Halcon联合C#编程
Halcon联合C#编程
Halcon联合C#编程目前我知晓的有三种方式：1、将Halcon代码导成C#代码然后复制到C#程序中；2、直接采用C#中的Halcon库语句进行程序编写(难度有点大，其实就是第一种的另一种操作); 3、利用Halcon引擎直接在C#中调用Halcon程序，(电脑上必须安装Halcon软件，这是前两种的优势，但它的优势在于可以直接在Halcon改代码后C#中直接观察效果，可以节省很大的工作量)。
ps:我使用的是Halcon17.12（32bit)联合VS2015，只能在VS2015中生成32bit的程序，如果想生成64bit的程序，可以采用Halcon17.12(64bit)联合VS2015编程，Halcon17.12(32bit)的方式一模一样。
一、Halcon导成C#代码
1.1 编写Halcon代码
Halcon代码如下：
运行结果如下
将Halcon代码导成C#代码
导成C#的Halcon代码
/
// File generated by HDevelop for HALCON/.NET (C#) Version 17.12
//
using HalconDotNet;
public partial class HDevelopExport
{
#if !(NO_EXPORT_MAIN || NO_EXPORT_APP_MAIN)
public HDevelopExport()
{
// Default settings used in HDevelop
HOperatorSet.SetSystem("width", 512);
HOperatorSet.SetSystem("height", 512);
if (HalconAPI.isWindows)
HOperatorSet.SetSystem("use_window_thread","true");
action();
}
#endif
#if !NO_EXPORT_MAIN
// Main procedure
private void action()
{
// Local iconic variables
HObject ho_Circle, ho_Rectangle, ho_PolygonRegion;
// Local control variables
HTuple hv_WindowHandle = null, hv_Row = null;
HTuple hv_Column = null, hv_Radius = null, hv_Row1 = null;
HTuple hv_Column1 = null, hv_Row2 = null, hv_Column2 = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_PolygonRegion);
HOperatorSet.SetWindowAttr("background_color","black");
HOperatorSet.OpenWindow(0,0,512,512,0,"visible","",out hv_WindowHandle);
HDevWindowStack.Push(hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetDraw(HDevWindowStack.GetActive(), "fill");
}
HOperatorSet.DrawCircle(hv_WindowHandle, out hv_Row, out hv_Column, out hv_Radius);
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, hv_Row, hv_Column, hv_Radius);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Circle, HDevWindowStack.GetActive());
}
HOperatorSet.DrawRectangle1(hv_WindowHandle, out hv_Row1, out hv_Column1, out hv_Row2,
out hv_Column2);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Rectangle, HDevWindowStack.GetActive());
}
ho_PolygonRegion.Dispose();
HOperatorSet.DrawPolygon(out ho_PolygonRegion, hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_PolygonRegion, HDevWindowStack.GetActive());
}
ho_Circle.Dispose();
ho_Rectangle.Dispose();
ho_PolygonRegion.Dispose();
}
#endif
}
#if !(NO_EXPORT_MAIN || NO_EXPORT_APP_MAIN)
public class HDevelopExportApp
{
static void Main(string[] args)
{
new HDevelopExport();
}
}
#endif
1.2 创建VS程序
新建VS程序，并配置好环境，参考三中的配置过程。
如图，左边为HWindowControl控件
在Form.cs中添加导成C#的Halcon代码
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 HalconDotNet;
namespace HalconCSharp
{
public partial class Form1 : Form
{
HObject ho_Circle, ho_Rectangle, ho_PolygonRegion;
// Local control variables
HTuple hv_WindowHandle = null, hv_Row = null;
HTuple hv_Column = null, hv_Radius = null, hv_Row1 = null;
HTuple hv_Column1 = null, hv_Row2 = null, hv_Column2 = null;
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
ho_Circle.Dispose();
ho_Rectangle.Dispose();
ho_PolygonRegion.Dispose();
}
HTuple WindowID;
public Form1()
{
InitializeComponent();
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_PolygonRegion);
}
private void btn_DrawCircle_Click(object sender, EventArgs e)
{
HOperatorSet.DrawCircle(hv_WindowHandle, out hv_Row, out hv_Column, out hv_Radius);
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, hv_Row, hv_Column, hv_Radius);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Circle, HDevWindowStack.GetActive());
