diff --git a/.claude-plugin/marketplace.json b/.claude-plugin/marketplace.json index a773f9d..17b30b4 100644 --- a/.claude-plugin/marketplace.json +++ b/.claude-plugin/marketplace.json @@ -4,14 +4,16 @@ "name": "goldyard" }, "description": "Totoro 归墟 Claude Code skills marketplace", - "metadata": { - "pluginRoot": "./plugins" - }, "plugins": [ { "name": "hello-skill", - "source": "hello-skill", + "source": "./plugins/hello-skill", "description": "示例技能插件,验证市场可安装" + }, + { + "name": "halcon", + "source": "./plugins/halcon", + "description": "MVTec HALCON 机器视觉 skill(v2):本地 Windows HALCON 或远程 halcon-remote MCP(无需本地安装)。找圆/拟合/1D-2D-3D 量测/匹配/标定/条码数据码/OCR/D2W 套圈对位;含 2387 算子索引 + 20 本官方 24.11 手册。" } ] } diff --git a/plugins/halcon/.claude-plugin/plugin.json b/plugins/halcon/.claude-plugin/plugin.json new file mode 100644 index 0000000..d2eeaa3 --- /dev/null +++ b/plugins/halcon/.claude-plugin/plugin.json @@ -0,0 +1,8 @@ +{ + "name": "halcon", + "description": "Drive MVTec HALCON machine vision — locally (Windows HALCON via WSL/uv/HDevEngine/hrun) or remotely over the halcon-remote MCP with no local install. Blob/edge/XLD, circle & shape fitting, 1D/2D/3D metrology, matching, calibration, bar/2D-code reading, OCR, D2W overlay. Bundles the 2387-operator index and 20 official 24.11 manuals.", + "version": "2.0.0", + "author": { + "name": "goldyard" + } +} diff --git a/plugins/halcon/skills/halcon/SKILL.md b/plugins/halcon/skills/halcon/SKILL.md new file mode 100644 index 0000000..e35a8f9 --- /dev/null +++ b/plugins/halcon/skills/halcon/SKILL.md @@ -0,0 +1,173 @@ +--- +name: halcon +description: >- + Runs and orchestrates MVTec HALCON machine-vision tasks two ways: the local + Windows-side HALCON 24.11 (driven from WSL via uv, HDevEngine, hrun, or the + HDevelop GUI), or a remote HALCON compute service over MCP (server + `halcon-remote`) that needs no local HALCON. Use whenever the work touches + HALCON, HDevelop, .hdev/.hdvp scripts, HDevEngine, or a machine-vision goal it + can solve: blob analysis, thresholding/segmentation, edge and contour (XLD) + extraction, circle/line/shape fitting, 1D/2D/3D measuring and metrology, 2D/3D + and surface-based matching, camera calibration, stereo/depth, bar code and 2D + data code reading (QR, DataMatrix, PDF417), OCR/Deep OCR, classification, + D2W overlay/bullseye alignment metrology, or looking up a HALCON operator — even + when the user only states the vision goal (e.g. "measure these circles", "find + the mark centers", "read this DataMatrix", "no HALCON on my machine") without + naming HALCON. +metadata: + author: agent-studio + skill_version: "2.0" + halcon_version: "24.11.1.1 Windows (local) + 24.11.1 Linux (remote MCP)" + environments: "local: WSL -> Windows HALCON + uv venv | remote: halcon-remote MCP -> headless Linux server" +compatibility: >- + Local path: this machine only (Windows HALCON + Windows uv.exe + project venv + mvtec-halcon==24111.0.0 + monthly license). Remote path (halcon-remote MCP): any + machine with network access + a bearer token; no local HALCON needed. +--- + +# HALCON on this machine + +MVTec HALCON is a machine-vision library (operators for imaging, measuring, +matching, calibration, code reading, OCR, deep learning). This skill is about +**driving the HALCON that is installed here** and orchestrating vision pipelines +with it. It does **not** re-teach general vision theory — for operator details +and worked examples, read the bundled manuals on demand (see +`references/doc-map.md`). + +## Two runtimes — pick one + +**A. Local (Windows HALCON, this machine).** Everything below in this file +(Environment, the three execution methods, ROI teaching, gotchas) is the **local** +path. Use it when you are on this WSL/Windows box. + +**B. Remote over MCP (`halcon-remote`) — no local HALCON.