Halcon13菜鸟 Opencv Mat 转halcon并且显示 vs2013
来源：互联网 发布：linux查看centos版本 编辑：程序博客网 时间：2024/06/05 04:11
OpencvHal.h
#include <opencv2/opencv.hpp> #include <HalconCpp.h> #include <HalconCDefs.h> #include <HProto.h> using namespace HalconCpp;//Hobject IplImageToHImage(cv::Mat& pImage);//cv::Mat HImageToIplImage(Hobject &Hobj);//HObject MatToHImage(cv::Mat pImage, HObject &Hobj);HImage IplImageToHImage(cv::Mat& pImage);OpencvHal.cpp
#include "OpencvHal.h"HImage IplImageToHImage(cv::Mat& pImage){ HImage Hobj; if (3 == pImage.channels()) { cv::Mat pImageRed, pImageGreen, pImageBlue; std::vector<cv::Mat> sbgr(3); cv::split(pImage, sbgr); int length = pImage.rows * pImage.cols; uchar *dataBlue = new uchar[length]; uchar *dataGreen = new uchar[length]; uchar *dataRed = new uchar[length]; int height = pImage.rows; int width = pImage.cols; for (int row = 0; row <height; row++) { uchar* ptr = pImage.ptr<uchar>(row); for (int col = 0; col < width; col++) { dataBlue[row * width + col] = ptr[3 * col]; dataGreen[row * width + col] = ptr[3 * col + 1]; dataRed[row * width + col] = ptr[3 * col + 2]; } } HalconCpp::GenImage3(&Hobj, "byte", width, height, (Hlong)(dataRed), (Hlong)(dataGreen), (Hlong)(dataBlue)); delete[] dataRed; delete[] dataGreen; delete[] dataBlue; } else if (1 == pImage.channels()) { int height = pImage.rows; int width = pImage.cols; uchar *dataGray = new uchar[width * height]; memcpy(dataGray, pImage.data, width * height); HalconCpp::GenImage1(&Hobj, "byte", width, height, (Hlong)(dataGray)); delete[] dataGray; } return Hobj;}main.cpp
#include <iostream>#include <stdio.h>#include <opencv.hpp>#include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/core/core.hpp> #include <highgui.h>//halcon include#ifndef __APPLE__# include "HalconCpp.h"# include "HDevThread.h"# if defined(__linux__) && !defined(NO_EXPORT_APP_MAIN)# include <X11/Xlib.h># endif#else# ifndef HC_LARGE_IMAGES# include <HALCONCpp/HalconCpp.h># include <HALCONCpp/HDevThread.h># else# include <HALCONCppxl/HalconCpp.h># include <HALCONCppxl/HDevThread.h># endif# include <stdio.h># include <HALCON/HpThread.h># include <CoreFoundation/CFRunLoop.h>#endif//user include#include "OpencvHal.h"using namespace HalconCpp;Hlong m_WindowRow = 16;Hlong m_WindowColumn = 630;Hlong m_WindowWidth = 630;Hlong m_WindowHeight = 472;HalconCpp::HWindow m_Window;int main(int argc, char* argv[]){ cv::VideoCapture cap;// cap(0, CAP_FFMPEG); //cap.set(CV_CAP_PROP_FPS, 120); //cap.set(CV_CAP_PROP_EXPOSURE, -12.0); cap.open(0); if (!cap.isOpened()) { return -1; } //cap.set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G')); //cap.set(CV_CAP_PROP_FRAME_WIDTH, 1280); //cap.set(CV_CAP_PROP_FRAME_HEIGHT, 720);//如果相机支持的话这几个设置是可行的。 cv::Mat frame; cap >> frame; HTuple WindowHandle; m_Window.OpenWindow(m_WindowRow, m_WindowColumn, m_WindowWidth, m_WindowHeight, NULL, "visible", ""); HImage himg = IplImageToHImage(frame); Hlong Width, Height; himg.GetImageSize(&Width, &Height); m_Window.SetPart(0, 0, Height - 1, Width - 1); m_Window.SetLineWidth(3); while (true) { cap >> frame; if (frame.empty()) { fprintf(stderr, "Can not load the image file.\n"); return -1; } cv::Mat gray; cv::cvtColor(frame, gray, CV_BGR2GRAY); cv::imshow("Gray",gray); himg = IplImageToHImage(frame); m_Window.DispObj(himg); cv::waitKey(1); }}将上述的一个头文件，两个cpp文件加载到工程中，即可以使用opencv和Halcon窗口显示图像。
但是有些从Halcon直接导出的cpp可能没有窗口的初始化，引导到cpp后无法显示图像。是因为HDevWindowStack::IsOpen()值==0。也就是Window没有压栈。
应该添加一些语句。比如我的一个模板匹配匹配工程中的hdev文件如下
read_image (Filename2025, 'E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/filename2025.bmp')* * Matching 01: ************************************************* Matching 01: BEGIN of generated code for model initialization* Matching 01: ************************************************set_system ('border_shape_models', 'false')* * Matching 01: Obtain the model imageread_image (Image, '')* * Matching 01: Build the ROI from basic regionsgen_rectangle1 (ModelRegion, 72.26, 47.172, 223.22, 685.316)* * Matching 01: Reduce the model templatereduce_domain (Image, ModelRegion, TemplateImage)* * Matching 01: Create the shape modelcreate_shape_model (TemplateImage, 