HALCON 7.1.2图像处理软件快速指南

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"《图像处理软件HALCON快速指南》是一份由MVTec Software GmbH发布的技术文档，针对其版本7.1.2提供了全面的功能介绍和快速入门教程。该指南旨在帮助用户理解和掌握HALCON这款强大的图像处理软件，特别适合那些希望在商业环境中应用图像处理技术的专业人士。 1. 介绍HALCON： HALCON是一款功能丰富的视觉智能软件，它集中了高级机器视觉技术，包括物体检测、识别、测量、定位等，广泛应用于自动化、工业4.0、机器人技术等领域。版本7.1.2的发布更新了多项功能和性能优化，以满足日益增长的需求。 2. 关键特性：文档详细列出了HALCON的核心功能，如高效图像处理算法、易于使用的API接口、跨平台兼容性（支持Windows 95到Windows XP，以及.NET框架等）、图形用户界面设计等。用户可以借此快速了解如何利用这些特性来实现自动化检测和决策。 3. 目标用户：对于视觉系统集成商、工程师、研发人员，甚至是希望提升生产线效率和产品质量的企业来说，HALCON都是理想的选择。无论是工业生产线上的质量控制，还是机器人导航，或是安防监控中的异常检测，HALCON都能提供强大支持。 4. 所需知识：尽管HALCON提供了直观的界面和API，但用户最好具备一定的编程基础，特别是熟悉C++或Visual Basic等语言。理解计算机视觉的基本概念，如图像采集、预处理、特征提取等，将有助于更快上手。 5. 版权与授权：所有内容受MVTec Software GmbH的版权保护，未经许可，不得复制、存储或通过任何形式传输。用户在使用时需要遵守版权规定，确保合法合规。 6. 获取更多信息：指南末尾提供了HALCON的官方网站链接，访问该网站可以获取更多关于软件的技术文档、培训资料、示例代码和社区支持，以便用户进一步深入学习和探索。《图像处理软件HALCON快速指南》是任何想要在图像处理领域开展工作或提升项目效率的用户不可或缺的参考资料，它提供了清晰的入门路径和深入技术细节，使用户能够充分利用HALCON的强大功能来解决实际问题。"

12 How to Develop Applications with HALCON

Image Channels

A channel corresponds to an image matrix. Each image can have an arbitrary number of channels. All

channels of an image have the same size.

Typical cases are: single-channel gray value image, color image with three channels (e.g., RGB), or a

multichannel image from a multispectral sensor or as a result of texture ﬁltering.

Coordinate Systems

The origin of an image lies in the center of the pixel in the upper left corner. The individual pixels are

accessed using row and column coordinates, like in a matrix. The coordinates range from (0,0) up to

(height-1, width-1).

Note that because the origin lies in the center of the upper left pixel, the pixels’ corners have non-integer

coordinates. For example, the pixel in the upper left corner has the corner coordinates (-0.5, -0,5), (-0.5,

+0.5), (0.5, -0.5), and (0.5, 0.5).

2.1.2.2 Regions

Philosophy:

• Regions belong to the iconic data.

• A region is deﬁned as a set of pixels. The pixels of a region do not need to be connected. This

means that even an arbitrary collection of pixels can be handled as a single region. With the oper-

ator connection a region can be split into its so-called connected components, i.e., components

consisting of connected pixels.

• The implementation of regions is based on an efﬁcient implementation of the so-called runlength

encoding. This encoding has many advantages: low memory consumption, efﬁcient processing,

and easy handling of regions of interest (domains).

• Because of the implementation based on runlength encoding, it is possible to have overlapping

regions, e.g., as the result of a dilation of connected components. This would not be possible with

a classical implementation based on label images.

• The coordinates of pixels inside a region are not limited to the coordinates of a given image, the

region can be larger than the image, possibly as the result of a dilation operation. Whether a region

should be clipped to the maximum image extents can be controlled using the operator set_system

with the parameter value ’clip_region’.

• The number of regions for an application is virtually unlimited.

2.1.2.3 XLDs

Philosophy:

• XLD is the abbreviation for eXtended Line Description and comprises all contour and polygon

based data.

2.1 A Look Under the Surface of HALCON: Architecture and Data Structures 13

• XLDs belong to the iconic data.

• Subpixel accurate operators like edges_sub_pix return the contours as XLD data.

• A contour is a sequence of 2D control points, which are connected by lines.

• Typically, the distance between control points is about one pixel.

• XLD objects contain, besides the control points, so-called local and global attributes. Typical

examples for these are, e.g., the edge amplitude of a control point or the regression parameters of

a contour segment.

