Halcon 联合C# 编程实验

Halcon中 有两种参数类型:
分为 Iconic 与 Control. Iconic 为图片, control 为a1 b2
这两种, 每一种又分为输入和输出两种参数

固定参数顺序
input Iconic
output Iconic
input control
output control

using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Threading;

namespace CsharpHaldemon2
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            InitializeComponent();
        }


        #region HObject 转换为 HImage
        private void HobjectToHimage(HObject hobject, ref HImage image)
        {
            HTuple pointer, type, width, height;
            HOperatorSet.GetImagePointer1(hobject, out pointer, out type, out width, out height);
            image.GenImage1(type, width, height, pointer);
        }
        #endregion

        #region 设置图片与窗口等比例
        private void WindowAdaptation(int width,int height, out HTuple row1, out HTuple column1, out HTuple row2, out HTuple column2)
        {
            double ratioWidth = (1.0) * width / hWindowControl1.Width;
            double ratioHeight = (1.0) * height / hWindowControl1.Height;
            if (ratioWidth > ratioHeight)
            {
                row1 = -(1.0) * ((hWindowControl1.Height * ratioWidth) - height) / 2;
                column1 = 0;
                row2 = row1 + hWindowControl1.Height * ratioWidth;
                column2 = column1 + hWindowControl1.Width * ratioWidth;
            }
            else
            {
                row1 = 0;
                column1 = -(1.0) * ((hWindowControl1.Width * ratioHeight) - width) / 2;

                row2 = row1 + hWindowControl1.Height * ratioHeight;
                column2 = column1 + hWindowControl1.Width * ratioHeight;
            }
        }
        #endregion

        private CancellationTokenSource cts = new CancellationTokenSource();
        private CancellationTokenSource cts1 = new CancellationTokenSource();
        private void btnOpenPic_Click(object sender, EventArgs e)
        {

            //HObject ho_Image, ho_ROI_0, ho_Cross;
            //HXLD
            //HXLDCont
            //HXLDPoly //HXLDCont轮廓和HXLDPoly多边形

            //HImage ho_Image = new HImage();
            //HRegion ho_ROI_0 = new HRegion(); //区域
            //HXLDCont ho_Cross = new HXLDCont(); //轮廓
            //ho_Image.ReadImage(@"C:\Users\ZG\Pictures\claudia.png");
            //ho_ROI_0.GenRectangle1(30.0, 20, 100, 200);
            //hWindowControl1.HalconWindow.SetColor("blue");
            //ho_ROI_0.DispRegion(hWindowControl1.HalconWindow);

            //hWindowControl1.HalconWindow.SetColor("green");
            //ho_Cross.GenCrossContourXld(180.0, 180, 61, 0.785398);
            //ho_Cross.DispXld(hWindowControl1.HalconWindow);
            //this.hSmartWindowControl1.SetFullImagePart(ho_Image);
            //this.hSmartWindowControl1.HalconWindow.DispObj(ho_Image);

            //this.hWindowControl1.SetFullImagePart(ho_Image);
            //this.hWindowControl1.HalconWindow.DispObj(ho_Image);



            HObject ho_Image;
            HImage ho_Image1 = new HImage();
            HXLDCont ho_Cross = new HXLDCont(); //轮廓
            HTuple hv_AcqHandle = new HTuple();
            HTuple row1, column1, row2, column2;
            int width, height;
            Task.Run(() =>
            {
                HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",
                -1, "false", "default", "[0] Chicony USB2.0 Camera", 0, -1, out hv_AcqHandle);
                HOperatorSet.GrabImageStart(hv_AcqHandle, -1);
                //调用摄像头异步采集图像
                HOperatorSet.GrabImageAsync(out ho_Image, hv_AcqHandle, -1);
                //关闭句柄
                HOperatorSet.CloseFramegrabber(hv_AcqHandle);
                //把obj变为Himage 
                HobjectToHimage(ho_Image, ref ho_Image1);
                //获取图像的长宽
                ho_Image1.GetImageSize(out width, out height);

                //XLD边缘提取

                ho_Cross = ho_Image1.Rgb1ToGray().EdgesSubPix("canny", 2, 12, 22);

                WindowAdaptation(width, height, out row1, out column1, out row2, out column2);

                HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);

