C# HalconDotNet 工业视觉处理

1.引入Halcon组件

2.项目配置文件

  <runtime><assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1"><dependentAssembly><assemblyIdentity name="halcondotnet" publicKeyToken="4973BED59DDBF2B8"/><bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/></dependentAssembly><dependentAssembly><assemblyIdentity name="halcondotnetxl" publicKeyToken="4973BED59DDBF2B8"/><bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/></dependentAssembly><dependentAssembly><assemblyIdentity name="hdevenginedotnet" publicKeyToken="4973BED59DDBF2B8"/><bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/></dependentAssembly><dependentAssembly><assemblyIdentity name="hdevenginedotnetxl" publicKeyToken="4973BED59DDBF2B8"/><bindingRedirect oldVersion="12.0.0.0-12.0.65535.65535" newVersion="12.0.0.0"/></dependentAssembly></assemblyBinding></runtime>

3.页面配置

4.halcon接口调用

    public partial class HDevelopExport{public int ResultN;public double usedTime;public double[] Px;public double[] Py;public double Fx, Fy;public double Cr = 9;public double Cx, Cy;public bool IsStart = false;HTuple hv_R;List<HTuple> Aa = new List<HTuple>();HTuple hv_Angle, hv_Score, hv_Runtime;HTuple hv_ModelID, hv_Row, hv_Column;HObject ho_Mask;HTuple hv_S1, hv_S2;HObject ho_Image, ho_Rectangle, ho_ImageReduced;public HTuple hv_ExpDefaultWinHandle;HWindowControl HWindowControl;/// <summary>/// 打开相机/// </summary>public void OpenCamera(){//hv_ExpDefaultWinHandle = Window;HOperatorSet.GenEmptyObj(out ho_Image); // 生ho_Image数据区// Grabbing images from a Daheng USB 2.0 cameraHOperatorSet.CloseAllFramegrabbers();HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",-1, "false", "default", "[0] Integrated Camera", 0, -1, out hv_Angle);HOperatorSet.SetFramegrabberParam(hv_Angle, "tilt", -3);HOperatorSet.GrabImageStart(hv_Angle, -1);//open camera with default settings}/// <summary>/// 关闭相机/// </summary>public void CloseCamera(){HOperatorSet.CloseAllFramegrabbers();}/// <summary>/// 实时播放/// </summary>public void RealTimePlayback(){IsStart = true;//HObject ho_Image = null;//HTuple hv_AcqHandle = new HTuple();Initialize local and output iconic variables //HOperatorSet.GenEmptyObj(out ho_Image);Image Acquisition 01: Code generated by Image Acquisition 01//HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",//    -1, "false", "default", "[0] Integrated Camera", 0, -1, out hv_AcqHandle);//HOperatorSet.GrabImageStart(hv_AcqHandle, -1);Task task = new Task(() =>{while (IsStart){ho_Image.Dispose();HOperatorSet.GrabImageAsync(out ho_Image, hv_Angle, -1);HTuple hv_Width, hv_Height;HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height); // 获取图片的尺寸double ratioWidth = (1.0) * hv_Width[0].I / HWindowControl.Width;double ratioHeight = (1.0) * hv_Height[0].I / HWindowControl.Height;HTuple row1, column1, row2, column2;if (ratioWidth >= ratioHeight){row1 = -(1.0) * ((HWindowControl.Height * ratioWidth) - hv_Height) / 2;column1 = 0;row2 = row1 + HWindowControl.Height * ratioWidth;column2 = column1 + HWindowControl.Width * ratioWidth;HOperatorSet.SetPart(hv_ExpDefaultWinHandle, row1, column1, row2, column2);HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);}}});task.Start();}/// <summary>/// 拍照/// </summary>public void Photograph(){IsStart = true;HTuple hv_Width, hv_Height;ho_Image.Dispose(); // 清除ho_Image中的数据HOperatorSet.GrabImage(out ho_Image, hv_AcqHandle); // 采集图像HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height); // 获取图片的尺寸double ratioWidth = (1.0) * hv_Width[0].I / HWindowControl.Width;double ratioHeight = (1.0) * hv_Height[0].I / HWindowControl.Height;HTuple row1, column1, row2, column2;if (ratioWidth >= ratioHeight){row1 = -(1.0) * ((HWindowControl.Height * ratioWidth) - hv_Height) / 2;column1 = 0;row2 = row1 + HWindowControl.Height * ratioWidth;column2 = column1 + HWindowControl.Width * ratioWidth;HOperatorSet.SetPart(hv_ExpDefaultWinHandle, row1, column1, row2, column2);HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);// 显示ho_Image中的图片HOperatorSet.SetDraw(hv_ExpDefaultWinHandle, "margin"); // 填充模式为只画框HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red"); // 画线颜色红HOperatorSet.DispRectangle1(hv_ExpDefaultWinHandle, row1, column1, row2, column2);}}/// <summary>/// 初始化相机/// </summary>public void InitHalcon(){// Default settings used in HDevelop HOperatorSet.SetSystem("width", 512);HOperatorSet.SetSystem("height", 512);}/// <summary>/// 初始化Halcon/// </summary>/// <param name="Window"></param>public void RunHalcon(HWindowControl Window){HWindowControl = Window;hv_ExpDefaultWinHandle = Window.HalconWindow;}/// <summary>/// 设置模板/// </summary>public void SetTemplate(){HTuple hv_Row1, hv_Column1, hv_Row2, hv_Column2;MessageBox.Show("在红框中按下鼠标左键画方框选模板，按右键结束");HOperatorSet.DrawRectangle1(hv_ExpDefaultWinHandle,out hv_Row1, out hv_Column1, out hv_Row2, out hv_Column2);HOperatorSet.GenRectangle1(out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle, out ho_ImageReduced);HOperatorSet.WriteImage(ho_ImageReduced, "png", 0, "E:/test.png");MessageBox.Show("模板已保存");}/// <summary>/// 从文件中读取模板/// </summary>public void ReadTemplate(){HOperatorSet.GenEmptyObj(out ho_ImageReduced);ho_ImageReduced.Dispose();HOperatorSet.ReadImage(out ho_ImageReduced, "E:/test.png");}/// <summary>/// 模板匹配/// </summary>public void MatchTemplate(){int i, j;double temp;HOperatorSet.GenRectangle1(out ho_Rectangle, 320, 250, 630, 750);HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle, out ho_Mask);//Reduce image rangeHOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-45)).TupleRad(), (new HTuple(90)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto", out hv_ModelID);HOperatorSet.CountSeconds(out hv_S1); // Match startHOperatorSet.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);HOperatorSet.CountSeconds(out hv_S2); // Match stophv_Runtime = (hv_S2 - hv_S1) * 1000;usedTime = hv_Runtime;ResultN = new HTuple(hv_Row.TupleLength());// 获取匹配结果个数if (ResultN > 0){Px = new double[ResultN];Py = new double[ResultN];hv_R = new HTuple(); //HTuple变量初始化for (i = 0; i < ResultN; i++){Py[i] = hv_Row[i]; // 将搜索结果的中心坐标读出Px[i] = hv_Column[i];Aa.Add(hv_Angle[i]);hv_R[i] = 8; //设置圆半径}for (i = 0; i < ResultN; i++) // 从大到小排序{for (j = i + 1; j < ResultN; j++){if (Px[i] < Px[j]){temp = Px[i];Px[i] = Px[j];Px[j] = temp;temp = Py[i];Py[i] = Py[j];Py[j] = temp;temp = Aa[i];Aa[i] = Aa[j];Aa[j] = temp;}}}HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red"); // 显示匹配结果位置HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, hv_Row, hv_Column, hv_R);HOperatorSet.ClearShapeModel(hv_ModelID);Cy = Py[0] + 10; // offset的初始值Cx = Px[0] + 60;}else{MessageBox.Show("匹配失败！?");}}/// <summary>/// 显示偏移点位置/// </summary>public void DisplayOffset(){HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, hv_Row, hv_Column, hv_R);HOperatorSet.DispLine(hv_ExpDefaultWinHandle, hv_Row[0], hv_Column[0], hv_Row[1], hv_Column[1]);HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "yellow");HOperatorSet.DispCircle(hv_ExpDefaultWinHandle, Cy, Cx, Cr);}/// <summary>/// /显示计算角度，划线/// </summary>public void DisplayLine(){HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "yellow");HOperatorSet.DispLine(hv_ExpDefaultWinHandle, Cy, Cx, Fy, Fx);}}

