c#联合halcon的基础教程（案例：亮度计算、角度计算和缺陷检测）（含halcon代码）

原创已于 2025-08-20 08:30:18 修改 · 916 阅读

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#c# #开发语言

于 2025-08-19 20:15:00 首次发布

通过网盘分享的文件：halcon-25.05.0.0-x64-win64
链接: 百度网盘请输入提取码

提取码: whek

1.环境配置

A.创建新c# winform 项目，点击添加引用。

（halcon安装目录"D:\halcon\HALCON-25.05-Progress\bin\dotnet35\halcondotnet.dll"）

B.把halcondotnet.dll拖到工具箱。

C.把"D:\halcon\HALCON-25.05-Progress\bin\x64-win64\halcon.dll"复制到项目的Debug文件夹中

D.项目属性生成中：取消勾选首选32

2.案例一：亮度计算

如图，计算选框区域的亮度。

c#上添加几个控件

添加openfiledialog控件

点击选择文件后把地址放在textbox1

private void button2_Click(object sender, EventArgs e)
{

using (OpenFileDialog openFileDialog = new OpenFileDialog())
{
openFileDialog.Filter = "所有文件|*.*";
openFileDialog.Title = "选择文件";

if (openFileDialog.ShowDialog() == DialogResult.OK)
{
string filePath = openFileDialog.FileName;
textBox1.Text = filePath;

}
}
}

打开halcon软件，完成项目功能

halcon代码：

read_image (Heibai, 'C:/Users/86957/Desktop/heibai.png')

rgb1_to_gray(Heibai, GrayImage)
get_image_size(GrayImage, Width, Height)
dev_open_window(0, 0, Width, Height, 'white', WindowHandle)
dev_display(GrayImage)
 
* 交互式绘制矩形（轴对齐）
draw_rectangle1(WindowHandle, Row1, Column1, Row2, Column2)
* 参数说明：
* Row1, Column1: 矩形左上角坐标
* Row2, Column2: 矩形右下角坐标
 
* 生成矩形区域
gen_rectangle1(Rectangle, Row1, Column1, Row2, Column2)
 
* 显示结果
dev_set_color('red')
dev_display(Rectangle)

*计算选框内的像素平均值
intensity(Rectangle, GrayImage, Mean, Deviation)
* 输出结果：
* Mean: 平均灰度值
* Deviation: 标准差（可选）
 
* 在窗口显示计算结果
set_tposition(WindowHandle, 20, 20)
write_string(WindowHandle, 'Mean Intensity: ' + Mean$'.2f')

点击文件，导出程序。

把导出的.cs文件，复制到项目中。并进行修改。

我们只需要action（）；并把他放入项目的命名空间；还需要增加输入str filepath。

原来的hd.cs：

修改后的hd.cs如下：

//
// File generated by HDevelop for HALCON/.NET (C#) Version 25.05.0.0
// Non-ASCII strings in this file are encoded in local-8-bit encoding (cp936).
// 
// Please note that non-ASCII characters in string constants are exported
// as octal codes in order to guarantee that the strings are correctly
// created on all systems, independent on any compiler settings.
// 
// Source files with different encoding should not be mixed in one project.
//

using HalconDotNet;
namespace halcon_cs
{

    public partial class HDevelopExport
    {

        // Main procedure 
        public void action(string filepath)
        {


            // Local iconic variables 

            HObject ho_Heibai, ho_GrayImage, ho_Rectangle;

            // Local control variables 

            HTuple hv_Width = new HTuple(), hv_Height = new HTuple();
            HTuple hv_WindowHandle = new HTuple(), hv_Row1 = new HTuple();
            HTuple hv_Column1 = new HTuple(), hv_Row2 = new HTuple();
            HTuple hv_Column2 = new HTuple(), hv_Mean = new HTuple();
            HTuple hv_Deviation = new HTuple();
            // Initialize local and output iconic variables 
            HOperatorSet.GenEmptyObj(out ho_Heibai);
            HOperatorSet.GenEmptyObj(out ho_GrayImage);
            HOperatorSet.GenEmptyObj(out ho_Rectangle);
            ho_Heibai.Dispose();
            HOperatorSet.ReadImage(out ho_Heibai, filepath);

            ho_GrayImage.Dispose();
            HOperatorSet.Rgb1ToGray(ho_Heibai, out ho_GrayImage);
            hv_Width.Dispose(); hv_Height.Dispose();
            HOperatorSet.GetImageSize(ho_GrayImage, out hv_Width, out hv_Height);
            HOperatorSet.SetWindowAttr("background_color", "white");
            HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "visible", "", out hv_WindowHandle);
            HDevWindowStack.Push(hv_WindowHandle);
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.DispObj(ho_GrayImage, HDevWindowStack.GetActive());
            }

            //交互式绘制矩形（轴对齐）
            hv_Row1.Dispose(); hv_Column1.Dispose(); hv_Row2.Dispose(); hv_Column2.Dispose();
            HOperatorSet.DrawRectangle1(hv_WindowHandle, out hv_Row1, out hv_Column1, out hv_Row2,
                out hv_Column2);
            //参数说明：
            //Row1, Column1: 矩形左上角坐标
            //Row2, Column2: 矩形右下角坐标

