1.引入Halcon组件
2.项目配置文件
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<runtime>
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<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
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<dependentAssembly>
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<assemblyIdentity name="halcondotnet" publicKeyToken="4973BED59DDBF2B8"/>
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<bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/>
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</dependentAssembly>
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<dependentAssembly>
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<assemblyIdentity name="halcondotnetxl" publicKeyToken="4973BED59DDBF2B8"/>
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<bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/>
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</dependentAssembly>
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<dependentAssembly>
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<assemblyIdentity name="hdevenginedotnet" publicKeyToken="4973BED59DDBF2B8"/>
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<bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/>
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</dependentAssembly>
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<dependentAssembly>
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<assemblyIdentity name="hdevenginedotnetxl" publicKeyToken="4973BED59DDBF2B8"/>
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<bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/>
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</dependentAssembly>
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</assemblyBinding>
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</runtime>
3.页面配置
4.halcon接口调用
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public
partial
class
HDevelopExport
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{
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public
int ResultN;
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public
double usedTime;
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public
double[] Px;
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public
double[] Py;
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public
double Fx, Fy;
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public
double Cr =
9;
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public
double Cx, Cy;
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public
bool IsStart =
false;
-
-
HTuple hv_R;
-
List<HTuple> Aa =
new List<HTuple>();
-
HTuple hv_Angle, hv_Score, hv_Runtime;
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HTuple hv_ModelID, hv_Row, hv_Column;
-
-
HObject ho_Mask;
-
HTuple hv_S1, hv_S2;
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HObject ho_Image, ho_Rectangle, ho_ImageReduced;
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public HTuple hv_ExpDefaultWinHandle;
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HWindowControl HWindowControl;
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/// <summary>
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/// 打开相机
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/// </summary>
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public void OpenCamera()
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{
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//hv_ExpDefaultWinHandle = Window;
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HOperatorSet.GenEmptyObj(
out ho_Image);
// 生ho_Image数据区
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// Grabbing images from a Daheng USB 2.0 camera
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HOperatorSet.CloseAllFramegrabbers();
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HOperatorSet.OpenFramegrabber(
"DirectShow",
1,
1,
0,
0,
0,
0,
"default",
8,
"rgb",
-
-1,
"false",
"default",
"[0] Integrated Camera",
0,
-1,
out hv_Angle);
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HOperatorSet.SetFramegrabberParam(hv_Angle,
"tilt",
-3);
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HOperatorSet.GrabImageStart(hv_Angle,
-1);
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//open camera with default settings
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}
-
-
/// <summary>
-
/// 关闭相机
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/// </summary>
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public void CloseCamera()
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{
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HOperatorSet.CloseAllFramegrabbers();
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}
-
-
/// <summary>
-
/// 实时播放
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/// </summary>
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public void RealTimePlayback()
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{
-
IsStart =
true;
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//HObject ho_Image = null;
-
-
//HTuple hv_AcqHandle = new HTuple();
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Initialize local and output iconic variables
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//HOperatorSet.GenEmptyObj(out ho_Image);
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Image Acquisition
01: Code generated
by Image Acquisition
01
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//HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",
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// -1, "false", "default", "[0] Integrated Camera", 0, -1, out hv_AcqHandle);
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//HOperatorSet.GrabImageStart(hv_AcqHandle, -1);
-
-
Task task =
new Task(() =>
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{
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while (IsStart)
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{
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ho_Image.Dispose();
-
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HOperatorSet.GrabImageAsync(
out ho_Image, hv_Angle,
-1);
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HTuple hv_Width, hv_Height;
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HOperatorSet.GetImageSize(ho_Image,
out hv_Width,
out hv_Height);
// 获取图片的尺寸
-
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double ratioWidth = (