5.form1cs页面

        public Form1(){InitializeComponent();timer1.Tick += Timer1_Tick;timer1.Interval = 5000;this.Controls.Add(hWindowControl1);hWindowControl1.Location = new System.Drawing.Point(20, 20);hWindowControl1.Width = 500;hWindowControl1.Height = 500;hd.InitHalcon();}private void Form1_Load(object sender, EventArgs e){hd.RunHalcon(hWindowControl1); // 摄像头初始化}/// <summary>/// 打开相机/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnOpenCamera_Click(object sender, EventArgs e){hd.OpenCamera();textBox1.Text = "";textBox1.Refresh();}/// <summary>///关闭相机/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnCloseCamera_Click(object sender, EventArgs e){hd.CloseCamera();}/// <summary>/// 匹配/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnMatch_Click(object sender, EventArgs e){int j, m;double d;double[] x;double[] y;hd.MatchTemplate(); // 图像匹配m = hd.ResultN;x = new double[m];y = new double[m];for (j = 0; j < m; j++) // 获取匹配坐标{x[j] = hd.Px[j];y[j] = hd.Py[j];}textBox1.Text = "匹配时间：" + hd.usedTime.ToString("#####.##") + " ms" + "\r\n" + "\r\n";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);d = 0.0485 * d;textBox1.Text = textBox1.Text + "d(" + Convert.ToString(j + 1) + ") = " + d.ToString("#####.##")+ "mm" + "\r\n";}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";}}/// <summary>/// 设置模板/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnTemplate_Click(object sender, EventArgs e){hd.SetTemplate();}/// <summary>/// 加载模板/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnLoadTemplate_Click(object sender, EventArgs e){hd.ReadTemplate();}/// <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();}

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