            //生成矩形区域
            ho_Rectangle.Dispose();
            HOperatorSet.GenRectangle1(out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);

            //显示结果
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
            }
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.DispObj(ho_Rectangle, HDevWindowStack.GetActive());
            }

            //计算选框内的像素平均值
            hv_Mean.Dispose(); hv_Deviation.Dispose();
            HOperatorSet.Intensity(ho_Rectangle, ho_GrayImage, out hv_Mean, out hv_Deviation);
            //输出结果：
            //Mean: 平均灰度值
            //Deviation: 标准差（可选）

            //在窗口显示计算结果
            HOperatorSet.SetTposition(hv_WindowHandle, 20, 20);
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                HOperatorSet.WriteString(hv_WindowHandle, "Mean Intensity: " + (hv_Mean.TupleString(
                    ".2f")));
            }

            ho_Heibai.Dispose();
            ho_GrayImage.Dispose();
            ho_Rectangle.Dispose();

            hv_Width.Dispose();
            hv_Height.Dispose();
            hv_WindowHandle.Dispose();
            hv_Row1.Dispose();
            hv_Column1.Dispose();
            hv_Row2.Dispose();
            hv_Column2.Dispose();
            hv_Mean.Dispose();
            hv_Deviation.Dispose();

        }






    }
}

主界面代码：

如下：

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 halcon_cs
{
    public partial class Form1 : Form
    {


   

        public Form1()
        {
            InitializeComponent();






        }

        private void button1_Click(object sender, EventArgs e)
        {
            string filepath = textBox1.Text;

            HDevelopExport hd = new HDevelopExport();
            hd.action(filepath);

            

        }





        private void button2_Click(object sender, EventArgs e)
        {

            using (OpenFileDialog openFileDialog = new OpenFileDialog())
            {
                openFileDialog.Filter = "所有文件|*.*";
                openFileDialog.Title = "选择文件";

                if (openFileDialog.ShowDialog() == DialogResult.OK)
                {
                    string filePath = openFileDialog.FileName;
                    textBox1.Text = filePath;

                }
            }
        }






















    }
}

设计器代码如下：

using HalconDotNet;

namespace halcon_cs
{
    partial class Form1
    {
        /// <summary>
        /// 必需的设计器变量。
        /// </summary>
        private System.ComponentModel.IContainer components = null;

        /// <summary>
        /// 清理所有正在使用的资源。
        /// </summary>
        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows 窗体设计器生成的代码

        /// <summary>
        /// 设计器支持所需的方法 - 不要修改
        /// 使用代码编辑器修改此方法的内容。
        /// </summary>
        private void InitializeComponent()
        {
            this.button1 = new System.Windows.Forms.Button();
            this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
            this.button2 = new System.Windows.Forms.Button();
            this.textBox1 = new System.Windows.Forms.TextBox();
            this.SuspendLayout();
            // 
            // button1
            // 
            this.button1.Location = new System.Drawing.Point(374, 594);
            this.button1.Name = "button1";
            this.button1.Size = new System.Drawing.Size(430, 101);
            this.button1.TabIndex = 1;
            this.button1.Text = "start";
            this.button1.UseVisualStyleBackColor = true;
            this.button1.Click += new System.EventHandler(this.button1_Click);
            // 
            // openFileDialog1
            // 
            this.openFileDialog1.FileName = "openFileDialog1";
            // 
            // button2
            // 
            this.button2.Location = new System.Drawing.Point(779, 41);
            this.button2.Name = "button2";
            this.button2.Size = new System.Drawing.Size(116, 43);
            this.button2.TabIndex = 4;
            this.button2.Text = "选择文件";
            this.button2.UseVisualStyleBackColor = true;
            this.button2.Click += new System.EventHandler(this.button2_Click);
            // 
            // textBox1
            // 
            this.textBox1.Location = new System.Drawing.Point(314, 50);
            this.textBox1.Name = "textBox1";
            this.textBox1.Size = new System.Drawing.Size(459, 28);
            this.textBox1.TabIndex = 5;
            // 
            // Form1
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(1176, 821);
            this.Controls.Add(this.textBox1);
            this.Controls.Add(this.button2);
            this.Controls.Add(this.button1);
            this.Name = "Form1";
            this.Text = "Form1";
            this.ResumeLayout(false);
            this.PerformLayout();

        }

        #endregion
        private System.Windows.Forms.Button button1;
        private System.Windows.Forms.OpenFileDialog openFileDialog1;
        private System.Windows.Forms.Button button2;
        private System.Windows.Forms.TextBox textBox1;
    }
}

运行后;

运行后，弹窗无法关闭，后续添加halcon控件来显示图像。

3.案例二：角度计算

如图，计算三角形三个角的角度。

在案例一的基础上，增加HWindowcontrol

显示图像按钮：

        private void button1_Click(object sender, EventArgs e)
        {
            //读取文件
            HOperatorSet.ReadImage(out TestImage, textBox1.Text);
            //获取图片大小
            HTuple Width, Height;
            HOperatorSet.GetImageSize(TestImage, out Width, out Height);
            //设置图片显示范围 hWindowControl1.HalconWindow获得窗体句柄
            HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, (Height - 1), (Width - 1)); //0,0, (Height - 1), (Width - 1)代表从0，0坐标到图片的宽高坐标，达到全屏显示