• Besides the extraction of XLD objects, HALCON supports further processing. Examples for this

are the selection of contours based on given feature ranges or segmenting of a contour into lines,

arcs, polygons or parallels.

2.1.2.4 Control Tuples

Philosophy:

• Tuples are the generic data type for integer and ﬂoating point values as well as strings. A variable

of type tuple can be of any of the three basic types.

• Besides single values, arrays of the basic types are supported. Therefore, one variable can contain

none, one, or an arbitrary number of values, where the types of each element can be different.

• In most cases, single values are treated in the same way as multiple values. If, e.g., an operator like

area_center is called with a single region, one value is returned for each result (in the example for

the area and the coordinates of the center of the region). When the operator is called with multiple

regions, a tuple with the corresponding number of values is returned for each result. For example,

if you call area_center with four regions, it returns three tuples (one for the area and two for the

coordinates of the center), each containing four values corresponding to the four regions.

• The index of tuples range from 0 to the number of values minus 1. Please note, that iconic tuples !

start with index 1!

2.1.2.5 Handles

Philosophy:

• Handles are references to complex data structures, e.g., models for the shape-based matching. For

efﬁciency and data security reasons, not the entire structure but only the handle is passed to the

programmer.

• All processing of data is controlled with a unique integer value. These integers are magic numbers

that must not be changed and can differ from execution to execution and version to version.

• Examples where handles are used are graphics windows, ﬁles, sockets, image acquisition devices,

OCR, OCV, measuring, matching, and so on.

Development

14 How to Develop Applications with HALCON

2.1.3 Parallel HALCON

To put it in a nutshell, Standard HALCON is optimized for running sequential programs on single-

processor or single-core computers. Under Windows NT/2000/XP, Linux, and Solaris, HALCON is

thread-safe, i.e., it can be used in multithreaded programs (with some exceptions listed in the Program-

mer’s Guide, section 1.1 on page 3). However, all HALCON operators are executed exclusively, thus

threads will have to wait for each other.

In contrast, Parallel HALCON supports parallel programming (e.g., multithreaded programs) by being

thread-safe and reentrant. This means that multiple threads can call a HALCON operator simultaneously.

Parallel HALCON is available for Windows NT/2000/XP, Linux, and Solaris.

Besides supporting parallel programming, Parallel HALCON automatically parallelizes operators if

started on multi-processor or multi-core hardware, e.g., a dual-Pentium board. The parallelization mech-

anism is based on distributing the data which has to be processed, i.e., the images, on multiple threads

that run on different processors (so-called data parallelism). For example, for a ﬁltering operation on a

four-processor board the image will be split into four parts which will then be processed in parallel by

four threads executing the (same) ﬁltering operator. Together with HALCON’s philosophy for treating

images and regions, this form of parallelization is very efﬁcient because images need not to be copied.

The degree of parallelization is optimized online to minimize the parallelization overhead. For example,

very small images will not be processed in parallel, as the overhead would surpass the parallelization

speed-up. Moreover, not all HALCON operators lend themselves to parallelization.

Detailed information on using Parallel HALCON can be found in the Programmer’s Guide, section 1.2

on page 4.

Note that Parallel HALCON is designed for shared-memory systems, i.e., systems in which multiple

processors share a common memory as it is the case for typical multi-processor or multi-core boards.

The main reason is that only in a shared-memory system threads can share the HALCON object database

and do not need to copy images. This limitation means that Parallel HALCON is not suited to the use on

workstation clusters or other multi-processor or multi-core hardware that does not offer shared memory.

2.1.4 Image Acquisition

Currently, HALCON provides interfaces for about forty frame grabbers in the form of dynamically

loadable libraries (Windows: DLLs; UNIX: shared libraries). These libraries are installed together with

the HALCON libraries. Library names start with the preﬁx HFG; the libraries starting with parHFG are

used by Parallel HALCON.

In the following, we give a brief overview of the HALCON frame grabber interface; please refer to the

Application Note on Image Acquisition for detailed information about this topic.

The HALCON frame grabber interface libraries form the bridge between software provided by the frame

grabber’s manufacturer and HALCON. They form a common, generic interface that requires a small set

of operators only.

If you successfully installed your frame grabber, all you need to do to access it from HALCON is to

call the operator

open_framegrabber, specifying the name of the frame grabber and some additional

information, e.g., regarding the connected camera. Then, images can be grabbed by calling the operator

grab_image (or grab_image_async).