1.0) * hv_Width[
0].I / HWindowControl.Width;
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double ratioHeight = (
1.0) * hv_Height[
0].I / HWindowControl.Height;
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HTuple row1, column1, row2, column2;
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if (ratioWidth >= ratioHeight)
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{
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row1 = -(
1.0) * ((HWindowControl.Height * ratioWidth) - hv_Height) /
2;
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column1 =
0;
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row2 = row1 + HWindowControl.Height * ratioWidth;
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column2 = column1 + HWindowControl.Width * ratioWidth;
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HOperatorSet.SetPart(hv_ExpDefaultWinHandle, row1, column1, row2, column2);
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HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
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}
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}
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});
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task.Start();
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}
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/// <summary>
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/// 拍照
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/// </summary>
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public void Photograph()
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{
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IsStart =
true;
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-
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HTuple hv_Width, hv_Height;
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ho_Image.Dispose();
// 清除ho_Image中的数据
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HOperatorSet.GrabImage(
out ho_Image, hv_AcqHandle);
// 采集图像
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HOperatorSet.GetImageSize(ho_Image,
out hv_Width,
out hv_Height);
// 获取图片的尺寸
-
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double ratioWidth = (
1.0) * hv_Width[
0].I / HWindowControl.Width;
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double ratioHeight = (
1.0) * hv_Height[
0].I / HWindowControl.Height;
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HTuple row1, column1, row2, column2;
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if (ratioWidth >= ratioHeight)
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{
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row1 = -(
1.0) * ((HWindowControl.Height * ratioWidth) - hv_Height) /
2;
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column1 =
0;
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row2 = row1 + HWindowControl.Height * ratioWidth;
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column2 = column1 + HWindowControl.Width * ratioWidth;
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-
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HOperatorSet.SetPart(hv_ExpDefaultWinHandle, row1, column1, row2, column2);
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HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
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// 显示ho_Image中的图片
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HOperatorSet.SetDraw(hv_ExpDefaultWinHandle,
"margin");
// 填充模式为只画框
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HOperatorSet.SetColor(hv_ExpDefaultWinHandle,
"red");
// 画线颜色红
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HOperatorSet.DispRectangle1(hv_ExpDefaultWinHandle, row1, column1, row2, column2);
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}
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}
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/// <summary>
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/// 初始化相机
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/// </summary>
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public void InitHalcon()
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{
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// Default settings used in HDevelop
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HOperatorSet.SetSystem(
"width",
512);
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HOperatorSet.SetSystem(
"height",
512);
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}
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/// <summary>
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/// 初始化Halcon
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/// </summary>
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/// <param name="Window"></param>
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public void RunHalcon(HWindowControl Window)
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{
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HWindowControl = Window;
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hv_ExpDefaultWinHandle = Window.HalconWindow;
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}
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/// <summary>
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/// 设置模板
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/// </summary>
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public void SetTemplate()
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{
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HTuple hv_Row1, hv_Column1, hv_Row2, hv_Column2;
-
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MessageBox.Show(
"在红框中按下鼠标左键画方框选模板，按右键结束");
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HOperatorSet.DrawRectangle1(hv_ExpDefaultWinHandle,
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out hv_Row1,
out hv_Column1,
out hv_Row2,
out hv_Column2);
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HOperatorSet.GenRectangle1(
out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);
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HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle,
out ho_ImageReduced);
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HOperatorSet.WriteImage(ho_ImageReduced,
"png",
0,
"E:/test.png");
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MessageBox.Show(
"模板已保存");
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}