** A HALCON 24.11 compute +service reachable over the public internet; the client needs only network + a +bearer token (no HALCON install, no minio creds, no VPN/tailnet). **Prefer this +when there is no local HALCON** (MacOS, plain Linux, a colleague's machine), or +for turnkey D2W overlay / find-circles jobs and large batches (zip → process → +CSV). Tools, image-in/result-out model, the zip batch pattern, D2W conventions, +and examples: **read `references/remote-mcp.md`** before using the remote tools. +Quick self-check: call `mcp__halcon-remote__halcon_get_env`. + +## ⚠️ Environment (LOCAL path) — read this first (it overrides assumptions) + +- **HALCON lives on the Windows side only.** Install: + `C:\Users\NAURA\AppData\Local\Programs\MVTec\HALCON-24.11-Progress-Steady`, + `bin\x64-win64` on the Windows PATH. **WSL has no Linux HALCON runtime** — you + must dispatch every execution to Windows binaries or the Windows venv. Do not + `pip install halcon` inside WSL and do not try to run it Linux-side. +- **Python is managed by `uv`, never called directly.** `uv` is not on the WSL + PATH; use the full path **`/mnt/c/Users/NAURA/.local/bin/uv.exe`**. From the + project dir it auto-detects `.venv`: + `uv.exe run python [args]`. The venv has + `mvtec-halcon==24111.0.0`. (See `references/invocation.md` for the exact, + tested commands.) +- **License** is a monthly evaluation `.dat` in `\license\`, refreshed + manually by the user. If operators fail with a license error, the current + month's `.dat` is likely missing/expired — tell the user; don't work around it. + +Smoke-test the environment before real work: +`uv.exe run python .claude/skills/halcon/scripts/check_env.py` — prints the +HALCON version and runs a trivial operator (exercises the license). + +## Three ways to execute — pick by task + +1. **HDevEngine from Python (preferred for automation).** Load an external + procedure (`.hdvp`) or a program (`.hdev`), set inputs, execute, read outputs + back as native Python values, and drive the loop in Python. Use the generic + runners: + - `scripts/run_procedure.py` — call one `.hdvp` with input/output params. + - `scripts/run_program.py` — run a whole `.hdev` and read control vars. +2. **`hrun.exe` (headless batch).** Runs a `.hdev` unattended; the script must + write its own output files. Gotchas: `hrun` does **not** auto-open a graphics + window (add `dev_open_window` if the script draws), and relative paths resolve + from the working dir. See `references/invocation.md`. +3. **HDevelop GUI (`hdevelop -run`, or `start_debug_server` + remote debug).** + For interactive inspection/debugging. Not for unattended runs — there is no + run-and-exit; the window stays open. + +Full flags, encoding handling, and copy-paste commands: **`references/invocation.md`**. + +## The human-in-the-loop seam: teach ROI once, reuse headless + +Interactive operators (`draw_rectangle1`, `draw_circle`, `draw_region`) cannot +run unattended. The clean pattern is: + +1. **Teach once (human draws):** `scripts/teach_roi.py` opens a viewer on a + representative image, the operator boxes the region, and `write_region` + persists it to a `.hobj` file. For the common rectangle case it's an + **interactive matplotlib picker** — left-drag = box, **right-drag = pan, + scroll wheel = zoom** — which stays smooth on multi-megapixel images (it + downsamples the display but keeps full-resolution box coordinates). `circle` + and `region` fall back to HALCON's native `draw_*` window. Add `--box + r1,c1,r2,c2` to write a rectangle headless (no GUI). Needs `matplotlib` + + `numpy` in the venv (`uv.exe pip install matplotlib numpy`). + The same thing is exposed as the