QT+Halcon综合示例：clip回形针2D位姿检测

QT+Halcon综合示例（一）：clip回形针2D位姿检测

0、halcon源码：1、Qt代码：2、运行结果：

下载：clip回形针2D位姿检测

0、halcon源码：

* clip.hdev: Orientation of clips * dev_close_window () dev_update_window ('off') *read_image (Clip, 'clip') read_image (Clip, 'F:/C++/5. HALCON/qtest_hc/clip_3.png') get_image_size (Clip, Width, Height) dev_open_window (0, 0, Width / 2, Height / 2, 'black', WindowID) dev_display (Clip) *设置字体 set_display_font (WindowID, 14, 'mono', 'true', 'false') stop () *二进制阈值分割 binary_threshold (Clip, Dark, 'max_separability', 'dark', UsedThreshold) connection (Dark, Single) *利用面积特征选择区域 select_shape (Single, Selected, 'area', 'and', 2000, 10000) dev_set_draw ('fill') dev_set_colored (12) dev_display (Selected) stop () *显示 dev_display (Clip) dev_set_color ('green') dev_display (Selected) *区域的方向：计算了距重心与最大距离轮廓上的点连线角度（弧度制） *- pi <= Phi && Phi < pi orientation_region (Selected, Phi) area_center (Selected, Area, Row, Column) dev_set_line_width (3) dev_set_draw ('margin') *箭头长度 Length := 90 dev_set_color ('blue') *显示 箭头图案 disp_arrow (WindowID, Row, Column, Row - Length * sin(Phi), Column + Length * cos(Phi), 4) disp_message (WindowID, deg(Phi)$'3.1f' + ' deg', 'image', Row, Column - 100, 'black', 'false') dev_update_window ('on')

halcon运行:

1、Qt代码：

界面 1）.pro 添加：

macx { QMAKE_CXXFLAGS += -F/Library/Frameworks QMAKE_LFLAGS += -F/Library/Frameworks LIBS += -framework HALCONCpp } else { #defines win32:DEFINES += WIN32 #includes INCLUDEPATH += "$$(HALCONROOT)/include" INCLUDEPATH += "$$(HALCONROOT)/include/halconcpp" #libs QMAKE_LIBDIR += "$$(HALCONROOT)/lib/$$(HALCONARCH)" unix:LIBS += -lhalconcpp -lhalcon -lXext -lX11 -ldl -lpthread win32:LIBS += "$$(HALCONROOT)/lib/$$(HALCONARCH)/halconcpp.lib" \ "$$(HALCONROOT)/lib/$$(HALCONARCH)/halcon.lib" }

2）主函数 main.cpp 添加：

#include "widget.h" #include <QApplication> int main(int argc, char *argv[]) { QApplication a(argc, argv); Widget w; w.show(); return a.exec(); }

3）Widget.h 添加：

#ifdef WIN32 #pragma execution_character_set("utf-8") #endif #ifndef WIDGET_H #define WIDGET_H #include <QWidget> #include "HalconCpp.h" #include "HDevThread.h" #include <QFileDialog> #include <QMessageBox> namespace Ui { class Widget; } using namespace HalconCpp; class Widget : public QWidget { Q_OBJECT public: explicit Widget(QWidget *parent = 0); ~Widget(); private slots: void on_pushButton_clicked(); // 读取图片 void on_pushButton_2_clicked(); // connection void on_pushButton_3_clicked(); // select_shape void on_pushButton_4_clicked(); // orientation void on_pushButton_6_clicked(); // auto 自动处理 void on_pushButton_7_clicked(); // 重置reset private: Ui::Widget *ui; public: HObject ho_Clip, ho_Dark, ho_Single, ho_Selected,ho_null; // Local control variables HTuple hv_Width, hv_Height, hv_WindowID1, hv_WindowID2,hv_WindowID3,hv_WindowID4,hv_UsedThreshold,hv_WindowID0; HTuple hv_Phi, hv_Area, hv_Row, hv_Column, hv_Length; // Short Description: This procedure writes a text message. void disp_message (HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem, HTuple hv_Row, HTuple hv_Column, HTuple hv_Color, HTuple hv_Box); // Short Description: Set font independent of OS void set_display_font (HTuple hv_WindowHandle, HTuple hv_Size, HTuple hv_Font, HTuple hv_Bold,HTuple hv_Slant); private: int width_sc,height_sc; // 新键窗口的 宽高 int row_o,col_o; // 新建窗口起点 HTuple test_tqual_n; }; #endif // WIDGET_H