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-
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/// <summary>
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/// 从文件中读取模板
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/// </summary>
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public void ReadTemplate()
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{
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HOperatorSet.GenEmptyObj(
out ho_ImageReduced);
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ho_ImageReduced.Dispose();
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HOperatorSet.ReadImage(
out ho_ImageReduced,
"E:/test.png");
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}
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/// <summary>
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/// 模板匹配
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/// </summary>
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public void MatchTemplate()
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{
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int i, j;
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double temp;
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HOperatorSet.GenRectangle1(
out ho_Rectangle,
320,
250,
630,
750);
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HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle,
out ho_Mask);
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//Reduce image range
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HOperatorSet.CreateShapeModel(ho_ImageReduced,
"auto", (
new HTuple(
-45)).TupleRad(), (
new HTuple(
90)).TupleRad(),
"auto",
"auto",
"use_polarity",
"auto",
"auto",
out hv_ModelID);
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HOperatorSet.CountSeconds(
out hv_S1);
// Match start
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HOperatorSet.FindShapeModel(ho_Mask, hv_ModelID, (
new HTuple(
-45)).TupleRad(), (
new HTuple(
90)).TupleRad(),
0.5,
3,
0.0,
"least_squares",
0,
0.5,
out hv_Row,
out hv_Column,
out hv_Angle,
out hv_Score);
-
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HOperatorSet.CountSeconds(
out hv_S2);
// Match stop
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hv_Runtime = (hv_S2 - hv_S1) *
1000;
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usedTime = hv_Runtime;
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ResultN =
new HTuple(hv_Row.TupleLength());
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-
-
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// 获取匹配结果个数
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if (ResultN >
0)
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{
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Px =
new
double[ResultN];
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Py =
new
double[ResultN];
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hv_R =
new HTuple();
//HTuple变量初始化
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for (i =
0; i < ResultN; i++)
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{
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Py[i] = hv_Row[i];
// 将搜索结果的中心坐标读出
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Px[i] = hv_Column[i];
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Aa.Add(hv_Angle[i]);
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hv_R[i] =
8;
//设置圆半径
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}
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for (i =
0; i < ResultN; i++)
// 从大到小排序
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{
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for (j = i +
1; j < ResultN; j++)
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{
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if (Px[i] < Px[j])
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{
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temp = Px[i];
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Px[i] = Px[j];
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Px[j] = temp;
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temp = Py[i];
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Py[i] = Py[j];
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Py[j] = temp;
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temp = Aa[i];
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Aa[i] = Aa[j];
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Aa[j] = temp;
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}
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}
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}
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HOperatorSet.SetColor(hv_ExpDefaultWinHandle,
"red");
// 显示匹配结果位置
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HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, hv_Row, hv_Column, hv_R);
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HOperatorSet.ClearShapeModel(hv_ModelID);
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Cy = Py[
0] +
10;
// offset的初始值
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Cx = Px[
0] +
60;
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}
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else
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{
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MessageBox.Show(
"匹配失败！?");
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}
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}
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/// <summary>
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/// 显示偏移点位置
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/// </summary>
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public void DisplayOffset()
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{
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HOperatorSet.SetColor(hv_ExpDefaultWinHandle,
"red");
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HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
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HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, hv_Row, hv_Column, hv_R);
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HOperatorSet.DispLine(hv_ExpDefaultWinHandle, hv_Row[
0], hv_Column[
0], hv_Row[
1], hv_Column[
1]);
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HOperatorSet.SetColor(hv_ExpDefaultWinHandle,
"yellow");
