2]:=0
    endif
endfor
tuple_intersection (Row2, sum13, Intersection)
tuple_mean (Intersection, Mean)
for Index3 := 0 to Length-1 by 1
    if (sum12[Index3]<Row1[Length1/2])
        sum12[Index3]:=0
    endif
endfor
 tuple_intersection (sum12, sum13, Intersection1)
 tuple_mean (Intersection1, Mean1)
 dis:=Height-(((Mean1-Mean)/2)+Mean)
 write_string (WindowHandle, '距离为：'+dis)
endif

catch (Exception)
     write_string (WindowHandle, '图片未找到合适的结果')
endtry

endfor ```