C# + halcon 联合编程示例

C# + halcon 联合编程示例

实现功能

        1.加载图像

        2.画直线，画圆，画矩形, 画椭圆 ROI，可以调整大小和位置

        3.实现找边，找圆功能

效果

开发环境

        Visual Studio 2022

        .NET Framework 4.8

        halcondotnet.dll

查看帮助文档

项目结构

DLL引用

        要注意是 HALCON-17.12\dotnet35\halcondotnet.dll

界面控件

        用System.Windows.Forms.Panel 控件来显示 图片

        其他主要是按钮

代码

using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;namespace CJH.Halcon.WinForms.App
{public partial class Form1 : Form{private HSmartWindowControl hwControl;private HWindow hw;private HImage ho_Image;private List<HDrawingObjectEx> drawObjs = new List<HDrawingObjectEx>();public Form1(){InitializeComponent();}private void Form1_Load(object sender, EventArgs e){//创建Halcon控件对象，并添加到指定的容器中hwControl = new HSmartWindowControl();//var hwControlWpf = new HSmartWindowControlWPF();hwControl.MouseWheel += HwControl_MouseWheel;//通过Halcon控件获取对应Halcon窗口对象hw = hwControl.HalconWindow;//设置控件的填充方式hwControl.Dock = DockStyle.Fill;//把控件添加到显示区hw_container.Controls.Add(hwControl);}/// <summary>/// 鼠标滚轮移动时发生事件/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void HwControl_MouseWheel(object sender, MouseEventArgs e){hwControl.HSmartWindowControl_MouseWheel(sender, e);}/// <summary>/// 加载图像/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnLoadImage_Click(object sender, EventArgs e){var fileDialog = new OpenFileDialog();fileDialog.Title = "打开图像资源";fileDialog.Filter = "图像资源|*.png;*.jpg;*.bmp";if (fileDialog.ShowDialog() == DialogResult.OK){var filePath = fileDialog.FileName;//创建halcon 图像对象ho_Image = new HImage(filePath);//把图像对象显示到Halcon窗口中hw.DispObj(ho_Image);//设置打开图像自动适应窗口的大小hwControl.SetFullImagePart();}}/// <summary>/// 画直线/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnLine_Click(object sender, EventArgs e){//drawObjs.Clear();//定义绘制线的开始和结束坐标   起点XY- 终点XYvar lineTuple = new HTuple[] { 100, 300, 100, 100 };//创建线的对象var lineObj = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.LINE, lineTuple);//注册线拖拽事件lineObj.OnDrag(LineOnDragAction);lineObj.OnResize(LineonResizeAction);//保存线对象drawObjs.Add(new HDrawingObjectEx(){HObj = lineObj,HTuples = lineTuple});//把画出线放到Halcon窗口上面hw.AttachDrawingObjectToWindow(lineObj);}/// <summary>/// 拖拽(移动)/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void LineOnDragAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectData(drawid);}/// <summary>/// 改变大小，长度/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void LineonResizeAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectData(drawid);}/// <summary>/// 更新线拖拽或改变大小的方法/// </summary>/// <param name="drawid"></param>/// <exception cref="NotImplementedException"></exception>private void UpdateDrawingObjectData(HDrawingObject drawid){//创建需要对象的属性元组var attrTuple = new HTuple("row1", "column1", "row2", "column2");//根据提供元组获取对应的属性值组元组var valueTuple = drawid.GetDrawingObjectParams(attrTuple);Debug.WriteLine($"row1:{valueTuple[0].D},column1:{valueTuple[1].D},row2:{valueTuple[2].D},column2:{valueTuple[3].D}");//构建一个数组值组成的元组数组var attrValues = new HTuple[] { valueTuple[0], valueTuple[1], valueTuple[2], valueTuple[3] };//更新当前拖拽对像的属性数据drawObjs[0].HTuples = attrValues;}/// <summary>/// 直线抓边/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnLineBound_Click(object sender, EventArgs e){//获取刚刚绘制直线对象的数据var lineTuple = drawObjs[0].HTuples;var hv_LineParam = new HTuple(lineTuple);//清理绘制的直线对象clearObject();//创建计算测量句柄HOperatorSet.CreateMetrologyModel(out HTuple hv_MetrologyHandle);//句柄关联测试的图坐标位置//设置测量对象图像的大小//参数：//    MeasureHandle：输入测量模型的句柄；//    Width：输出图像宽；//    Height：输出图像高；//HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandle, hv_Width, hv_Height);//添加测量模型对象（此处是线）//将测量对象添加到测量模型中//算子参数：//    MeasureHandle：输入测量模型的句柄；//    Shape：输入要测量对象的类型；默认值：‘circle’，参考值：‘circle’圆，‘ellipse’椭圆，‘line’线，‘rectangle2’矩形，长方形；//    ShapeParam：要添加的测量对象的参数。