            //将图片投射到窗体上
            HOperatorSet.DispObj(TestImage, hWindowControl1.HalconWindow);//将TestImage变量投射到句柄窗口上
        }

计算角度按钮：

        private void button3_Click(object sender, EventArgs e)
        {
            double[] result;
            HDevelopExport hDevelopExport = new HDevelopExport();
            result = hDevelopExport.action(textBox1.Text);
            foreach (double indexer in result) { 
            textBox2.AppendText(indexer.ToString()+"\r\n");
            }
        }

使用halcon代码转换成的action，计算角度。

主要方法为：

A获取区域轮廓

B将轮廓分割为线段

C得到线段的终点和起点

D计算线段交点

E根据三角形三个顶点，计算三个内角

运行后：

halcon代码：

read_image (Image, 'C:/Users/86957/Desktop/sanjiao.png')
rgb1_to_gray (Image, GrayImage)
threshold(GrayImage, TriangleRegion, 0, 128)
gen_contour_region_xld(TriangleRegion, Contour, 'border')
segment_contours_xld(Contour, Segments, 'lines_circles', 5, 4, 2)

count_obj(Segments, NumSegments)
Angles := []
    for i := 1 to 3 by 1
        select_obj(Segments, Segment, i)
        fit_line_contour_xld(Segment, 'tukey', -1, 0, 5, 2, RowBegin, ColBegin, RowEnd, ColEnd, _, _, _)
        * 存储线段端点
        if (i == 1)
            Line1 := [RowBegin, ColBegin, RowEnd, ColEnd]
        elseif (i == 2)
            Line2 := [RowBegin, ColBegin, RowEnd, ColEnd]
        else
            Line3 := [RowBegin, ColBegin, RowEnd, ColEnd]
        endif
    endfor

intersection_lines(Line1[0], Line1[1], Line1[2], Line1[3], Line2[0], Line2[1], Line2[2], Line2[3], RowV1, ColV1, IsOverlapping1)
intersection_lines(Line2[0], Line2[1], Line2[2], Line2[3], Line3[0], Line3[1], Line3[2], Line3[3], RowV2, ColV2, IsOverlapping2)
intersection_lines(Line3[0], Line3[1], Line3[2], Line3[3], Line1[0], Line1[1], Line1[2], Line1[3], RowV3, ColV3, IsOverlapping3) 



* 1. 计算三条边的长度
distance_pp(RowV1, ColV1, RowV2, ColV2, AB)
distance_pp(RowV1, ColV1, RowV3, ColV3, AC) 
distance_pp(RowV2, ColV2, RowV3, ColV3, BC)

* 2. 使用余弦定理计算角度
* 顶点A的角度 (对边BC)
cosAngleA := (AC*AC + AB*AB - BC*BC) / (2 * AC * AB)
AngleA := acos(cosAngleA) * 180 / 3.1415926535

* 顶点B的角度 (对边AC)
cosAngleB := (AB*AB + BC*BC - AC*AC) / (2 * AB * BC)
AngleB := acos(cosAngleB) * 180 / 3.1415926535

* 顶点C的角度 (对边AB)
cosAngleC := (AC*AC + BC*BC - AB*AB) / (2 * AC * BC)
AngleC := acos(cosAngleC) * 180 / 3.1415926535

转成c#程序，并修改输入输出。

//
// File generated by HDevelop for HALCON/.NET (C#) Version 25.05.0.0
// Non-ASCII strings in this file are encoded in local-8-bit encoding (cp936).
// 
// Please note that non-ASCII characters in string constants are exported
// as octal codes in order to guarantee that the strings are correctly
// created on all systems, independent on any compiler settings.
// 
// Source files with different encoding should not be mixed in one project.
//

using HalconDotNet;
namespace halcon_cs
{

    public partial class HDevelopExport
    {

        public double[] action(string imgpath )
        {


            // Local iconic variables 

            HObject ho_Image, ho_GrayImage, ho_TriangleRegion;
            HObject ho_Contour, ho_Segments, ho_Segment = null;

