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XY
            var 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,last
            HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, "all", "measure_select",
                "all");

            //设置最小分数0.7
            HOperatorSet.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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