//    MeasureLength1：输入垂直于边界的测量区域的一半长度(卡尺长度)；默认值：20，参考值：10，20，30；最小增量：1.0；建议增量：10.0//    MeasureLength2：输入与边界相切的测量区域的一半长度(卡尺宽度)；默认值：5，参考值：3，5，10；最小增量：1.0；建议增量：10.0//    MeasureSigma：输入用于平滑的高斯函数的sigma；默认值：1，参考值：0.4，0.6，0.8，1.0，1.5，2.0，3.0，4.0，5.0，7.0，10.0；最小增量：0.01；建议增量：0.1；限制：(0.4 <= MeasureSigma）&&（MeasureSigma <= 100）//    MeasureThreshold：输入测量阈值/最小边缘幅度；默认值：30，参考值：5.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 90.0, 110.0；最小增量：0.5；建议增量：2；//    GenParamName：输入参数名称；参考： ‘distance_threshold’, ‘end_phi’, ‘instances_outside_measure_regions’, ‘max_num_iterations’, ‘measure_distance’, ‘measure_interpolation’, ‘measure_select’, ‘measure_transition’, ‘min_score’, ‘num_instances’, ‘num_measures’, ‘point_order’, ‘rand_seed’, ‘start_phi’；//    GenParamValue：输入参数值；参考：1, 2, 3, 4, 5, 10, 20, ‘all’, ‘true’, ‘false’, ‘first’, ‘last’, ‘positive’, ‘negative’, ‘uniform’, ‘nearest_neighbor’, ‘bilinear’, ‘bicubic’；//    Index：输出创建测量对象的索引值；HOperatorSet.AddMetrologyObjectGeneric(hv_MetrologyHandle, "line", hv_LineParam,50, 5, 1, 30, new HTuple(), new HTuple(), out HTuple hv_Index);//为测量模型的测量对象设置参数 set_metrology_object_param//根据需求设置测量的参数//设置找线的方式(positive,negative,all)从黑到白，从白到黑//算子参数：//    MeasureHandle：输入测量模型的句柄；//    Index：指定测量对象，为all时所有计量对象的参数都被设置（‘all’）；//    GenParamName：输入参数名称；默认：‘num_instances’，参考：//           'measure_length1'：区域，垂直于边界的测量区域的一半长度//           'measure_length2'：区域，相切于边界的测量区域的一半长度//           'measure_distance'：区域，两个测量区域中心之间的距离//           'num_measures'：区域,测量区域数//           'measure_sigma'：测量，用于平滑的高斯函数的 Sigma//           'measure_threshold'：测量,最小边缘幅度阈值//           'measure_select'：测量，边缘端点的选择('last'、'first')//           'measure_transition'：测量，方向('all'、'negative'、 'positive')//           'measure_interpolation'：测量，插值类型//           'min_score'：拟合，最小分数//           'num_instances'：拟合，成功拟合实例的最大数量//           'distance_threshold'：拟合，距离阈值HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_transition","all");//预期测量的区域个数HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "num_instances",12);//拟合数HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "num_instances",6);//高斯平滑系数，值越大，唯一的边缘越清晰HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_sigma",5);//区域，垂直与边界的测量区域的一半长度HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_length1",80);//区域，相切于边缘的测量区域的一半长度HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_length2",10);//最小边缘幅度越大，要求找到的边缘越锐利(灰度变换明显)，反而不容易找到边缘HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_threshold",20);//测量双立方插入值，区别与bilinear双线性HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_interpolation","bicubic");//取值 all,first,best,lastHOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_select","all");//设置最小分数0.7HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "min_score",0.7);//开始找边缘HOperatorSet.ApplyMetrologyModel(ho_Image, hv_MetrologyHandle);//获取测量区域找到的边缘坐标集合HOperatorSet.GetMetrologyObjectMeasures(out HObject ho_Contours, hv_MetrologyHandle,"all", "all", out HTuple hv_Row, out HTuple hv_Column);//设置卡尺颜色HOperatorSet.SetColor(hw, "cyan");//显示卡尺HOperatorSet.DispObj(ho_Contours, hw);//把找到的点通过十字叉来显示//HOperatorSet.GenCrossContourXld(out