            // Local control variables 

            HTuple hv_NumSegments = new HTuple(), hv_Angles = new HTuple();
            HTuple hv_i = new HTuple(), hv_RowBegin = new HTuple();
            HTuple hv_ColBegin = new HTuple(), hv_RowEnd = new HTuple();
            HTuple hv_ColEnd = new HTuple(), hv__ = new HTuple(), hv_Line1 = new HTuple();
            HTuple hv_Line2 = new HTuple(), hv_Line3 = new HTuple();
            HTuple hv_RowV1 = new HTuple(), hv_ColV1 = new HTuple();
            HTuple hv_IsOverlapping1 = new HTuple(), hv_RowV2 = new HTuple();
            HTuple hv_ColV2 = new HTuple(), hv_IsOverlapping2 = new HTuple();
            HTuple hv_RowV3 = new HTuple(), hv_ColV3 = new HTuple();
            HTuple hv_IsOverlapping3 = new HTuple(), hv_AB = new HTuple();
            HTuple hv_AC = new HTuple(), hv_BC = new HTuple(), hv_cosAngleA = new HTuple();
            HTuple hv_AngleA = new HTuple(), hv_cosAngleB = new HTuple();
            HTuple hv_AngleB = new HTuple(), hv_cosAngleC = new HTuple();
            HTuple hv_AngleC = new HTuple(), hv___Tmp_Ctrl_0_5 = new HTuple();
            HTuple hv___Tmp_Ctrl_0_6 = new HTuple();
            // Initialize local and output iconic variables 
            HOperatorSet.GenEmptyObj(out ho_Image);
            HOperatorSet.GenEmptyObj(out ho_GrayImage);
            HOperatorSet.GenEmptyObj(out ho_TriangleRegion);
            HOperatorSet.GenEmptyObj(out ho_Contour);
            HOperatorSet.GenEmptyObj(out ho_Segments);
            HOperatorSet.GenEmptyObj(out ho_Segment);
            ho_Image.Dispose();
            HOperatorSet.ReadImage(out ho_Image, imgpath);
            ho_GrayImage.Dispose();
            HOperatorSet.Rgb1ToGray(ho_Image, out ho_GrayImage);
            ho_TriangleRegion.Dispose();
            HOperatorSet.Threshold(ho_GrayImage, out ho_TriangleRegion, 0, 128);
            ho_Contour.Dispose();
            HOperatorSet.GenContourRegionXld(ho_TriangleRegion, out ho_Contour, "border");
            ho_Segments.Dispose();
            HOperatorSet.SegmentContoursXld(ho_Contour, out ho_Segments, "lines_circles",
                5, 4, 2);

            hv_NumSegments.Dispose();
            HOperatorSet.CountObj(ho_Segments, out hv_NumSegments);
            hv_Angles.Dispose();
            hv_Angles = new HTuple();
            for (hv_i = 1; (int)hv_i <= 3; hv_i = (int)hv_i + 1)
            {
                ho_Segment.Dispose();
                HOperatorSet.SelectObj(ho_Segments, out ho_Segment, hv_i);
                hv_RowBegin.Dispose(); hv_ColBegin.Dispose(); hv_RowEnd.Dispose(); hv_ColEnd.Dispose(); hv__.Dispose(); hv___Tmp_Ctrl_0_5.Dispose(); hv___Tmp_Ctrl_0_6.Dispose();
                HOperatorSet.FitLineContourXld(ho_Segment, "tukey", -1, 0, 5, 2, out hv_RowBegin,
                    out hv_ColBegin, out hv_RowEnd, out hv_ColEnd, out hv__, out hv___Tmp_Ctrl_0_5,
                    out hv___Tmp_Ctrl_0_6);
                //存储线段端点
                if ((int)(new HTuple(hv_i.TupleEqual(1))) != 0)
                {
                    hv_Line1.Dispose();
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        hv_Line1 = new HTuple();
                        hv_Line1 = hv_Line1.TupleConcat(hv_RowBegin, hv_ColBegin, hv_RowEnd, hv_ColEnd);
                    }
                }
                else if ((int)(new HTuple(hv_i.TupleEqual(2))) != 0)
                {
                    hv_Line2.Dispose();
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        hv_Line2 = new HTuple();
                        hv_Line2 = hv_Line2.TupleConcat(hv_RowBegin, hv_ColBegin, hv_RowEnd, hv_ColEnd);
                    }
                }
                else
                {
                    hv_Line3.Dispose();
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        hv_Line3 = new HTuple();
                        hv_Line3 = hv_Line3.TupleConcat(hv_RowBegin, hv_ColBegin, hv_RowEnd, hv_ColEnd);
                    }
                }
            }

            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_RowV1.Dispose(); hv_ColV1.Dispose(); hv_IsOverlapping1.Dispose();
                HOperatorSet.IntersectionLines(hv_Line1.TupleSelect(0), hv_Line1.TupleSelect(
                    1), hv_Line1.TupleSelect(2), hv_Line1.TupleSelect(3), hv_Line2.TupleSelect(
                    0), hv_Line2.TupleSelect(1), hv_Line2.TupleSelect(2), hv_Line2.TupleSelect(
                    3), out hv_RowV1, out hv_ColV1, out hv_IsOverlapping1);
            }
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_RowV2.Dispose(); hv_ColV2.Dispose(); hv_IsOverlapping2.Dispose();
                HOperatorSet.IntersectionLines(hv_Line2.TupleSelect(0), hv_Line2.TupleSelect(
                    1), hv_Line2.TupleSelect(2), hv_Line2.TupleSelect(3), hv_Line3.TupleSelect(
                    0), hv_Line3.TupleSelect(1), hv_Line3.TupleSelect(2), hv_Line3.TupleSelect(
                    3), out hv_RowV2, out hv_ColV2, out hv_IsOverlapping2);
            }
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_RowV3.Dispose(); hv_ColV3.Dispose(); hv_IsOverlapping3.Dispose();
                HOperatorSet.IntersectionLines(hv_Line3.TupleSelect(0), hv_Line3.TupleSelect(
                    1), hv_Line3.TupleSelect(2), hv_Line3.TupleSelect(3), hv_Line1.TupleSelect(
                    0), hv_Line1.TupleSelect(1), hv_Line1.TupleSelect(2), hv_Line1.TupleSelect(
                    3), out hv_RowV3, out hv_ColV3, out hv_IsOverlapping3);
            }