MCP tool **`halcon_teach_roi`** (see + `references/mcp-server.md`), which runs the picker in a subprocess and returns + the saved bbox. +2. **Reuse forever (headless):** downstream procedures `read_region` the `.hobj` + and `reduce_domain` with it — no human needed. + +Re-teach only when the fixture, camera, or dataset changes. **Draw the ROI +tightly** around the target features: too large an ROI captures extra contours +and downstream count checks (e.g. "expected 16 circles") fail. + +A complete, tested example of this pattern is bundled in +`references/examples/` and is worth reading before building a new pipeline: +`teach_roi.py`, `find_circles.hdvp` (edge-fit **and** metrology-model circle +finding in one procedure), and `run_compare.py` (HDevEngine driver over a folder +of images). + +## Top gotchas (this environment) + +- **Never route Chinese/Unicode paths through `cmd.exe`.** Its GBK code page + corrupts them into "syntax incorrect" errors. Call the `.exe` (or `uv.exe`) + directly from WSL so argv is passed as UTF-16. +- **Console output is GBK.** Pipe through `iconv -f GBK -t UTF-8` to restore + Chinese text from HALCON/hrun stdout. +- **`hdevelop.exe` is a GUI app — its stdout is NOT captured from WSL.** For + conversion/export/batch, always write results to a **file**, never rely on + stdout. +- **Relative paths resolve from the current working directory.** `cd` into the + script's dir before `hrun`, or pass absolute paths (HDevEngine: always + absolute). +- **`hrun` opens no graphics window.** A script using `dev_get_window` / `draw_*` + must call `dev_open_window` first (HDevelop supplies one implicitly, hrun does + not). +- **`clip_region` defaults to `true` and clips regions to ~128×128.** Building a + region from full-resolution coordinates (`gen_rectangle1(2000, 2400, …)`) + silently yields an **empty** region, so a saved `.hobj` reads back with bbox + `0,0,0,0`. Call `set_system('clip_region', 'false')` before generating/reading + regions with large coordinates (clamp to image bounds yourself instead). The + ROI scripts already do this. + +## How to find the right operator / method + +**Fastest: the operator index** under `references/operator-ref/` (HALCON 24.11, +2387 operators). To find or confirm an operator, `grep -i +references/operator-ref/operators.txt` (e.g. `circle`, `measure`, `datacode`); +browse the chapter tree in `categories.md`; then open any operator's online +reference at `https://www.mvtec.com/doc/halcon/2411/en/.html`. This +beats opening PDFs when you just need the right operator name/signature. + +For depth, the 20 official manuals are bundled under `references/pdf/`. Do not +read them wholesale — **`references/doc-map.md`** maps each guide to its topics +and exact page ranges, so you open just the right pages with the Read tool +(`pages:` parameter). For distilled, ready-to-adapt pipelines per task type +(measuring, matching, code reading, calibration, …) read +**`references/task-recipes.md`** first; it points into the PDFs for depth. + +## Where to look — quick index + +| Need | Read | +|------|------| +| **Use HALCON remotely (no local install)** — remote MCP tools, image I/O, zip batch, D2W overlay | **`references/remote-mcp.md`** | +| Find/confirm a HALCON operator (name → doc URL), browse by category | `references/operator-ref/` (grep `operators.txt`, `categories.md`) | +| Call local HALCON as MCP tools (enhance/match/find-circles/metrology/teach-roi/run scripts) | `references/mcp-server.md` | +| Run/convert/export HALCON here; flags, encoding, license | `references/invocation.md` | +| Which manual + pages cover topic X | `references/doc-map.md` | +| A step-by-step pipeline for a task type | `references/task-recipes.md` | +| Generic