HObject ho_Cross, hv_Row, hv_Column, 6, 0.785398);//HOperatorSet.DispObj(ho_Cross, hw);//得到线的起点坐标并显示出来HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, 0, "all", "result_type","all_param", out HTuple hv_Parameter);//获取计量模型的计量结果轮廓HOperatorSet.GetMetrologyObjectResultContour(out HObject ho_Contour, hv_MetrologyHandle,0, "all", 1.5);//设置轮廓颜色HOperatorSet.SetColor(hw, "green");HOperatorSet.SetLineWidth(hw, 3);//显示轮廓HOperatorSet.DispObj(ho_Contour, hw);//清除句柄HOperatorSet.ClearMetrologyModel(hv_MetrologyHandle);}/// <summary>/// 清理绘制的直线对象/// </summary>private void clearObject(){foreach (var item in drawObjs){var hDrawingObject = item.HObj;//把这个对象从Halcon窗口中移除hw.DetachDrawingObjectFromWindow(hDrawingObject);hDrawingObject.Dispose();}drawObjs.Clear();}/// <summary>/// 找  圆/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnFindCircle_Click(object sender, EventArgs e){//获取圆形对象的位置与半径var circle = drawObjs[0].HTuples;//创建测量模型HOperatorSet.CreateMetrologyModel(out HTuple hv_MetrologyHandle);//添加找圆工具，给定参数，显示过程卡尺//50 卡尺长度//5 卡尺宽度HOperatorSet.AddMetrologyObjectCircleMeasure(hv_MetrologyHandle, circle[0].D, circle[1].D,circle[2].D, 50, 5, 1, 30, new HTuple(), new HTuple(), out HTuple hv_Index);HOperatorSet.GetMetrologyObjectModelContour(out HObject ho_Contour, hv_MetrologyHandle,0, 1.5);HOperatorSet.GetMetrologyObjectMeasures(out HObject ho_Contours, hv_MetrologyHandle,"all", "all", out HTuple hv_Row1, out HTuple hv_Column1);HOperatorSet.SetColor(hw, "cyan");HOperatorSet.DispObj(ho_Contour, hw);HOperatorSet.DispObj(ho_Contours, hw);//执行找圆并显示结果HOperatorSet.ApplyMetrologyModel(ho_Image, hv_MetrologyHandle);HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, 0, "all", "result_type","all_param", out HTuple hv_Parameter);HOperatorSet.GetMetrologyObjectResultContour(out HObject ho_Contour1, hv_MetrologyHandle,0, "all", 1.5);HOperatorSet.SetLineWidth(hw, 2);HOperatorSet.SetColor(hw, "green");HOperatorSet.DispObj(ho_Contour1, hw);HOperatorSet.ClearMetrologyModel(hv_MetrologyHandle);}/// <summary>/// 拖拽(移动)/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void circOnDragAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataCirc(drawid);}/// <summary>/// 改变大小，长度/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void circResizeAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataCirc(drawid);}/// <summary>/// (圆)更新线拖拽或改变大小的方法/// </summary>/// <param name="drawid"></param>/// <exception cref="NotImplementedException"></exception>private void UpdateDrawingObjectDataCirc(HDrawingObject drawid){//创建需要对象的属性元组var attrTuple = new HTuple("row", "column", "radius");//根据提供元组获取对应的属性值组元组var valueTuple = drawid.GetDrawingObjectParams(attrTuple);Debug.WriteLine($"row:{valueTuple[0].D},column:{valueTuple[1].D},radius:{valueTuple[2].D}");//构建一个数组值组成的元组数组var attrValues = new HTuple[] { valueTuple[0], valueTuple[1], valueTuple[2] };//更新当前拖拽对像的属性数据drawObjs[0].HTuples = attrValues;}/// <summary>/// 画圆/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnCircle_Click(object sender, EventArgs e){var circleHtuple = new HTuple[] { 100, 100, 100 };var circleObj = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.CIRCLE, circleHtuple);//注册线拖拽事件circleObj.OnDrag(circOnDragAction);circleObj.OnResize(circResizeAction);//保存线对象drawObjs.Add(new HDrawingObjectEx(){HObj = circleObj,HTuples = circleHtuple});//把画出圆放到Halcon窗口上面hw.AttachDrawingObjectToWindow(circleObj);}/// <summary>/// 画矩形/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnRectangle1_Click(object