5, rad(0), rad(360), rad(1), ['none','no_pregeneration'], 'use_polarity', [30,30,0], 10, ModelID)* * Matching 01: Get the model contour for transforming it later into the imageget_shape_model_contours (ModelContours, ModelID, 1)* * Matching 01: Get the reference positionarea_center (ModelRegion, ModelRegionArea, RefRow, RefColumn)vector_angle_to_rigid (0, 0, 0, RefRow, RefColumn, 0, HomMat2D)affine_trans_contour_xld (ModelContours, TransContours, HomMat2D)* * Matching 01: Display the model contoursdev_display (Image)dev_set_color ('green')dev_set_draw ('margin')dev_display (ModelRegion)dev_display (TransContours)stop ()* * Matching 01: END of generated code for model initialization* Matching 01: * * * * * * * * * * * * * * * * * * * * * * ** Matching 01: BEGIN of generated code for model application* * Matching 01: Loop over all specified test imagesTestImages := ['E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/0.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/1.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/10.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/11.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/12.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/13.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/14.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/15.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/16.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/17.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/18.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/19.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/2.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/20.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/21.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/3.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/4.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/5.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/6.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/7.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/8.bmp','E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/9.bmp']for T := 0 to 21 by 1 * * Matching 01: Obtain the test image read_image (Image, TestImages[T]) * * Matching 01: Find the model find_shape_model (Image, ModelID, rad(0), rad(360), 0.5, 0, 0.5, 'least_squares', [5,1], 0.75, Row, Column, Angle, Score) * * Matching 01: Transform the model contours into the detected positions dev_display (Image) for I := 0 to |Score| - 1 by 1 hom_mat2d_identity (HomMat2D) hom_mat2d_rotate (HomMat2D, Angle[I], 0, 0, HomMat2D) hom_mat2d_translate (HomMat2D, Row[I], Column[I], HomMat2D) affine_trans_contour_xld (ModelContours, TransContours, HomMat2D) dev_set_color ('green') dev_display (TransContours) stop () endforendfor* * Matching 01: Clear model when donestop ()clear_shape_model (ModelID)* Matching 01: ******************************************** Matching 01: END of generated code for model application* Matching 01: ******************************************** 将它引导成cpp后，在cpp文件中要添加几个语句才能正常运行，具体添加的语句后面都有注释 //DisplayPart .只要将 注释//DisplayPart的语句加到程序中相应的位置即可显示。
cpp文件如下
///////////////////////////////////////////////////////////////////////////////// File generated by HDevelop for HALCON/C++ Version 13.0///////////////////////////////////////////////////////////////////////////////#ifndef __APPLE__# include "HalconCpp.h"# include "HDevThread.h"# if defined(__linux__) && !defined(NO_EXPORT_APP_MAIN)# include <X11/Xlib.h># endif#else# ifndef HC_LARGE_IMAGES# include <HALCONCpp/HalconCpp.h># include <HALCONCpp/HDevThread.h># else# include <HALCONCppxl/HalconCpp.h># include <HALCONCppxl/HDevThread.h># endif# include <stdio.h># include <HALCON/HpThread.h># include <CoreFoundation/CFRunLoop.h>#endifusing namespace HalconCpp;Hlong m_WindowRow = 16; //DisplayPartHlong m_WindowColumn = 630;//DisplayPartHlong m_WindowWidth = 630;//DisplayPartHlong m_WindowHeight = 472;//DisplayPartHalconCpp::HWindow m_Window;//DisplayPart#ifndef NO_EXPORT_MAIN// Main procedure void action(){ // Local iconic variables HObject ho_Filename2025, ho_Image, ho_ModelRegion; HObject