HDevEngine procedure runner | `scripts/run_procedure.py` | +| Generic HDevEngine program runner | `scripts/run_program.py` | +| Teach an ROI interactively | `scripts/teach_roi.py` | +| Verify the environment works | `scripts/check_env.py` | diff --git a/plugins/halcon/skills/halcon/evals/evals.json b/plugins/halcon/skills/halcon/evals/evals.json new file mode 100644 index 0000000..93b9006 --- /dev/null +++ b/plugins/halcon/skills/halcon/evals/evals.json @@ -0,0 +1,123 @@ +{ + "skill_name": "halcon", + "notes": "Two eval sets. `trigger` checks the description fires on the right prompts and stays quiet on near-misses (run each >=3x, target should_trigger>0.5 / should_not_trigger<0.5). `quality` checks the loaded skill leads to correct machine-specific behavior; run with_skill vs without_skill and compare against assertions.", + "trigger": [ + { "prompt": "Run this HALCON procedure over a folder of images and give me the results", "should_trigger": true }, + { "prompt": "I have a .hdev script, can you execute it and read back the Total variable?", "should_trigger": true }, + { "prompt": "Measure the diameters of these circular marks in the image to sub-pixel accuracy", "should_trigger": true }, + { "prompt": "Read the DataMatrix code stamped on this part", "should_trigger": true }, + { "prompt": "Find where this template logo appears in each frame and report its angle", "should_trigger": true }, + { "prompt": "Calibrate this camera so I can measure parts in millimeters", "should_trigger": true }, + { "prompt": "Fit circles to the edges of these holes and compare two fitting methods", "should_trigger": true }, + { "prompt": "How do I set up HDevEngine from Python on this machine?", "should_trigger": true }, + { "prompt": "Align the point cloud of this bracket to its CAD model to get the 3D pose", "should_trigger": true }, + { "prompt": "The image processing keeps saying license error, what's wrong?", "should_trigger": true }, + { "prompt": "Let me draw a region on this image once and reuse it to restrict processing for a whole batch", "should_trigger": true }, + { "prompt": "I'm on my Mac and there's no HALCON installed — can you measure the overlay deviation on this bullseye alignment image?", "should_trigger": true }, + { "prompt": "Find the four ring-mark centers in every image in this folder and save them to a CSV", "should_trigger": true }, + { "prompt": "Batch-process a few thousand die photos to detect circle marks and give me one CSV, over the remote service", "should_trigger": true }, + { "prompt": "Parse this CSV of measurement results and plot a histogram", "should_trigger": false }, + { "prompt": "Write a Python script to rename these image files by timestamp", "should_trigger": false }, + { "prompt": "Explain how a Canny edge detector works in general terms", "should_trigger": false }, + { "prompt": "Set up an OpenCV pipeline to detect circles with HoughCircles", "should_trigger": false }, + { "prompt": "Convert this PNG to grayscale JPEG", "should_trigger": false }, + { "prompt": "Help me train a PyTorch model for defect classification", "should_trigger": false } + ], + "quality": [ + { + "id": "run-a-procedure", + "prompt": "Run the find_circles procedure in the project on the image C:/data/a.png with roi.hobj and give me the FitRow output.", + "expected_behavior": [ + "Uses HDevEngine (run_procedure.py or equivalent), not an invented API", + "Invokes python through uv.exe by full path, never bare `python`", + "Passes absolute paths for the image and ROI", + "Reads FitRow back as a native value from get_output_control_param_by_name" + ], + "assertions": [ + "The command uses /mnt/c/Users/NAURA/.local/bin/uv.exe (or an alias to it), not `python`/`python3` directly", + "Uses