            //1. 计算三条边的长度
            hv_AB.Dispose();
            HOperatorSet.DistancePp(hv_RowV1, hv_ColV1, hv_RowV2, hv_ColV2, out hv_AB);
            hv_AC.Dispose();
            HOperatorSet.DistancePp(hv_RowV1, hv_ColV1, hv_RowV3, hv_ColV3, out hv_AC);
            hv_BC.Dispose();
            HOperatorSet.DistancePp(hv_RowV2, hv_ColV2, hv_RowV3, hv_ColV3, out hv_BC);

            //2. 使用余弦定理计算角度
            //顶点A的角度 (对边BC)
            hv_cosAngleA.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_cosAngleA = (((hv_AC * hv_AC) + (hv_AB * hv_AB)) - (hv_BC * hv_BC)) / ((2 * hv_AC) * hv_AB);
            }
            hv_AngleA.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_AngleA = ((hv_cosAngleA.TupleAcos()
                    ) * 180) / 3.1415926535;
            }

            //顶点B的角度 (对边AC)
            hv_cosAngleB.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_cosAngleB = (((hv_AB * hv_AB) + (hv_BC * hv_BC)) - (hv_AC * hv_AC)) / ((2 * hv_AB) * hv_BC);
            }
            hv_AngleB.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_AngleB = ((hv_cosAngleB.TupleAcos()
                    ) * 180) / 3.1415926535;
            }

            //顶点C的角度 (对边AB)
            hv_cosAngleC.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_cosAngleC = (((hv_AC * hv_AC) + (hv_BC * hv_BC)) - (hv_AB * hv_AB)) / ((2 * hv_AC) * hv_BC);
            }
            hv_AngleC.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_AngleC = ((hv_cosAngleC.TupleAcos()
                    ) * 180) / 3.1415926535;
            }
            ho_Image.Dispose();
            ho_GrayImage.Dispose();
            ho_TriangleRegion.Dispose();
            ho_Contour.Dispose();
            ho_Segments.Dispose();
            ho_Segment.Dispose();

            hv_NumSegments.Dispose();
            hv_Angles.Dispose();
            hv_i.Dispose();
            hv_RowBegin.Dispose();
            hv_ColBegin.Dispose();
            hv_RowEnd.Dispose();
            hv_ColEnd.Dispose();
            hv__.Dispose();
            hv_Line1.Dispose();
            hv_Line2.Dispose();
            hv_Line3.Dispose();
            hv_RowV1.Dispose();
            hv_ColV1.Dispose();
            hv_IsOverlapping1.Dispose();
            hv_RowV2.Dispose();
            hv_ColV2.Dispose();
            hv_IsOverlapping2.Dispose();
            hv_RowV3.Dispose();
            hv_ColV3.Dispose();
            hv_IsOverlapping3.Dispose();
            hv_AB.Dispose();
            hv_AC.Dispose();
            hv_BC.Dispose();
            hv_cosAngleA.Dispose();
            hv_AngleA.Dispose();
            hv_cosAngleB.Dispose();
            hv_AngleB.Dispose();
            hv_cosAngleC.Dispose();
            hv_AngleC.Dispose();
            hv___Tmp_Ctrl_0_5.Dispose();
            hv___Tmp_Ctrl_0_6.Dispose();



            return new double[] { hv_AngleA,hv_AngleB,hv_AngleC };

        }






    }
}

主界面程序form1.cs

主界面代码：

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 halcon_cs
{
    public partial class Form1 : Form
    {

        HObject TestImage;


        public Form1()
        {
            InitializeComponent();






        }




        private void button2_Click(object sender, EventArgs e)
        {

            using (OpenFileDialog openFileDialog = new OpenFileDialog())
            {
                openFileDialog.Filter = "所有文件|*.*";
                openFileDialog.Title = "选择文件";

                if (openFileDialog.ShowDialog() == DialogResult.OK)
                {
                    string filePath = openFileDialog.FileName;
                    textBox1.Text = filePath;

                }
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            //读取文件
            HOperatorSet.ReadImage(out TestImage, textBox1.Text);
            //获取图片大小
            HTuple Width, Height;
            HOperatorSet.GetImageSize(TestImage, out Width, out Height);
            //设置图片显示范围 hWindowControl1.HalconWindow获得窗体句柄
            HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, (Height - 1), (Width - 1)); //0,0, (Height - 1), (Width - 1)代表从0，0坐标到图片的宽高坐标，达到全屏显示

            //将图片投射到窗体上
            HOperatorSet.DispObj(TestImage, hWindowControl1.HalconWindow);//将TestImage变量投射到句柄窗口上
        }

        private void button3_Click(object sender, EventArgs e)
        {
            double[] result;
            HDevelopExport hDevelopExport = new HDevelopExport();
            result = hDevelopExport.action(textBox1.Text);
            foreach (double indexer in result) { 
            textBox2.AppendText(indexer.ToString()+"\r\n");
            }
        }
    }
}

主界面设计：

using HalconDotNet;

namespace halcon_cs
{
    partial class Form1
    {
        /// <summary>
        /// 必需的设计器变量。
        /// </summary>
        private System.ComponentModel.IContainer components = null;

        /// <summary>
        /// 清理所有正在使用的资源。
        /// </summary>
        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows 窗体设计器生成的代码