ho_TemplateImage, ho_ModelContours, ho_TransContours; // Local control variables HTuple hv_ModelID, hv_ModelRegionArea, hv_RefRow; HTuple hv_RefColumn, hv_HomMat2D, hv_TestImages, hv_T; HTuple hv_Row, hv_Column, hv_Angle, hv_Score, hv_I; ReadImage(&ho_Filename2025, "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/filename2025.bmp"); m_Window.OpenWindow(m_WindowRow, m_WindowColumn, m_WindowWidth, m_WindowHeight, NULL, "visible", ""); //DisplayPart HTuple Width, Height;//DisplayPart GetImageSize(ho_Filename2025, &Width, &Height);//DisplayPart m_Window.SetPart(0, 0, Height.I() - 1, Width.I() - 1);//DisplayPart m_Window.SetLineWidth(3);//DisplayPart HDevWindowStack::Push((m_Window));//DisplayPart // //Matching 01: ************************************************ //Matching 01: BEGIN of generated code for model initialization //Matching 01: ************************************************ SetSystem("border_shape_models", "false"); // //Matching 01: Obtain the model image //Matching 01: The image is assumed to be made available in the //Matching 01: variable last displayed in the graphics window CopyObj(ho_Filename2025, &ho_Image, 1, 1); // //Matching 01: Build the ROI from basic regions GenRectangle1(&ho_ModelRegion, 64.5703, 44.1127, 224.316, 654.908); // //Matching 01: Reduce the model template ReduceDomain(ho_Image, ho_ModelRegion, &ho_TemplateImage); // //Matching 01: Create the shape model CreateShapeModel(ho_TemplateImage, 6, HTuple(0).TupleRad(), HTuple(360).TupleRad(), HTuple(0.3898).TupleRad(), (HTuple("none").Append("no_pregeneration")), "use_polarity", ((HTuple(42).Append(71)).Append(13)), 4, &hv_ModelID); // //Matching 01: Get the model contour for transforming it later into the image GetShapeModelContours(&ho_ModelContours, hv_ModelID, 1); // //Matching 01: Get the reference position AreaCenter(ho_ModelRegion, &hv_ModelRegionArea, &hv_RefRow, &hv_RefColumn); VectorAngleToRigid(0, 0, 0, hv_RefRow, hv_RefColumn, 0, &hv_HomMat2D); AffineTransContourXld(ho_ModelContours, &ho_TransContours, hv_HomMat2D); // //Matching 01: Display the model contours if (HDevWindowStack::IsOpen()) DispObj(ho_Image, HDevWindowStack::GetActive()); if (HDevWindowStack::IsOpen()) SetColor(HDevWindowStack::GetActive(), "green"); if (HDevWindowStack::IsOpen()) SetDraw(HDevWindowStack::GetActive(), "margin"); if (HDevWindowStack::IsOpen()) DispObj(ho_ModelRegion, HDevWindowStack::GetActive()); if (HDevWindowStack::IsOpen()) DispObj(ho_TransContours, HDevWindowStack::GetActive()); // stop(...); only in hdevelop // //Matching 01: END of generated code for model initialization //Matching 01: * * * * * * * * * * * * * * * * * * * * * * * //Matching 01: BEGIN of generated code for model application // //Matching 01: Loop over all specified test images hv_TestImages.Clear(); hv_TestImages[0] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/0.bmp"; hv_TestImages[1] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/1.bmp"; hv_TestImages[2] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/10.bmp"; hv_TestImages[3] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/11.bmp"; hv_TestImages[4] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/12.bmp"; hv_TestImages[5] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/13.bmp"; hv_TestImages[6] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/14.bmp"; hv_TestImages[7] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/15.bmp"; hv_TestImages[8] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/16.bmp"; hv_TestImages[9] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/17.bmp"; hv_TestImages[10] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/18.bmp"; hv_TestImages[11] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/19.bmp"; hv_TestImages[12] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/2.bmp"; hv_TestImages[13] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/20.bmp"; hv_TestImages[14] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/21.bmp"; hv_TestImages[15] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/3.bmp"; hv_TestImages[16] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/4.bmp"; hv_TestImages[17] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/5.bmp"; hv_TestImages[18] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/6.bmp"; hv_TestImages[19] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/7.bmp"; hv_TestImages[20] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/8.bmp"; hv_TestImages[21] = "E:/VisoStidioprojects/win10Opencv31/MystructlineGige/strctlineGigeFor2D/strctlineGige/9.bmp"; for (hv_T = 0; hv_T <= 21; hv_T += 1) { // //Matching 01: Obtain the test image ReadImage(&ho_Image, HTuple(hv_TestImages[hv_T])); GetImageSize(ho_Image, &Width, &Height);//DisplayPart m_Window.SetPart(0, 0, Height.I() - 1, Width.I() - 1);//DisplayPart // //Matching 01: Find the model FindShapeModel(ho_Image, hv_ModelID, HTuple(0).TupleRad(), HTuple(360).TupleRad(), 0.42, 1, 0.5, "least_squares", (HTuple(6).Append(1)), 0.75, &hv_Row, &hv_Column, &hv_Angle, &hv_Score); // //Matching 01: Transform the model contours into the detected positions std::cout << "HDevWindowStack::IsOpen()" << HDevWindowStack::IsOpen() << std::endl; if (HDevWindowStack::IsOpen()) DispObj(ho_Image, HDevWindowStack::GetActive()); { HTuple end_val54 = (hv_Score.TupleLength()) - 1; HTuple step_val54 = 1; for (hv_I = 0; hv_I.Continue(end_val54, step_val54); hv_I += step_val54) { HomMat2dIdentity(&hv_HomMat2D); HomMat2dRotate(hv_HomMat2D, HTuple(hv_Angle[hv_I]), 0, 0, &hv_HomMat2D); HomMat2dTranslate(hv_HomMat2D, HTuple(hv_Row[hv_I]), HTuple(hv_Column[hv_I]), &hv_HomMat2D); AffineTransContourXld(ho_ModelContours, &ho_TransContours, hv_HomMat2D); if (HDevWindowStack::IsOpen()) SetColor(HDevWindowStack::GetActive(), "green"); if (HDevWindowStack::IsOpen()) DispObj(ho_TransContours, HDevWindowStack::GetActive()); // stop(...); only in hdevelop } } } // //Matching 01: Clear model when done // stop(...); only in hdevelop ClearShapeModel(hv_ModelID); //Matching 01: ******************************************* //Matching 01: END of generated code for model application //Matching 01: ******************************************* //}#ifndef NO_EXPORT_APP_MAIN#ifdef __APPLE__// On OS X systems, we must have a CFRunLoop running on the main thread in// order for the HALCON graphics operators to work correctly, and run the// action function in a separate thread. A CFRunLoopTimer is used to make sure// the action function is not called before the CFRunLoop is running.HTuple gStartMutex;H_pthread_t gActionThread;static void timer_callback(CFRunLoopTimerRef timer, void *info){ UnlockMutex(gStartMutex);}static Herror apple_action(void **parameters){ LockMutex(gStartMutex); action(); CFRunLoopStop(CFRunLoopGetMain()); return H_MSG_OK;}static int apple_main(int argc, char *argv[]){ Herror error; CFRunLoopTimerRef Timer; CFRunLoopTimerContext TimerContext = { 0, 0, 0, 0, 0 }; CreateMutex("type", "sleep", &gStartMutex); LockMutex(gStartMutex); error = HpThreadHandleAlloc(&gActionThread); if (H_MSG_OK != error) { fprintf(stderr, "HpThreadHandleAlloc failed: %d\n", error); exit(1); } error = HpThreadCreate(gActionThread, 0, apple_action); if (H_MSG_OK != error) { fprintf(stderr, "HpThreadCreate failed: %d\n", error); exit(1); } Timer = CFRunLoopTimerCreate(kCFAllocatorDefault, CFAbsoluteTimeGetCurrent(), 0, 0, 0, timer_callback, &TimerContext); if (!Timer) { fprintf(stderr, "CFRunLoopTimerCreate failed\n"); exit(1); } CFRunLoopAddTimer(CFRunLoopGetCurrent(), Timer, kCFRunLoopCommonModes); CFRunLoopRun(); CFRunLoopRemoveTimer(CFRunLoopGetCurrent(), Timer, kCFRunLoopCommonModes); CFRelease(Timer); error = HpThreadHandleFree(gActionThread); if (H_MSG_OK != error) { fprintf(stderr, "HpThreadHandleFree failed: %d\n", error); exit(1); } ClearMutex(gStartMutex); return 0;}#endifint main(int argc, char *argv[]){#if defined(_WIN32) SetSystem("use_window_thread", "true");#elif defined(__linux__) XInitThreads();#endif // Default settings used in HDevelop (can be omitted) int ret = 0; SetSystem("width", 512); SetSystem("height", 512);#ifndef __APPLE__ action();#else ret = apple_main(argc, argv);#endif return ret;}#endif#endif阅读全文
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