scripts/run_procedure.py or the documented HDevEngine set/execute/get sequence", + "Does not attempt a Linux-side HALCON install or `pip install halcon` in WSL" + ] + }, + { + "id": "unattended-draw", + "prompt": "I need to threshold inside a hand-drawn region for 500 images unattended. How should I structure this?", + "expected_behavior": [ + "Recognizes draw_* cannot run unattended", + "Proposes teach ROI once (teach_roi.py -> write_region -> .hobj) then read_region + reduce_domain headless", + "Warns to draw the ROI tightly" + ], + "assertions": [ + "Mentions the teach-once / reuse-headless ROI seam", + "References write_region/read_region (.hobj) rather than drawing per image" + ] + }, + { + "id": "find-operator-docs", + "prompt": "Which HALCON manual explains 2D metrology for fitting circles, and where?", + "expected_behavior": [ + "Points to solution_guide_iii_b_2d_measuring.pdf with page ranges from doc-map.md", + "Suggests reading only the relevant pages via the Read tool, not the whole PDF" + ], + "assertions": [ + "Names solution_guide_iii_b_2d_measuring.pdf", + "Gives specific pages/chapters rather than 'read the guide'" + ] + }, + { + "id": "teach-roi-interactive", + "prompt": "I need to draw an ROI around a small Mark on a 24-megapixel image — I want to zoom and pan to place it precisely, then save it for reuse.", + "expected_behavior": [ + "Uses scripts/teach_roi.py (rectangle) or the halcon_teach_roi MCP tool, which give pan (right-drag) / zoom (wheel) / box-select (left-drag)", + "Persists the ROI as a .hobj via write_region for headless reuse", + "Does not propose a plain draw_rectangle1-only window that cannot zoom/pan", + "Handles full-resolution coordinates (aware clip_region must be false, or that the picker keeps full-res coords while downsampling only the display)" + ], + "assertions": [ + "Proposes the interactive pan/zoom/box-select picker (teach_roi.py rectangle mode or halcon_teach_roi), not bare draw_rectangle1", + "Saves to a .hobj (write_region) for reuse", + "Mentions handling large/full-resolution coordinates (clip_region=false, or display-only downsampling)" + ] + }, + { + "id": "chinese-path", + "prompt": "HALCON says 'File not found' / the Chinese file path shows garbled characters when I run it. Why?", + "expected_behavior": [ + "Identifies the GBK/cmd.exe (or console) encoding issue", + "Advises calling the .exe/uv.exe directly from WSL (UTF-16 argv) and iconv for GBK console output" + ], + "assertions": [ + "Attributes garbling to GBK / cmd.exe / console code page, not to HALCON itself", + "Recommends not routing Unicode paths through cmd.exe" + ] + }, + { + "id": "remote-no-local-halcon", + "prompt": "I'm on a MacBook with no HALCON installed. Measure the Top/Bottom overlay deviation on this bullseye image ~/die.bmp and give me dX/dY in microns.", + "expected_behavior": [ + "Uses the remote halcon-remote MCP (no local HALCON); reads references/remote-mcp.md", + "Gets the image to the server via image_b64 (single small image) or halcon_create_upload -> PUT -> key, not a client-side file path", + "Calls halcon_measure_overlay and reports overlay_dX_um/overlay_dY_um (um, Bottom - Top)" + ], + "assertions": [ + "Uses mcp__halcon-remote__halcon_measure_overlay, not a local Windows HALCON invocation", + "Supplies the image via image_b64 or halcon_create_upload presigned PUT (not `file:` which is server-side, nor a local path the server cannot see)", + "Does not attempt a local HALCON install" + ] + }, + { + "id": "remote-batch-zip", + "prompt": "I have ~2000 die images in a folder. Find the 4 ring-mark centers in each and give me one CSV, using the remote HALCON service.", + "expected_behavior": [ + "Zips the folder into one file (store mode) and