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HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, Cy, Cx, Cr);
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}
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/// <summary>
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/// /显示计算角度，划线
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/// </summary>
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public void DisplayLine()
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{
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HOperatorSet.SetColor(hv_ExpDefaultWinHandle,
"yellow");
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HOperatorSet.DispLine(hv_ExpDefaultWinHandle, Cy, Cx, Fy, Fx);
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}
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}
5.form1cs页面
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public Form1()
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{
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InitializeComponent();
-
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timer1.Tick += Timer1_Tick;
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timer1.Interval =
5000;
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this.Controls.Add(hWindowControl1);
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hWindowControl1.Location =
new System.Drawing.Point(
20,
20);
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hWindowControl1.Width =
500;
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hWindowControl1.Height =
500;
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hd.InitHalcon();
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}
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private void Form1_Load(object sender, EventArgs e)
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{
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hd.RunHalcon(hWindowControl1);
// 摄像头初始化
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}
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/// <summary>
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/// 打开相机
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void btnOpenCamera_Click(object sender, EventArgs e)
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{
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hd.OpenCamera();
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textBox1.Text =
"";
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textBox1.Refresh();
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}
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/// <summary>
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///关闭相机
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void btnCloseCamera_Click(object sender, EventArgs e)
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{
-
hd.CloseCamera();
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}
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/// <summary>
-
/// 匹配
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
-
private void btnMatch_Click(object sender, EventArgs e)
-
{
-
int j, m;
-
double d;
-
double[] x;
-
double[] y;
-
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hd.MatchTemplate();
// 图像匹配
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m = hd.ResultN;
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x =
new
double[m];
-
y =
new
double[m];
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for (j =
0; j < m; j++)
// 获取匹配坐标
-
{
-
x[j] = hd.Px[j];
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y[j] = hd.Py[j];
-
}
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textBox1.Text =
"匹配时间：" + hd.usedTime.ToString(
"#####.##") +
" ms" +
"\r\n" +
"\r\n";
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for (j =
0; j < m; j++)
-
{
-
if (j < m -
1)
// 计算2点距离
-
{
-
d = (y[j +
1] - y[j]) * (y[j +
1] - y[j]) + (x[j +
1] - x[j]) * (x[j +
1] - x[j]);
-
d = Math.Sqrt(d);
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d =
0.0485 * d;
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textBox1.Text = textBox1.Text +
"d(" + Convert.ToString(j +
1) +
") = " + d.ToString(
"#####.##")+
"mm" +
"\r\n";
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}
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textBox1.Text = textBox1.Text +
"x(" + Convert.ToString(j +
1) +
") = " + Convert.ToString(x[j]) +
" y(" + Convert.ToString(j +
1) +
") = " + Convert.ToString(y[j]) +
"\r\n" +
"\r\n";
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}
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}
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/// <summary>
-
/// 设置模板
-
/// </summary>
-
/// <param name="sender"></param>
-
/// <param name="e"></param>
-
private void btnTemplate_Click(object sender, EventArgs e)
-
{
-
hd.SetTemplate();
-
}
-
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/// <summary>
-
/// 加载模板
-
/// </summary>
-
/// <param name="sender"></param>
-
/// <param name="e"></param>
-
private void btnLoadTemplate_Click(object sender, EventArgs e)
-
{
-
hd.ReadTemplate();
-
}
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/// <summary>
-
/// 实时播放
-
/// </summary>
-
/// <param name="sender"></param>
-
/// <param name="e"></param>
-
private void btnPlayback_Click(object sender, EventArgs e)
-
{
-
hd.RealTimePlayback();
-
}
-
-
/// <summary>
-
/// 显示结果
-
/// </summary>
-
/// <param name="sender"></param>
-
/// <param name="e"></param>
-
private void btnDisplayResults_Click(object sender, EventArgs e)
-
{
-
double a, b, c, d, m, n;
-
double alpha, beta;
-
a = hd.Px[
0];
-
b = hd.Py[
0];
-
c = hd.Px[
0];
-
d = hd.Py[
0];
-
alpha = Math.Atan((d - b) / (c - a));
-
beta = theta + alpha;
-
m = a + Lam * Math.Cos(beta);
-
n = b + Lam * Math.Sin(beta);
-
textBox1.Text = textBox1.Text +
" m = " + Convert.ToString(m) +
"\r\n" +
"n = " + Convert.ToString(n) +
"\r\n" +
"alpha = " + Convert.ToString(alpha) +
"\r\n" +
" theta = " + Convert.ToString(theta) +
"\r\n" +
" beta = " + Convert.ToString(beta);
-
-
hd.Cx = m;
-
hd.Cy = n;
-
hd.Fx = m -
600 * Math.Cos(alpha);
// 计算夹角斜线的终点坐标
-
hd.Fy = n -
600 * Math.Sin(alpha);
-
hd.DisplayOffset();
// 显示插针位置
-
hd.DisplayLine();
// 显示工件夹角
-
}
-
/// <summary>
-
/// 拍照
-
/// </summary>
-
/// <param name="sender"></param>
-
/// <param name="e"></param>
-
private void btnPhotograph_Click(object sender, EventArgs e)
-
{
-
hd.Photograph();
-
}
转载：https://blog.csdn.net/code_long/article/details/117256563
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