                //ho_Image1.DispImage(hWindowControl1.HalconWindow);
                ho_Cross.DispXld(hWindowControl1.HalconWindow);
            }, cts.Token);
        }
        //threshould阈值分割
        private void btnThreshold_Click(object sender, EventArgs e)
        {
            int width, height;
            HTuple row1, column1, row2, column2;
            HImage ho_Image = new HImage();
            HRegion ho_ROI_0 = new HRegion();
            ho_Image.ReadImage(@"C:/Users/ZG/Pictures/clip.png");
            ho_Image.GetImageSize(out width, out height);
            ho_ROI_0 = ho_Image.Rgb1ToGray().Threshold(0.0, 106).Connection().SelectShape("area", "and", 150, 99999);
            WindowAdaptation(width, height, out row1, out column1, out row2, out column2);

            hWindowControl1.HalconWindow.SetColor("blue");
            HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);
            ho_ROI_0.DispRegion(hWindowControl1.HalconWindow);
        }

        private void picConvertXLD_Click(object sender, EventArgs e)
        {
            int width, height;
            HTuple row1, column1, row2, column2;
            HImage ho_Image = new HImage();
            HRegion ho_ROI_0 = new HRegion();
            HXLDCont ho_Cross = new HXLDCont(); //轮廓
            ho_Image.ReadImage(@"C:/Users/ZG/Pictures/fabrik.png");
            ho_Cross = ho_Image.Rgb1ToGray().EdgesSubPix("canny", 2, 12, 22);

            //适配窗口
            ho_Image.GetImageSize(out width, out height);
            WindowAdaptation(width, height, out row1, out column1, out row2, out column2);
            HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);
            ho_Cross.DispXld(hWindowControl1.HalconWindow);
        }

        private void btnThresholdMe_Click(object sender, EventArgs e)
        {
            HObject ho_Image;
            HImage ho_Image1 = new HImage();
            HRegion ho_ROI_0 = new HRegion();
            HXLDCont ho_Cross = new HXLDCont(); //轮廓
            HTuple hv_AcqHandle = new HTuple();
            HTuple row1, column1, row2, column2;
            int width, height;
            Task.Run(() =>
            {
                HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",
                -1, "false", "default", "[0] Chicony USB2.0 Camera", 0, -1, out hv_AcqHandle);
                HOperatorSet.GrabImageStart(hv_AcqHandle, -1);
                //调用摄像头异步采集图像
                HOperatorSet.GrabImageAsync(out ho_Image, hv_AcqHandle, -1);
                //关闭句柄
                HOperatorSet.CloseFramegrabber(hv_AcqHandle);
                //把obj变为Himage 
                HobjectToHimage(ho_Image, ref ho_Image1);
                //获取图像的长宽
                ho_Image1.GetImageSize(out width, out height);

                //XLD边缘提取

                ho_ROI_0 = ho_Image1.Rgb1ToGray().Threshold(75.0, 122).Connection().SelectShape("area", "and", 150, 46614.6);

                WindowAdaptation(width, height, out row1, out column1, out row2, out column2);

                HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);
                hWindowControl1.HalconWindow.SetColor("blue");
                //ho_Image1.DispImage(hWindowControl1.HalconWindow);
                ho_ROI_0.DispRegion(hWindowControl1.HalconWindow);
                //ho_Cross.DispXld(hWindowControl1.HalconWindow);
            }, cts1.Token);
        }
    }
    #region 设置图片与窗口等比例
    //ho_Image.GetImageSize(out width, out height);
    //double ratioWidth = (1.0) * width / hWindowControl1.Width;
    //double ratioHeight = (1.0) * height / hWindowControl1.Height;

    //if (ratioWidth > ratioHeight)
    //{
    //    row1 = -(1.0) * ((hWindowControl1.Height * ratioWidth) - height) / 2;
    //    column1 = 0;
    //    row2 = row1 + hWindowControl1.Height * ratioWidth;
    //    column2 = column1 + hWindowControl1.Width * ratioWidth;
    //}
    //else
    //{
    //    row1 = 0;
    //    column1 = -(1.0) * ((hWindowControl1.Width * ratioHeight) - width) / 2;

    //    row2 = row1 + hWindowControl1.Height * ratioHeight;
    //    column2 = column1 + hWindowControl1.Width * ratioHeight;
    //}
    #endregion
}