        /// <summary>
        /// 设计器支持所需的方法 - 不要修改
        /// 使用代码编辑器修改此方法的内容。
        /// </summary>
        private void InitializeComponent()
        {
            this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
            this.button2 = new System.Windows.Forms.Button();
            this.textBox1 = new System.Windows.Forms.TextBox();
            this.hWindowControl1 = new HalconDotNet.HWindowControl();
            this.button1 = new System.Windows.Forms.Button();
            this.button3 = new System.Windows.Forms.Button();
            this.textBox2 = new System.Windows.Forms.TextBox();
            this.SuspendLayout();
            // 
            // openFileDialog1
            // 
            this.openFileDialog1.FileName = "openFileDialog1";
            // 
            // button2
            // 
            this.button2.Location = new System.Drawing.Point(779, 41);
            this.button2.Name = "button2";
            this.button2.Size = new System.Drawing.Size(116, 43);
            this.button2.TabIndex = 4;
            this.button2.Text = "选择文件";
            this.button2.UseVisualStyleBackColor = true;
            this.button2.Click += new System.EventHandler(this.button2_Click);
            // 
            // textBox1
            // 
            this.textBox1.Location = new System.Drawing.Point(314, 50);
            this.textBox1.Name = "textBox1";
            this.textBox1.Size = new System.Drawing.Size(459, 28);
            this.textBox1.TabIndex = 5;
            // 
            // hWindowControl1
            // 
            this.hWindowControl1.BackColor = System.Drawing.Color.Black;
            this.hWindowControl1.BorderColor = System.Drawing.Color.Black;
            this.hWindowControl1.ImagePart = new System.Drawing.Rectangle(0, 0, 640, 480);
            this.hWindowControl1.Location = new System.Drawing.Point(314, 110);
            this.hWindowControl1.Name = "hWindowControl1";
            this.hWindowControl1.Size = new System.Drawing.Size(555, 347);
            this.hWindowControl1.TabIndex = 6;
            this.hWindowControl1.WindowSize = new System.Drawing.Size(555, 347);
            // 
            // button1
            // 
            this.button1.Location = new System.Drawing.Point(229, 502);
            this.button1.Name = "button1";
            this.button1.Size = new System.Drawing.Size(177, 99);
            this.button1.TabIndex = 7;
            this.button1.Text = "显示图像";
            this.button1.UseVisualStyleBackColor = true;
            this.button1.Click += new System.EventHandler(this.button1_Click);
            // 
            // button3
            // 
            this.button3.Location = new System.Drawing.Point(722, 502);
            this.button3.Name = "button3";
            this.button3.Size = new System.Drawing.Size(183, 99);
            this.button3.TabIndex = 8;
            this.button3.Text = "计算角度";
            this.button3.UseVisualStyleBackColor = true;
            this.button3.Click += new System.EventHandler(this.button3_Click);
            // 
            // textBox2
            // 
            this.textBox2.Location = new System.Drawing.Point(280, 659);
            this.textBox2.Multiline = true;
            this.textBox2.Name = "textBox2";
            this.textBox2.Size = new System.Drawing.Size(588, 112);
            this.textBox2.TabIndex = 9;
            // 
            // Form1
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(1176, 821);
            this.Controls.Add(this.textBox2);
            this.Controls.Add(this.button3);
            this.Controls.Add(this.button1);
            this.Controls.Add(this.hWindowControl1);
            this.Controls.Add(this.textBox1);
            this.Controls.Add(this.button2);
            this.Name = "Form1";
            this.Text = "Form1";
            this.ResumeLayout(false);
            this.PerformLayout();

        }

        #endregion
        private System.Windows.Forms.OpenFileDialog openFileDialog1;
        private System.Windows.Forms.Button button2;
        private System.Windows.Forms.TextBox textBox1;
        private HWindowControl hWindowControl1;
        private System.Windows.Forms.Button button1;
        private System.Windows.Forms.Button button3;
        private System.Windows.Forms.TextBox textBox2;
    }
}

4.案例三：缺陷检测

如图

一个四边形，边上有2个缺陷。要求：检查出缺陷所在。

方法：先找到整体的轮廓，然后基于轮廓曲率的变化，来判断缺陷。

halcon代码：

read_image(Image, 'C:/Users/86957/Desktop/txqx.png')
rgb1_to_gray(Image, GrayImage)
get_image_size (Image, Width, Height)
dev_open_window (0, 0, Width, Height, 'black', WindowHandle)

threshold(GrayImage, Regions, 0, 127)
select_shape (Regions, SelectedRegions, 'area', 'and', 'min', 99999)
* 提取边界（'inner' 表示内边界，'outer' 表示外边界）
boundary(SelectedRegions, RegionBorder, 'inner')

* 设置绿色轮廓
dev_set_color('green')
dev_set_line_width(3)
* 显示原始图像
dev_display(GrayImage)
* 仅显示绿色轮廓（不填充）
dev_display(RegionBorder)
*绿色轮廓是一个标准的四边形。


* 将区域边界转换为XLD轮廓
gen_contour_region_xld(RegionBorder, Contour, 'border')

* 获取轮廓点坐标
get_contour_xld(Contour, Rows, Cols)

* 计算轮廓点的方向角度 (使用5点平滑)
get_contour_angle_xld (Contour, 'abs', 'range', 3, AngleValues)