uploads once via halcon_create_upload -> single PUT", + "Calls halcon_find_circles_zip(zip_key) and returns/downloads the csv_url", + "Notes synchronous execution (~minutes for thousands) and a long client timeout" + ], + "assertions": [ + "Uses the zip -> halcon_create_upload -> halcon_find_circles_zip pattern (one upload), not 2000 per-file uploads", + "Retrieves the result CSV via the returned csv_url", + "Does not call halcon_create_upload once per image" + ] + } + ] +} diff --git a/plugins/halcon/skills/halcon/references/doc-map.md b/plugins/halcon/skills/halcon/references/doc-map.md new file mode 100644 index 0000000..63b1d40 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/doc-map.md @@ -0,0 +1,134 @@ +# HALCON manual map — read the right pages on demand + +The 20 official manuals are **bundled in this skill** at `references/pdf/`: + +- Relative to the skill: `references/pdf/.pdf` +- Absolute (this machine): `/mnt/c/workspace/agent-studio/halcon-001/.claude/skills/halcon/references/pdf/.pdf` +- Windows: `C:\workspace\agent-studio\halcon-001\.claude\skills\halcon\references\pdf\.pdf` + +(The Read tool needs the absolute path.) + +**Do not read a whole guide.** Use the Read tool's `pages:` parameter (max 20 +pages/request) with the page ranges below. Page numbers are the PDF's own page +numbers (1-based); `reference_hdevelop.pdf` is 3218 pages — always target a +range. For a task-first entry point, read `task-recipes.md` before diving into a +PDF. + +## Task → guide (start here) + +| Your goal | Primary guide (file) | Pages | +|-----------|----------------------|-------| +| Orient / pick a method for any vision task | `solution_guide_i.pdf` | ch.1 p13–20 | +| Learn HDevelop, the language, assistants | `hdevelop_users_guide.pdf` | see below | +| Call HALCON from C++/.NET/Python/C, HDevEngine | `programmers_guide.pdf` | see below | +| Acquire images from a camera/file | `solution_guide_ii_a_image_acquisition.pdf` | all (56p) | +| Blob analysis (threshold → connection → features) | `solution_guide_i.pdf` | ch.4 p33–44 | +| 1D measuring (edges along a line/arc; calipers) | `solution_guide_iii_a_1d_measuring.pdf` | all (64p) | +| 2D measuring / metrology (fit circles, lines, geometry) | `solution_guide_iii_b_2d_measuring.pdf` | all (74p) | +| Edge & contour (XLD) extraction, contour processing | `solution_guide_i.pdf` | ch.6–9 p55–88 | +| 2D matching (find a template: shape/NCC/…) | `solution_guide_ii_b_matching.pdf` | all (106p) | +| 3D matching / 3D position of known objects | `solution_guide_iii_c_3d_vision.pdf` | ch.4 p91–116 | +| Surface-based (3D point-cloud) matching | `surface_based_matching.pdf` | all (30p) | +| Camera calibration, world coords, single-camera metric | `solution_guide_iii_c_3d_vision.pdf` | ch.2–3 p13–90 | +| Stereo / sheet-of-light / depth-from-focus / robot vision | `solution_guide_iii_c_3d_vision.pdf` | ch.5–8 p117–190 | +| Bar codes | `solution_guide_i.pdf` | ch.16 p159–174 | +| 2D data codes (DataMatrix, QR, PDF417), print quality | `solution_guide_ii_c_2d_data_codes.pdf` | all (58p) | +| OCR (classic) / Deep OCR | `solution_guide_i.pdf` | ch.18 p183–208 / ch.19 p209–214 | +| Classification (features, segmentation, OCR) | `solution_guide_ii_d_classification.pdf` | all (106p) | +| Color / texture analysis | `solution_guide_i.pdf` | ch.14 p131–142 / ch.15 p143–158 | +| Exact operator signature & parameters | `reference_hdevelop.pdf` | search by operator | +| Install / license troubleshooting | `installation_guide.pdf` | ch.5,7 p25–40 | +| Performance: parallelism, memory, GPU/compute devices | `parallel_programming.pdf`, `memory_management.pdf`, `solution_guide_i.pdf` ch.22 | + +## Per-guide detail + +### solution_guide_i.pdf (255p) — the master "how to