}
}
private void btn_DrawRect_Click(object sender, EventArgs e)
{
HOperatorSet.DrawRectangle1(hv_WindowHandle, out hv_Row1, out hv_Column1, out hv_Row2,
out hv_Column2);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Rectangle, HDevWindowStack.GetActive());
}
}
private void btn_DrawPolyn_Click(object sender, EventArgs e)
{
ho_PolygonRegion.Dispose();
HOperatorSet.DrawPolygon(out ho_PolygonRegion, hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_PolygonRegion, HDevWindowStack.GetActive());
}
}
private void Form1_Load(object sender, EventArgs e)
{
WindowID = hWindowControl1.HalconWindow;
HOperatorSet.SetSystem("width", 512);
HOperatorSet.SetSystem("height", 512);
HOperatorSet.SetWindowAttr("background_color", "blue");
HOperatorSet.OpenWindow(0, 0, 512, 512, WindowID, "visible", "", out hv_WindowHandle);
if (HalconAPI.isWindows)
HOperatorSet.SetSystem("use_window_thread", "true");
HDevWindowStack.Push(hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetDraw(HDevWindowStack.GetActive(), "fill");
}
}
}
}
1.3 运行看效果
完美运行
二、直接在C#中利用Halcon语句编程
2.1 新建项目，配置好环境，添加控件，坐标黑色为HWindowControl。
2.2 添加代码
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 HalconDotNet;
namespace HalconDraw
{
public partial class Form1 : Form
{
//窗口句柄
private HTuple WindowHandle;
//Halcon窗口
private HWindow Window;
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
//设置清晰度
//HOperatorSet.SetSystem("width", 512);
//HOperatorSet.SetSystem("height", 512);
HOperatorSet.SetWindowAttr("background_color", "blue");//设置窗体背景色
Window = hWindowControl1.HalconWindow;
HOperatorSet.OpenWindow(0, 0, hWindowControl1.Width, hWindowControl1.Height, Window, "visible", "", out WindowHandle);
}
private void btn_DrawCircle_Click(object sender, EventArgs e)
{
HTuple row, col, radius;
HOperatorSet.DrawCircle(WindowHandle, out row, out col, out radius);
HObject circle;
HOperatorSet.GenCircle(out circle, row, col, radius);
HOperatorSet.DispObj(circle, WindowHandle);
}
private void btn_DrawRect_Click(object sender, EventArgs e)
{
HTuple row1, col1, row2, col2;
HOperatorSet.DrawRectangle1(WindowHandle, out row1, out col1, out row2, out col2);
HObject rect;
HOperatorSet.GenRectangle1(out rect, row1, col1, row2, col2);
HOperatorSet.DispObj(rect, WindowHandle);
}
private void btn_DrawPolyn_Click(object sender, EventArgs e)
{
HObject polygon;
HOperatorSet.DrawPolygon(out polygon, WindowHandle);
HOperatorSet.DispObj(polygon, WindowHandle);
}
}
}
上图程序中用的到方法都可以通过Halcon的帮助文档进行查询，点击红色箭头指向的地方就可以获得对应方法的C#方法。
2.3 运行
上图的圆和多边形都出现锯齿状，原因是清晰度没有设置，将上面程序的下面部分加入程序中，再运行，完美运行！
//设置清晰度
//HOperatorSet.SetSystem("width", 512);
//HOperatorSet.SetSystem("height", 512);
不过这一种方法比较麻烦，需要从halcon的帮助文档中查询相关的方法，其实它可以作为第一种方法的补充方法，在Halcon导成C#代码后，在一些简单需要更改的地方，采用这种方法修改代码可以节省导出代码并添加到C#程序中的过程，提高编程的效率。
三、利用Halcon的引擎
3.1 新建和配置VS程序
将halcondotnet.dll和hdevenginedotnet.dll两个文件复制到VS程序的源码文件夹内。
再将两个dll文件添加到程序的引用中。
将下图路径中的文件全部复制到VS程序的源码文件夹。
为了使用VS中自带的Halcon窗口，右击工具箱选择选择项，
点击浏览，然后选择下图路径中halcondotnet.dll文件,
出现并选中了H开头的组件，点击确定，
工具箱出现了H开头的工具。这两个控件就可以直接使用啦，一会再程序中有使用。至于他们的区别，可以参考两个控件的区别。
3.2 ProgramCall方式调用需要的Halcon程序
在Halcon中创建一个程序，问了方便我就直接打开一个Halcon的例子。
为了便于观察效果，对里面的代码稍作修改，如下：
* The following example shows a production line, which carries
* packages of soft cheese. The cheese packages consist of three
* types of flavor: cream, ham and paprika. During quality
* inspection each package is checked for its right content.