sender, EventArgs e){var rectangle1Htuple = new HTuple[] { 100, 100, 200, 200 };//矩形var rectangle1Obj = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.RECTANGLE1, rectangle1Htuple);//注册线拖拽事件rectangle1Obj.OnDrag(rectangle1OnDragAction);rectangle1Obj.OnResize(rectangle1ResizeAction);//保存线对象drawObjs.Add(new HDrawingObjectEx(){HObj = rectangle1Obj,HTuples = rectangle1Htuple});//把画出圆放到Halcon窗口上面hw.AttachDrawingObjectToWindow(rectangle1Obj);}/// <summary>/// (矩形)拖拽(移动)/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void rectangle1OnDragAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataRectangle1(drawid);}/// <summary>/// (矩形)改变大小，长度/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void rectangle1ResizeAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataRectangle1(drawid);}/// <summary>/// (矩形)更新线拖拽或改变大小的方法/// </summary>/// <param name="drawid"></param>/// <exception cref="NotImplementedException"></exception>private void UpdateDrawingObjectDataRectangle1(HDrawingObject drawid){//创建需要对象的属性元组var attrTuple = new HTuple("row1", "column1", "row2", "column2");//根据提供元组获取对应的属性值组元组var valueTuple = drawid.GetDrawingObjectParams(attrTuple);Debug.WriteLine($"row1:{valueTuple[0].D},column1:{valueTuple[1].D},row2:{valueTuple[2].D},column2:{valueTuple[3].D}");//构建一个数组值组成的元组数组var attrValues = new HTuple[] { valueTuple[0], valueTuple[1], valueTuple[2], valueTuple[3] };//更新当前拖拽对像的属性数据drawObjs[0].HTuples = attrValues;}/// <summary>/// 画椭圆/// </summary>/// <param name="sender"></param>/// <param name="e"></param>private void btnEllipse_Click(object sender, EventArgs e){var ellipseHtuple = new HTuple[] { 100, 100, 50, 50, 50 };//椭圆var ellipseObj = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.ELLIPSE, ellipseHtuple);//注册线拖拽事件ellipseObj.OnDrag(ellipseOnDragAction);ellipseObj.OnResize(ellipseResizeAction);//保存线对象drawObjs.Add(new HDrawingObjectEx(){HObj = ellipseObj,HTuples = ellipseHtuple});//把画出圆放到Halcon窗口上面hw.AttachDrawingObjectToWindow(ellipseObj);}/// <summary>/// (椭圆)拖拽(移动)/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void ellipseOnDragAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataEllipse(drawid);}/// <summary>/// (椭圆)改变大小，长度/// </summary>/// <param name="drawid"></param>/// <param name="window"></param>/// <param name="type"></param>private void ellipseResizeAction(HDrawingObject drawid, HWindow window, string type){UpdateDrawingObjectDataEllipse(drawid);}/// <summary>/// (椭圆)更新线拖拽或改变大小的方法/// </summary>/// <param name="drawid"></param>/// <exception cref="NotImplementedException"></exception>private void UpdateDrawingObjectDataEllipse(HDrawingObject drawid){//创建需要对象的属性元组//phi 以弧度表示的前半轴的方向//radius1 前半轴//radius2 后半轴var attrTuple = new HTuple("row", "column", "phi", "radius1", "radius2");//根据提供元组获取对应的属性值组元组var valueTuple = drawid.GetDrawingObjectParams(attrTuple);Debug.WriteLine($"row:{valueTuple[0].D},column:{valueTuple[1].D},phi:{valueTuple[2].D},radius1:{valueTuple[3].D},radius2:{valueTuple[4].D}");//构建一个数组值组成的元组数组var attrValues = new HTuple[] { valueTuple[0], valueTuple[1], valueTuple[2], valueTuple[3], valueTuple[4] };//更新当前拖拽对像的属性数据drawObjs[0].HTuples = attrValues;}}/// <summary>/// HDrawingObject 扩展类 ，主要包含拖拽对象和对象属性数据/// </summary>public class HDrawingObjectEx{public HDrawingObject HObj { get; set; }public HTuple[] HTuples { get; set; }}
}

项目源码下载地址

https://download.csdn.net/download/cjh16606260986/89497706

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