solve X" guide +The single most useful guide for method selection. Chapters (page = start): +1 Guide to HALCON Methods p13 · 2 Image Acquisition p21 · 3 Region Of Interest +p25 · 4 Blob Analysis p33 · 5 1D Measuring p45 · 6 Edge Extraction (pixel) p55 · +7 Edge Extraction (subpixel) p63 · 8 Structured Light p69 · 9 Contour Processing +p79 · 10 2D Matching p89 · 11 3D Matching p101 · 12 Variation Model p111 · 13 +Classification p119 · 14 Color Processing p131 · 15 Texture Analysis p143 · 16 +Bar Code p159 · 17 Data Code p175 · 18 OCR p183 · 19 Deep OCR p209 · 20 Stereo +Vision p215 · 21 Visualization p223 · 22 Compute Devices (GPU) p233 · 23 I/O +Devices p247. + +### hdevelop_users_guide.pdf (344p) — the IDE and the HDevelop language +2 Getting Started p15 · 3 Acquiring Images p23 · 4 Programming With HDevelop p31 +· 5 Procedures (.hdvp, scope, JIT) p43 · 7 Assistants (Image Acquisition p180, +**Calibration p184**, **Matching p202**, **Measure p219**, OCR p231) · 8 HDevelop +Language (types p247, tuples p288, control flow p276, error handling p282, +parallel p283) · 9 Remote Debugging p299 · 10 Code Export p303 · Appendix C +**Command Line Usage** (HDevelop p323, Hrun p326). + +### programmers_guide.pdf (209p) — calling HALCON from a language +Part I General (which interface to use p13, parallel p15, tips p23) · II C++ p31 · +III .NET p59 · **IV Python p91** · V C p107 · **VI Using HDevEngine p137**. Read +Part IV + VI for the Python/HDevEngine automation used by this skill. + +### solution_guide_iii_b_2d_measuring.pdf (74p) — 2D metrology +1 Introduction p7 · 2 **Basic Tools** p11 · 3 **Tool Selection** p27 · 4 +**Examples for Practical Guidance** p35 · 5 Miscellaneous p63. This is the guide +for fitting circles/lines/rectangles and the metrology model (the approach used +in `find_circles.hdvp`). + +### solution_guide_iii_a_1d_measuring.pdf (64p) — calipers along a line/arc +2 Basics of Measure Objects p9 · 3 Using the Measure Object p15 · 4 Fuzzy Measure +Object p27 · A Slanted Edges p37. Use for edge position/width along a +gen_measure_rectangle2 / _arc profile. + +### solution_guide_ii_b_matching.pdf (106p) — 2D template matching +1 Introduction p7 · 2 **General Topics** p17 · 3 **The Individual Approaches** +p47 (shape-based, NCC/correlation, component, deformable, descriptor, …). Chapter +3 is the menu of matching methods and how to choose. + +### solution_guide_iii_c_3d_vision.pdf (238p) — everything 3D +2 **Basics** (camera model, calibration) p13 · 3 **Metric Measurements in a Plane +w/ Single Camera** p59 · 4 **3D Position of Known Objects** p91 · 5 Stereo p117 · +6 Sheet-of-Light (laser triangulation) p147 · 7 Depth from Focus p163 · 8 Robot +Vision (hand-eye) p175 · 9 Calibrated Mosaicking p191 · 10 Uncalibrated +Mosaicking p205 · 11 Rectification p219 · A HDevelop procedures used p231. + +### solution_guide_ii_c_2d_data_codes.pdf (58p) — QR/DataMatrix/PDF417 +2 A First Example p9 · 3 Model Adaptation p11 · 4 Preprocessing Difficult Images +p25 · 5 Problem Handling p29 · 6 Print Quality p45. + +### solution_guide_ii_d_classification.pdf (106p) — classifiers +3 Theoretical Background p15 · 4 Decisions to Make p27 · 5 General Features p31 · +6 Image Segmentation p57 · 7 OCR p75 · 8 General Tips p93. (Classic ML +classifiers — MLP/SVM/GMM/k-NN; for deep learning see solution_guide_i ch.13/19.) + +### surface_based_matching.pdf (30p) — 3D point-cloud matching +1 Overview p7 · 2 **Workflow** p11 · 3 Data Requirements p15 · 4 Troubleshooting +p17 · 5 Tips for Speed/Robustness/Accuracy p22 · 6 Background Removal p26. + +### solution_guide_ii_a_image_acquisition.pdf (56p) — grabbing images +Acquisition interface philosophy, connecting to a device, grab modes (single / +continuous / async), and image/parameter appendices. + +### reference_hdevelop.pdf (3218p) — the operator reference +Every operator's signature, parameters, and semantics, grouped by chapter. **Do +not browse.