* Each has to contain 4 pieces of cream cheese ('Sahne'),
* 2 pieces of ham ('Schinken') and 2 pieces of paprika ('Paprika')
* - any deviation is reported otherwise. To obtain the number of
* each flavor, we use the shape-based matching feature. After we
* define the models, we count the occurrence of the models to
* get the actual number of the cheese flavors. Finally we give out
* the statistics for each inspection.
*
dev_close_window ()
dev_update_off ()
read_image (Image, 'food/soft_cheese_01')
dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle)
set_display_font (WindowHandle, 14, 'mono', 'true', 'false')
dev_set_line_width (2)
*
*
* As a first step, determine the shape models for the three flavors
rgb1_to_gray (Image, GrayImage)
gen_region_polygon_filled (Paprika, [77,84,203], [306,405,347])
erosion_circle (Paprika, Paprika, 3.5)
PaprikaCount := 2
gen_region_polygon_filled (Cream, [94,171,210], [424,488,363])
erosion_circle (Cream, Cream, 3.5)
CreamCount := 4
gen_region_polygon_filled (Ham, [185,285,225], [496,492,367])
erosion_circle (Ham, Ham, 3.5)
HamCount := 2
*
reduce_domain (GrayImage, Paprika, ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,30], 5, ModelID1)
reduce_domain (GrayImage, Cream, ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,50], 'auto', ModelID2)
reduce_domain (GrayImage, Ham, ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,50], 'auto', ModelID3)
*
*
* Check for the occurrence of each cheese flavor by using the find model tool
ModelIDs := [ModelID1,ModelID2,ModelID3]
ColorIndex := ['red','magenta','yellow']
TypesIndex := ['P','C','H']
*
NumImages := 18
for Index := 1 to NumImages by 1
AnglesTypes := []
Types := []
read_image (Image, 'food/soft_cheese_' + Index$'02')
rgb1_to_gray (Image, GrayImage)
threshold (GrayImage, Region, 70, 255)
fill_up (Region, RegionFillUp)
opening_circle (RegionFillUp, RegionOpening, 3.5)
reduce_domain (GrayImage, RegionOpening, ImageReduced)
shape_trans (RegionOpening, Circle, 'outer_circle')
find_shape_models (ImageReduced, ModelIDs, 0, rad(360), 0.5, 8, 0.5, 'least_squares', 0, 0.8, Row, Column, Angle, Score, ModelIndex)
area_center (Circle, Area, RowObj, ColumnObj)
*
* display found matches and all over statistics
dev_clear_window ()
dev_display (Image)
if (|Score| == 0)
disp_message (WindowHandle, 'No Model found!', true, 25, 20, 'black', 'true')
else
CountModels := [0,0,0]
for I := 0 to |Score| - 1 by 1
Types := [Types,TypesIndex[ModelIndex[I]]]
dev_set_color (ColorIndex[ModelIndex[I]])
CountModels[ModelIndex[I]] := CountModels[ModelIndex[I]] + 1
get_shape_model_contours (Contour, ModelIDs[ModelIndex[I]], 1)
vector_angle_to_rigid (0, 0, 0, Row[I], Column[I], Angle[I], HomMat2D)
affine_trans_contour_xld (Contour, ContoursAffineTrans, HomMat2D)
dev_display (ContoursAffineTrans)
*
* remember order of flavors
affine_trans_point_2d (HomMat2D, 0, 0, RowPiece, ColumnPiece)
angle_lx (RowObj, ColumnObj, RowPiece, ColumnPiece, AngleTyp)
if (deg(AngleTyp) > 0)
AnglesTypes := [AnglesTypes,deg(AngleTyp)]
else
AnglesTypes := [AnglesTypes,360 + deg(AngleTyp)]