* 计算相邻点的角度变化
tuple_length(AngleValues, NumPoints)
DiffAngles := []
for i := 1 to NumPoints-1 by 1
    * 处理角度跳变（π到-π）
    diff := abs(AngleValues[i] - AngleValues[i-1])
    if (diff > rad(180))
        diff := rad(360) - diff
    endif
    DiffAngles := [DiffAngles, diff]
endfor

* 找出角度突变点 (阈值设为30度)
Threshold := rad(30)
DefectRows := []
DefectCols := []
for i := 1 to NumPoints-1 by 1
    if (DiffAngles[i-1] > Threshold)
        DefectRows := [DefectRows, Rows[i]]
        DefectCols := [DefectCols, Cols[i]]
    endif
endfor

* 标记缺陷点
if (|DefectRows| > 0)
    gen_cross_contour_xld(Cross, DefectRows, DefectCols, 12, 0.785398)
    dev_set_color('red')
    dev_set_line_width(2)
    dev_display(Cross)
endif

* 捕获窗口内容
dump_window_image(ResultImage, WindowHandle)
*保存
*write_image(ResultImage, 'png', 0, 'C:/Users/86957/Desktop/result_image.png')
dev_close_window()

效果如下：

将halcon代码输出为c#，并修改输入输出。

返回HObject类型。
在返回前，关闭窗口，避免弹窗一直存在。


using HalconDotNet;
namespace halcon_cs
{

    public partial class HDevelopExport
    {


        public HObject action(string imgpath)
        {


            // Local iconic variables 

            HObject ho_Image, ho_GrayImage, ho_Regions;
            HObject ho_SelectedRegions, ho_RegionBorder, ho_Contour;
            HObject ho_Cross = null, ho_ResultImage;

            // Local control variables 

            HTuple hv_Width = new HTuple(), hv_Height = new HTuple();
            HTuple hv_WindowHandle = new HTuple(), hv_Rows = new HTuple();
            HTuple hv_Cols = new HTuple(), hv_AngleValues = new HTuple();
            HTuple hv_NumPoints = new HTuple(), hv_DiffAngles = new HTuple();
            HTuple hv_i = new HTuple(), hv_diff = new HTuple(), hv_Threshold = new HTuple();
            HTuple hv_DefectRows = new HTuple(), hv_DefectCols = new HTuple();
            // Initialize local and output iconic variables 
            HOperatorSet.GenEmptyObj(out ho_Image);
            HOperatorSet.GenEmptyObj(out ho_GrayImage);
            HOperatorSet.GenEmptyObj(out ho_Regions);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
            HOperatorSet.GenEmptyObj(out ho_RegionBorder);
            HOperatorSet.GenEmptyObj(out ho_Contour);
            HOperatorSet.GenEmptyObj(out ho_Cross);
            HOperatorSet.GenEmptyObj(out ho_ResultImage);
            ho_Image.Dispose();
            HOperatorSet.ReadImage(out ho_Image, imgpath);
            ho_GrayImage.Dispose();
            HOperatorSet.Rgb1ToGray(ho_Image, out ho_GrayImage);
            hv_Width.Dispose(); hv_Height.Dispose();
            HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
            HOperatorSet.SetWindowAttr("background_color", "black");
            HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "visible", "", out hv_WindowHandle);
            HDevWindowStack.Push(hv_WindowHandle);

            ho_Regions.Dispose();
            HOperatorSet.Threshold(ho_GrayImage, out ho_Regions, 0, 127);
            ho_SelectedRegions.Dispose();
            HOperatorSet.SelectShape(ho_Regions, out ho_SelectedRegions, "area", "and", "min",
                99999);
            //提取边界（'inner' 表示内边界，'outer' 表示外边界）
            ho_RegionBorder.Dispose();
            HOperatorSet.Boundary(ho_SelectedRegions, out ho_RegionBorder, "inner");

            //设置绿色轮廓
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
            }
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 3);
            }
            //显示原始图像
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.DispObj(ho_GrayImage, HDevWindowStack.GetActive());
            }
            //仅显示绿色轮廓（不填充）
            if (HDevWindowStack.IsOpen())
            {
                HOperatorSet.DispObj(ho_RegionBorder, HDevWindowStack.GetActive());
            }
            //绿色轮廓是一个标准的四边形。


            //将区域边界转换为XLD轮廓
            ho_Contour.Dispose();
            HOperatorSet.GenContourRegionXld(ho_RegionBorder, out ho_Contour, "border");

            //获取轮廓点坐标
            hv_Rows.Dispose(); hv_Cols.Dispose();
            HOperatorSet.GetContourXld(ho_Contour, out hv_Rows, out hv_Cols);

            //计算轮廓点的方向角度 (使用5点平滑)
            hv_AngleValues.Dispose();
            HOperatorSet.GetContourAngleXld(ho_Contour, "abs", "range", 3, out hv_AngleValues);