4）Widget.cpp 添加：

#include "widget.h" #include "ui_widget.h" Widget::Widget(QWidget *parent) : QWidget(parent), ui(new Ui::Widget) { ui->setupUi(this); ui->label->setStyleSheet("background-color:lightGray;"); ui->label_2->setStyleSheet("background-color:lightGray;"); ui->label_3->setStyleSheet("background-color:lightGray;"); ui->label_4->setStyleSheet("background-color:lightGray;"); this->setWindowTitle("Clip（2D位姿识别）"); GenEmptyObj(&ho_null); } Widget::~Widget() { delete ui; } // 一、读取图片 void Widget::on_pushButton_clicked() { HObject ho_Clip0; QString fileName = QFileDialog::getOpenFileName(this, tr("文件对话框"),"F:/C++/5. HALCON/qtest_hc", tr("图片文件(*.png *.jpg *.jpeg *.bmp *.tif *.tiff);;所有文件(*)")); if(!fileName.isEmpty()) { // 清空 ui->pushButton_7->click(); HTuple ImageName(fileName.toLocal8Bit().data()); HTuple cout_channel; ReadImage(&ho_Clip0,ImageName); // 转灰度图（可以不转） CountChannels(ho_Clip0,&cout_channel); if(cout_channel ==3) { Rgb1ToGray(ho_Clip0,&ho_Clip); } else { ho_Clip = ho_Clip0; } // 获取图片尺寸 GetImageSize(ho_Clip, &hv_Width, &hv_Height); // 显示：新建窗口（根据label 尺寸缩放图片） float ratio_label = (float)ui->label->width()/(float)ui->label->height(); float ratio_img = (float)hv_Width/(float)hv_Height; if(ratio_label< ratio_img) // 图像比 label 矮胖 { width_sc =ui->label->width(); height_sc = hv_Height*ui->label->width()/hv_Width; row_o = (ui->label->height()-height_sc)/2; col_o = 0; } else { width_sc = hv_Width*ui->label->height()/hv_Height; height_sc =ui->label->height(); row_o = 0; col_o = (ui->label->width()-width_sc)/2; } // 显示 Hlong winID =(Hlong)ui->label->winId(); SetWindowAttr("background_color","black"); // 设置窗口背景 OpenWindow(row_o,col_o,width_sc,height_sc,winID,"visible","",&hv_WindowID1); HDevWindowStack::Push(hv_WindowID1); //新窗口的Push句柄 if (HDevWindowStack::IsOpen()) { // 显示图片 SetPart(hv_WindowID1, 0, 0, hv_Height-1, hv_Width-1); // 显示部分 DispObj(ho_Clip, HDevWindowStack::GetActive()); // 显示图片 } } } // 二、处理图片 connection 计算连通分量 void Widget::on_pushButton_2_clicked() { BinaryThreshold(ho_Clip, &ho_Dark, "max_separability", "dark", &hv_UsedThreshold); Connection(ho_Dark, &ho_Single); SelectShape(ho_Single, &ho_Selected, "area", "and", 4500, 10000); // 显示： // 1.新建窗口 Hlong winID =(Hlong)ui->label_2->winId(); OpenWindow(row_o,col_o,width_sc,height_sc,winID,"visible","",&hv_WindowID2); HDevWindowStack::Push(hv_WindowID2); if (HDevWindowStack::IsOpen()) { // 2.设置显示样式 SetPart(hv_WindowID2, 0, 0, hv_Height-1, hv_Width-1); SetDraw(HDevWindowStack::GetActive(),"fill"); SetColored(HDevWindowStack::GetActive(),12); // 3.显示图片 DispObj(ho_Selected, HDevWindowStack::GetActive()); } } // 三、显示图片select_shape void Widget::on_pushButton_3_clicked() { Hlong winID =(Hlong)ui->label_3->winId(); OpenWindow(row_o,col_o,width_sc,height_sc,winID,"visible","",&hv_WindowID3); HDevWindowStack::Push(hv_WindowID3); if (HDevWindowStack::IsOpen()) { // 显示 ho_Clip SetPart(hv_WindowID3, 0, 0, hv_Height-1, hv_Width-1); DispObj(ho_Clip, HDevWindowStack::GetActive()); SetColor(HDevWindowStack::GetActive(),"green"); // 设置显示样式 // 显示 ho_Selected DispObj(ho_Selected, HDevWindowStack::GetActive()); } } // 四、处理图片 orientation void