2.2 Quick Start with HDevelop 15

Please note that the HALCON frame grabber interfaces may change more frequently than the

HALCON library itself. One reason for this is that MVTec continuously develops new inter-

faces; furthermore, if the software provided by the frame grabber manufacturers changes, e.g.,

if new features are integrated, the corresponding HALCON interfaces will be adapted. You can

ﬁnd the latest information together with downloadable interfaces (including documentation) under

http://www.mvtec.com/halcon/framegrabber.

2.2 Quick Star t with HDevelop

HDevelop is a powerful integrated development environment for both prototyping and application de-

velopment. HDevelop is very easy to use. Below, you ﬁnd a brief introduction. Two tutorials, which

show how to run HDevelop programs and how to create them, are located in the subdirectory doc\html\

tutorials of the folder where you installed HALCON. Detailed information about HDevelop can be

found in the

HDevelop User’s Manual.

To start HDevelop under Windows NT/2000/XP, click on Start > Programs > MVTec HALCON 7.1

> HDevelop. Under UNIX, HDevelop is started from the shell by executing hdevelop.

To load an example, select the menu File > Open. This will open a ﬁle selection dialog that shows the

main directories of the HDevelop examples (under Windows). For beginners, we recommend to select

an example from the directory Applications. As an alternative, the menu File > Open Example

Program... can be used. Here, a dialog is opened that allows you to select examples based on different

categories instead of the actual location.

After loading the ﬁle, the corresponding program code is displayed in the program window. The used

variables - so far not instantiated - can be seen in the variable watch window. The program is now ready

for execution.

Steps to run a program:

1. In the toolbar, click the button Run to execute the program. To continue at a stop statement, click

Run again.

2. Besides the button Run, HDevelop provides a button to step through a program, executing single

lines and displaying the results immediately afterwards. The buttons Step Into and Step Out

are useful if the program contains procedures.

3. To rerun the complete program click the button Set program to initial state and then Run.

To rerun parts only, simply click with the mouse to the left of the desired program line. This will

reposition the program counter (green arrow). Now click Run.

Hints for understanding the program:

1. At the bottom of the main window, HDevelop provides a status bar. This displays useful informa-

tion in many cases. Especially during execution, when the program stops to visualize results or

waits for a user interaction corresponding instructions are given.

Development

16 How to Develop Applications with HALCON

2. For information concerning individual program lines double click them so that the name of the

applied operator and its parameters are displayed in the operator/procedure window. There, the

help button provides speciﬁc information.

3. Many programs will automatically display relevant data in the graphics window. Manual visual-

ization can easily be achieved by double clicking on the icons in the variable watch window.

4. Some examples contain procedures. Program lines containing procedures are marked by green or

dark green bars. You can switch between the procedures (including the main procedure) via the

combo box Procedures in the program window.

5. In many examples expressions like assignments, arithmetic operations (both often represented in

the program by “:=”), or control structures like loops occur. If you need help concerning the

language used in HDevelop please consult the HDevelop User’s Manual.

Further hints for HDevelop:

1. Depending on the selected installation type, not all images used in an example program might be

available. In this case, we recommend to insert the HALCON CD or to install the needed images.

2. Some programs use frame grabbers for image acquisition. If the corresponding frame grabber type

is not available, an error message will be raised. In this case, we recommend to either use another

example or to modify the parameters to ﬁt to the available hardware. Furthermore, if HDevelop

Demo is used, no frame grabber interfaces can be used, including the File frame grabber, which

reads images from ﬁles. If you want to use these programs, please use HDevelop.

2.3 Using HALCON Within Programming Languages

HALCON offers three so-called language interfaces. They are libraries that enable you to call the op-

erators and to use the data types of the HALCON library in an easy way. Two language interfaces are

designed for speciﬁc languages. These are the C and the C++ interfaces. In contrast, the COM interface

is independent of a given language. It can be used, e.g., with Visual Basic, C#, or Delphi.

Independent of which programming language you choose, a suitable interface library (halconc.*, hal-

concpp.*, halconx.*) together with the HALCON library (halcon.*) must be linked to the application. In

addition to this, for C and C++ the corresponding include ﬁles must be included.

To start the development, we recommend to ﬁrst check one of the ready-to-run example programs. Here,

you can see how the project must be set up and how operators and types are used.

For each language interface, the names of types, classes, the naming conventions of operators, etc. may

differ to be compliant with the typical rules that apply for the selected language. For details of the op-

erator signatures, please refer to the corresponding reference manuals, which are available in

HDevelop,

C++, COM (Visual Basic), and C syntax.

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