endif
endfor
*
display_statistic (Circle, WindowHandle, CountModels, PaprikaCount, CreamCount, HamCount, AnglesTypes, Types)
disp_message (WindowHandle, Index, 'window', 430, 430, 'red', 'true')
*
endif
if (Index < NumImages)
disp_continue_message (WindowHandle, 'black', 'true')
stop ()
endif
endfor
clear_shape_model (ModelID1)
clear_shape_model (ModelID2)
clear_shape_model (ModelID3)
运行效果
将程序另存为自己喜欢的路径，一会需要调用。
3.3 ProduceCall方式调用的Halcon程序
创建一个函数
函数的参数，再配置好参数文档即可。
函数的代码：
set_display_font (WindowID, 14, 'mono', 'true', 'false')
dev_set_line_width (2)
*
*
* As a first step, determine the shape models for the three flavors
rgb1_to_gray (Image, GrayImage)
dev_display (GrayImage)
gen_region_polygon_filled (Paprika, [77,84,203], [306,405,347])
erosion_circle (Paprika, Paprika, 3.5)
dev_display (Paprika)
PaprikaCount := 2
gen_region_polygon_filled (Cream, [94,171,210], [424,488,363])
erosion_circle (Cream, Cream, 3.5)
dev_display (Cream)
CreamCount := 4
gen_region_polygon_filled (Ham, [185,285,225], [496,492,367])
erosion_circle (Ham, Ham, 3.5)
dev_display (Ham)
HamCount := 2
*
reduce_domain (GrayImage, Paprika, ImageReduced)
dev_display (ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,30], 5, ModelID1)
reduce_domain (GrayImage, Cream, ImageReduced)
dev_display (ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,50], 'auto', ModelID2)
reduce_domain (GrayImage, Ham, ImageReduced)
dev_display (ImageReduced)
create_shape_model (ImageReduced, 'auto', 0, rad(360), rad(1.5), ['point_reduction_high','no_pregeneration'], 'use_polarity', [25,50], 'auto', ModelID3)
*
*
* Check for the occurrence of each cheese flavor by using the find model tool
ModelIDs := [ModelID1,ModelID2,ModelID3]
ColorIndex := ['red','magenta','yellow']
TypesIndex := ['P','C','H']
*
NumImages := 18
for Index := 1 to NumImages by 1
AnglesTypes := []
Types := []
read_image (Image, ImagePath + Index$'02')
rgb1_to_gray (Image, GrayImage)
threshold (GrayImage, Region, 70, 255)
fill_up (Region, RegionFillUp)
opening_circle (RegionFillUp, RegionOpening, 3.5)
reduce_domain (GrayImage, RegionOpening, ImageReduced)
shape_trans (RegionOpening, Circle, 'outer_circle')
find_shape_models (ImageReduced, ModelIDs, 0, rad(360), 0.5, 8, 0.5, 'least_squares', 0, 0.8, Row, Column, Angle, Score, ModelIndex)
area_center (Circle, Area, RowObj, ColumnObj)
*
* display found matches and all over statistics
dev_clear_window ()
dev_display (Image)
if (|Score| == 0)
disp_message (WindowID, 'No Model found!', true, 25, 20, 'black', 'true')
else
CountModels := [0,0,0]
for I := 0 to |Score| - 1 by 1
Types := [Types,TypesIndex[ModelIndex[I]]]
dev_set_color (ColorIndex[ModelIndex[I]])
CountModels[ModelIndex[I]] := CountModels[ModelIndex[I]] + 1
get_shape_model_contours (Contour, ModelIDs[ModelIndex[I]], 1)
vector_angle_to_rigid (0, 0, 0, Row[I], Column[I], Angle[I], HomMat2D)
affine_trans_contour_xld (Contour, ContoursAffineTrans, HomMat2D)
dev_display (ContoursAffineTrans)
*
* remember order of flavors
affine_trans_point_2d (HomMat2D, 0, 0, RowPiece, ColumnPiece)