Widget::on_pushButton_4_clicked() { OrientationRegion(ho_Selected, &hv_Phi); AreaCenter(ho_Selected, &hv_Area, &hv_Row, &hv_Column); // 找圆形 Hlong winID =(Hlong)ui->label_4->winId(); OpenWindow(row_o,col_o,width_sc,height_sc,winID,"visible","",&hv_WindowID4); HDevWindowStack::Push(hv_WindowID4); if (HDevWindowStack::IsOpen()) { // 再显示一遍（ho_Clip，ho_Selected） SetPart(hv_WindowID4, 0, 0, hv_Height-1, hv_Width-1); DispObj(ho_Clip, HDevWindowStack::GetActive()); SetColor(HDevWindowStack::GetActive(),"green"); DispObj(ho_Selected, HDevWindowStack::GetActive()); // 设置显示样式（箭头） SetLineWidth(HDevWindowStack::GetActive(),3); SetDraw(HDevWindowStack::GetActive(),"margin"); SetColor(HDevWindowStack::GetActive(),"blue"); // 显示 箭头标记 hv_Length = 80; // 箭头长度 DispArrow(hv_WindowID4, hv_Row, hv_Column, hv_Row-(hv_Length*(hv_Phi.TupleSin())), hv_Column+(hv_Length*(hv_Phi.TupleCos())), 4); // 设置、显示字体 set_display_font(hv_WindowID4, 14, "mono", "true", "false"); disp_message(hv_WindowID4 ,((hv_Phi.TupleDeg()).TupleString("3.1f"))+" deg", "image",hv_Row, hv_Column-100, "black", "false"); } } // 自动处理 void Widget::on_pushButton_6_clicked() { TestEqualObj(ho_Clip,ho_null,&test_tqual_n); // 若相等则区域为空，否则区域不为空 if(test_tqual_n==0) { ui->pushButton_2->click(); ui->pushButton_3->click(); ui->pushButton_4->click(); } else { QMessageBox::information(this, tr("提示"),tr("未载入图片！"), QMessageBox::Ok); } // try // { // ui->pushButton_2->click(); // ui->pushButton_3->click(); // ui->pushButton_4->click(); // } // catch (HalconCpp::HException) // { // QMessageBox::information(this, tr("提示"),tr("未载入图片！"), QMessageBox::Ok); // } } // 重置reset void Widget::on_pushButton_7_clicked() { // 四个窗口，清空4次 for(int i=0;i<4;i++) { if (HDevWindowStack::IsOpen()) { CloseWindow(HDevWindowStack::Pop()); } } } void Widget::set_display_font(HTuple hv_WindowHandle, HTuple hv_Size, HTuple hv_Font, HTuple hv_Bold, HTuple hv_Slant) { // Local iconic variables // Local control variables HTuple hv_OS, hv_Fonts, hv_Style, hv_Exception; HTuple hv_AvailableFonts, hv_Fdx, hv_Indices; //This procedure sets the text font of the current window with //the specified attributes. // //Input parameters: //WindowHandle: The graphics window for which the font will be set //Size: The font size. If Size=-1, the default of 16 is used. //Bold: If set to 'true', a bold font is used //Slant: If set to 'true', a slanted font is used // GetSystem("operating_system", &hv_OS); // dev_get_preferences(...); only in hdevelop // dev_set_preferences(...); only in hdevelop if (0 != (HTuple(hv_Size==HTuple()).TupleOr(hv_Size==-1))) { hv_Size = 16; } if (0 != ((hv_OS.TupleSubstr(0,2))==HTuple("Win"))) { //Restore previous behaviour hv_Size = (1.13677*hv_Size).TupleInt(); } if (0 != (hv_Font==HTuple("Courier"))) { hv_Fonts.Clear(); hv_Fonts[0] = "Courier"; hv_Fonts[1] = "Courier 10 Pitch"; hv_Fonts[2] = "Courier New"; hv_Fonts[3] = "CourierNew"; } else if (0 != (hv_Font==HTuple("mono"))) { hv_Fonts.Clear(); hv_Fonts[0] = "Consolas"; hv_Fonts[1] = "Menlo"; hv_Fonts[2] = "Courier"; hv_Fonts[3] = "Courier 10 Pitch"; hv_Fonts[4] = "FreeMono"; } else if (0 != (hv_Font==HTuple("sans"))) { hv_Fonts.Clear(); hv_Fonts[0] = "Luxi Sans"; hv_Fonts[1] = "DejaVu Sans"; hv_Fonts[2] = "FreeSans"; hv_Fonts[3] = "Arial"; } else if (0 != (hv_Font==HTuple("serif"))) { hv_Fonts.Clear(); hv_Fonts[0] = "Times New Roman"; hv_Fonts[1] = "Luxi Serif"; hv_Fonts[2] = "DejaVu Serif"; hv_Fonts[3] = "FreeSerif"; hv_Fonts[4] = "Utopia"; } else { hv_Fonts = hv_Font; } hv_Style = ""; if (0 != (hv_Bold==HTuple("true"))) { hv_Style += HTuple("Bold"); } else if (0 != (hv_Bold!