仿射变换

        private void btnAff_Click(object sender, EventArgs e)
        {
            
            //this.hWindowControl1.HalconWindow.ClearWindow();
            int width, height;
            HTuple row1, column1, row2, column2;
            HImage ho_Image = new HImage();
            HImage ho_Image2 = new HImage();
            HRegion ho_ROI_0 = new HRegion();
            HXLDCont ho_Cross = new HXLDCont(); //轮廓
            //   region的面积, 中心坐标y,x,     单位矩阵                 平移矩阵            旋转矩阵        缩放矩阵
            HTuple hv_Area, hv_Row, hv_Column, hv_HomMat2DIdentity, hv_HomMat2DTranslate, hv_HomMat2DRotate, hv_HomMat2DScale;
            HObject ImageAffineTrans = new HObject();
            HObject ImageAffineRotate = new HObject();
            HObject ImageAffineScale = new HObject(); //平移后的图片  旋转后的图片 缩放后的图片
            ho_Image.ReadImage(@"C:/Users/hp/Pictures/sanjiao.png");
            //ho_Image.ReadImage(@"C:/Users/ZG/Pictures/screw_thread.png");
            ho_Image.GetImageSize(out width, out height); //获取图片长和宽

            //*图像二值化, 阈值分割
            HRegion GrayRegion = ho_Image.Rgb1ToGray().Threshold(0.0, 200);
            //获取面积, region中心点的坐标(hv_Row, hv_Column)
            HOperatorSet.AreaCenter(GrayRegion, out hv_Area, out hv_Row, out hv_Column);
            *定义Home单位矩阵
            HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity);

            //图片平移  单位矩阵, 移动距离x,y, 平移后的矩阵 
            HOperatorSet.HomMat2dTranslate(hv_HomMat2DIdentity, (height / 2) - hv_Row, (width / 2) - hv_Column,
            out hv_HomMat2DTranslate);

            //HOperatorSet.AffineTransImage(ho_Image, out ImageAffineTrans, hv_HomMat2DTranslate, "constant", "false");
            HOperatorSet.AffineTransImage(GrayRegion, out ImageAffineTrans, hv_HomMat2DTranslate, "constant", "false");

            //图片旋转
            //获得旋转矩阵 hv_HomMat2DRotate
            HOperatorSet.HomMat2dRotate(hv_HomMat2DIdentity, -3.14 / 2, height / 2, width / 2, out hv_HomMat2DRotate);

            //HOperatorSet.AffineTransImage(ImageAffineTrans, out ImageAffineRotate,hv_HomMat2DRotate, "constant", "false");
            HOperatorSet.AffineTransImage(ImageAffineTrans, out ImageAffineRotate, hv_HomMat2DRotate, "constant", "false");

            //图片缩放
            HOperatorSet.HomMat2dScale(hv_HomMat2DIdentity, 0.5, 0.5, hv_Column, hv_Row,out hv_HomMat2DScale);

            HOperatorSet.AffineTransImage(ImageAffineRotate, out ImageAffineScale, hv_HomMat2DScale, "constant", "false");

            WindowAdaptation(width, height, out row1, out column1, out row2, out column2);

            HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);
            hWindowControl1.HalconWindow.SetColor("blue");
            ImageAffineScale.DispObj(hWindowControl1.HalconWindow);


            //GrayRegion.DispRegion(hWindowControl1.HalconWindow);

            //HOperatorSet.DispObj(ImageAffineTrans, hWindowControl1.HalconWindow);


            //HOperatorSet.SetWindowAttr("background_color", "sky blue"); /必须的先设置一下background_color属性，再OpenWindow一下
            //hWindowControl1.HalconWindow.OpenWindow(0, 0, hWindowControl1.Width, hWindowControl1.Height, hWindowControl1.Handle, "visible", "");

            //HOperatorSet.SetPart(hWindowControl1.HalconWindow, row1, column1, row2, column2);
            //HOperatorSet.DispObj(ImageAffineScale, hWindowControl1.HalconWindow);
            //ImageAffineScale.DispObj(hWindowControl1.HalconWindow);

            //HobjectToHimage(ImageAffineScale, ref ho_Image2);
            //ho_Image2.DispImage(hWindowControl1.HalconWindow);
        }

边缘亚像素提取

三维图中
| | |
Xb Yb Zb
| | |

二维图中

左边矩阵表示平移, 中间表示旋转, 右边表示缩放