angle_lx (RowObj, ColumnObj, RowPiece, ColumnPiece, AngleTyp)
if (deg(AngleTyp) > 0)
AnglesTypes := [AnglesTypes,deg(AngleTyp)]
else
AnglesTypes := [AnglesTypes,360 + deg(AngleTyp)]
endif
endfor
*
display_statistic (Circle, WindowID, CountModels, PaprikaCount, CreamCount, HamCount, AnglesTypes, Types)
disp_message (WindowID, Index, 'window', 440, 440, 'red', 'true')
*
endif
if (Index < NumImages)
disp_continue_message (WindowID, 'black', 'true')
wait_seconds (0.5)
* stop ()
endif
endfor
clear_shape_model (ModelID1)
clear_shape_model (ModelID2)
clear_shape_model (ModelID3)
*
return ()
将函数保存到以毁需要调用的路径下，选择好函数类型 *.hdev。
在主程序中添加如下代码：
dev_close_window()
read_image (Image, 'food/soft_cheese_01')
dev_open_window_fit_image (Image, 0, 0, -1, -1, WindowHandle)
dev_display (Image)
ModelMatch2 (Image, 'food/soft_cheese_', WindowHandle)
运行效果图
保存主程序到与函数相同的路径。Halcon程序建立完毕！
3.4 编写VS程序
在Form上添加如下控件，左边控件为之前加载的HWinddowControl控件。
在Form代码文件内添加如下代码：
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;
namespace Halcon
{
public partial class Form1 : Form
{
#region
private HDevEngine MyEngine = new HDevEngine();
// 实例化程序触发器
private HDevProgramCall ProgramCall;
//实例化函数触发器
private HDevProcedureCall ProcedureCall;
//声明一个WindowID
private HTuple WindowID;
//外部函数存放路径
private string OutProPath;
//模板图片
private HObject ModelImage;
//图片路径
private string PicPath = "C:\\Users\\Public\\Documents\\MVTec\\HALCON-17.12-Progress\\examples\\images\\food\\soft_cheese_";
#endregion
public Form1()
{
InitializeComponent();
CreateHalocnWindow();//创建Halcon窗体并打开
}
/// VS中可以采用程序触发ProgramCall和函数触发ProcedureCall，中文名字是我自己为了区别取的，官方的叫法没有查，有兴趣的可以自己去了解，运行程序之上的部分采用的是ProcedureCall，单独运行一个程序使用的是ProgramCall，将配置改为X86，点击运行。
选择好程序后如下图：
点击加载模板图片
点击运行程序，完美运行！
点击单独运行一个程序，完美运行！
这种方法的效率最高，但是调试的过程无法控制，有利有弊吧！看具体的情况而定。
四、采用Halcon17.12（64bit)联合VS2015编程
安装好Halcon17.12（64bit)版本。新建VS2015项目，配置好环境。
将配置管理器设置为X64
在ui上添加控件，左边黑色控件为HWindowControl。
在代码区添加如下代码
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 HalconDotNet;
namespace Halcon64bit2
{
public partial class Form1 : Form
{
HDevEngine myEngine = new HDevEngine();
HDevProgramCall myProgramCall;
HWindow Window;
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
}
private void btn_RunSinglePro_Click(object sender, EventArgs e)
{
//获取程序路径
OpenFileDialog Program_path = new OpenFileDialog();
//设定允许单选
Program_path.Multiselect = false;
//选择框限定文件类型
Program_path.Filter = "hdev files(*.hdev)|*.hdev|All files(*.*)|*.*";
//限定成功读取路径
if (Program_path.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
//通过路径实例化程序
HDevProgram Program = new HDevProgram(Program_path.FileName);
/************************************************************
* 在载入Halcon外部程序之前 需要检查程序里使用的外部函数是否
* 在函数目录里面已经定义好否者会报错 缺少哪些函数的名称
************************************************************/
//绑定程序到程序触发器
myProgramCall = new HDevProgramCall(Program);
//显示路径
txt_SingleProPath.Text = "程序路径：" + Program_path.FileName;
}
Window = hWCtr_Show.HalconWindow;
//将引擎绑定到窗口
myEngine.SetHDevOperators(new HDevOpMultiWindowImpl(Window));
Task.Factory.StartNew(() => myProgramCall.Execute());
}
}
}
运行，完美运行