=HTuple("false"))) { hv_Exception = "Wrong value of control parameter Bold"; throw HalconCpp::HException(hv_Exception); } if (0 != (hv_Slant==HTuple("true"))) { hv_Style += HTuple("Italic"); } else if (0 != (hv_Slant!=HTuple("false"))) { hv_Exception = "Wrong value of control parameter Slant"; throw HalconCpp::HException(hv_Exception); } if (0 != (hv_Style==HTuple(""))) { hv_Style = "Normal"; } QueryFont(hv_WindowHandle, &hv_AvailableFonts); hv_Font = ""; { HTuple end_val48 = (hv_Fonts.TupleLength())-1; HTuple step_val48 = 1; for (hv_Fdx=0; hv_Fdx.Continue(end_val48, step_val48); hv_Fdx += step_val48) { hv_Indices = hv_AvailableFonts.TupleFind(HTuple(hv_Fonts[hv_Fdx])); if (0 != ((hv_Indices.TupleLength())>0)) { if (0 != (HTuple(hv_Indices[0])>=0)) { hv_Font = HTuple(hv_Fonts[hv_Fdx]); break; } } } } if (0 != (hv_Font==HTuple(""))) { throw HalconCpp::HException("Wrong value of control parameter Font"); } hv_Font = (((hv_Font+"-")+hv_Style)+"-")+hv_Size; SetFont(hv_WindowHandle, hv_Font); // dev_set_preferences(...); only in hdevelop return; } void Widget::disp_message (HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem, HTuple hv_Row, HTuple hv_Column, HTuple hv_Color, HTuple hv_Box) { HTuple hv_GenParamName, hv_GenParamValue; if (0 != (HTuple(hv_Row==HTuple()).TupleOr(hv_Column==HTuple()))) { return; } if (0 != (hv_Row==-1)) { hv_Row = 12; } if (0 != (hv_Column==-1)) { hv_Column = 12; } //Convert the parameter Box to generic parameters. hv_GenParamName = HTuple(); hv_GenParamValue = HTuple(); if (0 != ((hv_Box.TupleLength())>0)) { if (0 != (HTuple(hv_Box[0])==HTuple("false"))) { //Display no box hv_GenParamName = hv_GenParamName.TupleConcat("box"); hv_GenParamValue = hv_GenParamValue.TupleConcat("false"); } else if (0 != (HTuple(hv_Box[0])!=HTuple("true"))) { //Set a color other than the default. hv_GenParamName = hv_GenParamName.TupleConcat("box_color"); hv_GenParamValue = hv_GenParamValue.TupleConcat(HTuple(hv_Box[0])); } } if (0 != ((hv_Box.TupleLength())>1)) { if (0 != (HTuple(hv_Box[1])==HTuple("false"))) { //Display no shadow. hv_GenParamName = hv_GenParamName.TupleConcat("shadow"); hv_GenParamValue = hv_GenParamValue.TupleConcat("false"); } else if (0 != (HTuple(hv_Box[1])!=HTuple("true"))) { //Set a shadow color other than the default. hv_GenParamName = hv_GenParamName.TupleConcat("shadow_color"); hv_GenParamValue = hv_GenParamValue.TupleConcat(HTuple(hv_Box[1])); } } //Restore default CoordSystem behavior. if (0 != (hv_CoordSystem!=HTuple("window"))) { hv_CoordSystem = "image"; } // if (0 != (hv_Color==HTuple(""))) { //disp_text does not accept an empty string for Color. hv_Color = HTuple(); } // DispText(hv_WindowHandle, hv_String, hv_CoordSystem, hv_Row, hv_Column, hv_Color, hv_GenParamName, hv_GenParamValue); return; }

2、运行结果：