            //计算相邻点的角度变化
            hv_NumPoints.Dispose();
            HOperatorSet.TupleLength(hv_AngleValues, out hv_NumPoints);
            hv_DiffAngles.Dispose();
            hv_DiffAngles = new HTuple();
            HTuple end_val34 = hv_NumPoints - 1;
            HTuple step_val34 = 1;
            for (hv_i = 1; hv_i.Continue(end_val34, step_val34); hv_i = hv_i.TupleAdd(step_val34))
            {
                //处理角度跳变（π到-π）
                hv_diff.Dispose();
                using (HDevDisposeHelper dh = new HDevDisposeHelper())
                {
                    hv_diff = (((hv_AngleValues.TupleSelect(
                        hv_i)) - (hv_AngleValues.TupleSelect(hv_i - 1)))).TupleAbs();
                }
                if ((int)(new HTuple(hv_diff.TupleGreater((new HTuple(180)).TupleRad()))) != 0)
                {
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        {
                            HTuple
                              ExpTmpLocalVar_diff = ((new HTuple(360)).TupleRad()
                                ) - hv_diff;
                            hv_diff.Dispose();
                            hv_diff = ExpTmpLocalVar_diff;
                        }
                    }
                }
                using (HDevDisposeHelper dh = new HDevDisposeHelper())
                {
                    {
                        HTuple
                          ExpTmpLocalVar_DiffAngles = hv_DiffAngles.TupleConcat(
                            hv_diff);
                        hv_DiffAngles.Dispose();
                        hv_DiffAngles = ExpTmpLocalVar_DiffAngles;
                    }
                }
            }

            //找出角度突变点 (阈值设为30度)
            hv_Threshold.Dispose();
            using (HDevDisposeHelper dh = new HDevDisposeHelper())
            {
                hv_Threshold = (new HTuple(30)).TupleRad()
                    ;
            }
            hv_DefectRows.Dispose();
            hv_DefectRows = new HTuple();
            hv_DefectCols.Dispose();
            hv_DefectCols = new HTuple();
            HTuple end_val47 = hv_NumPoints - 1;
            HTuple step_val47 = 1;
            for (hv_i = 1; hv_i.Continue(end_val47, step_val47); hv_i = hv_i.TupleAdd(step_val47))
            {
                if ((int)(new HTuple(((hv_DiffAngles.TupleSelect(hv_i - 1))).TupleGreater(hv_Threshold))) != 0)
                {
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        {
                            HTuple
                              ExpTmpLocalVar_DefectRows = hv_DefectRows.TupleConcat(
                                hv_Rows.TupleSelect(hv_i));
                            hv_DefectRows.Dispose();
                            hv_DefectRows = ExpTmpLocalVar_DefectRows;
                        }
                    }
                    using (HDevDisposeHelper dh = new HDevDisposeHelper())
                    {
                        {
                            HTuple
                              ExpTmpLocalVar_DefectCols = hv_DefectCols.TupleConcat(
                                hv_Cols.TupleSelect(hv_i));
                            hv_DefectCols.Dispose();
                            hv_DefectCols = ExpTmpLocalVar_DefectCols;
                        }
                    }
                }
            }

            //标记缺陷点
            if ((int)(new HTuple((new HTuple(hv_DefectRows.TupleLength())).TupleGreater(0))) != 0)
            {
                ho_Cross.Dispose();
                HOperatorSet.GenCrossContourXld(out ho_Cross, hv_DefectRows, hv_DefectCols,
                    12, 0.785398);
                if (HDevWindowStack.IsOpen())
                {
                    HOperatorSet.SetColor(HDevWindowStack.GetActive(), "red");
                }
                if (HDevWindowStack.IsOpen())
                {
                    HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 2);
                }
                if (HDevWindowStack.IsOpen())
                {
                    HOperatorSet.DispObj(ho_Cross, HDevWindowStack.GetActive());
                }
            }

            //捕获窗口内容
            ho_ResultImage.Dispose();
            HOperatorSet.DumpWindowImage(out ho_ResultImage, hv_WindowHandle);
            //保存
            //write_image (ResultImage, 'png', 0, 'C:/Users/86957/Desktop/result_image.png')
            
            HOperatorSet.CloseWindow(hv_WindowHandle);
            return ho_ResultImage;      
        }








    }
}

使用 HOperatorSet.CloseWindow(hv_WindowHandle);直接关闭弹窗。

主界面代码：

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 halcon_cs
{
    public partial class Form1 : Form
    {

        HObject TestImage;


        public Form1()
        {
            InitializeComponent();






        }




        private void button2_Click(object sender, EventArgs e)
        {

            using (OpenFileDialog openFileDialog = new OpenFileDialog())
            {
                openFileDialog.Filter = "所有文件|*.*";
                openFileDialog.Title = "选择文件";

                if (openFileDialog.ShowDialog() == DialogResult.OK)
                {
                    string filePath = openFileDialog.FileName;
                    textBox1.Text = filePath;

                }
            }
        }





        private void button1_Click(object sender, EventArgs e)
        {
            HDevelopExport hDevelopExport = new HDevelopExport();
            HObject result = hDevelopExport.action(textBox1.Text);


            //获取图片大小
            HTuple Width, Height;
            HOperatorSet.GetImageSize(result, out Width, out Height);
            //设置图片显示范围 hWindowControl1.HalconWindow获得窗体句柄
            HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, (Height - 1), (Width - 1)); //0,0, (Height - 1), (Width - 1)代表从0，0坐标到图片的宽高坐标，达到全屏显示

            //将图片投射到窗体上
            HOperatorSet.DispObj(result, hWindowControl1.HalconWindow);


        }
    }
}

运行后：