** To confirm a specific operator, search the TOC in +`references/pdf/_toc.json` (bundled) or grep the extracted text, then Read only +that operator's few pages. + +### Smaller / situational guides +- `quick_guide.pdf` (19p) — architecture + how to develop; good 5-minute orientation. +- `installation_guide.pdf` (47p) — editions, install, **licenses (ch.5 p25)**, **troubleshooting (ch.7 p37)**, Docker, env vars. +- `parallel_programming.pdf` (27p) — minimize response time / maximize throughput / responsiveness. +- `memory_management.pdf` (17p) — image/global/temp caches, suspected leaks, FAQ. +- `gray_value_interpolation.pdf` (16p) — nearest/bilinear/bicubic; affects rotate/zoom/affine accuracy. +- `technical_updates.pdf` (10p) — Handles (18.05), **UTF-8 encoding (18.11)**. +- `extension_package_programmers_manual.pdf` (147p) — writing custom C operators; **Appendix A HALCON Error Codes p105**. +- `arm_based_platforms.pdf` (16p) — Arm/embedded (not this machine; reference only). + +## Regenerating the TOC index + +The full multi-level TOC is bundled at `references/pdf/_toc.json`. To rebuild +(e.g. after adding/updating a manual): + +```bash +cd /mnt/c/workspace/agent-studio/halcon-001 +/mnt/c/Users/NAURA/.local/bin/uv.exe run --no-project --with pymupdf \ + python .claude/skills/halcon/scripts/extract_toc.py +``` diff --git a/plugins/halcon/skills/halcon/references/examples/demo_prog.hdev b/plugins/halcon/skills/halcon/references/examples/demo_prog.hdev new file mode 100644 index 0000000..53baeda --- /dev/null +++ b/plugins/halcon/skills/halcon/references/examples/demo_prog.hdev @@ -0,0 +1,17 @@ + + + + + +Values := [1, 2, 3, 4, 10] +Total := sum(Values) +gen_image_const (Img, 'byte', 20, 10) +threshold (Img, Region, 0, 128) +area_center (Region, Area, RowC, ColC) +Message := 'driven by HDevEngine' + + + + + + diff --git a/plugins/halcon/skills/halcon/references/examples/drive_hdevengine.py b/plugins/halcon/skills/halcon/references/examples/drive_hdevengine.py new file mode 100644 index 0000000..dbf72ea --- /dev/null +++ b/plugins/halcon/skills/halcon/references/examples/drive_hdevengine.py @@ -0,0 +1,10 @@ +"""Remote-control a .hdev program via HDevEngine: run it, read variables back.""" +from halcon.hdevengine import HDevProgram, HDevProgramCall + +program = HDevProgram("demo_prog.hdev") +call = HDevProgramCall(program) +call.execute() # runs the exact same code HDevelop would run + +# pull any control variable back out by name +for name in ("Total", "Area", "RowC", "ColC", "Message"): + print(f"{name} =", call.get_control_var_by_name(name)) diff --git a/plugins/halcon/skills/halcon/references/examples/find_circles.hdvp b/plugins/halcon/skills/halcon/references/examples/find_circles.hdvp new file mode 100644 index 0000000..07ab3c4 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/examples/find_circles.hdvp @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + +read_image (Image1, ImageFile) +read_region (Rectangle, RoiFile) +get_image_size (Image1, Width, Height) +reduce_domain (Image1, Rectangle, ImageReduced) +edges_sub_pix (ImageReduced, Edges, 'canny', 3, 10, 40) +select_contours_xld (Edges, SelectedContours1, 'contour_length', 50, 500, -0.5, 0.5) +union_adjacent_contours_xld (SelectedContours1, UnionContours, 10, 1, 'attr_keep') +select_contours_xld (UnionContours, SelectedContours, 'contour_length', 300, 400, -0.5, 0.5) +sort_contours_xld (SelectedContours, SortedContours, 'character', 'true', 'column') +fit_circle_contour_xld (SortedContours, 'algebraic', -1, 0, 0, 3, 2, FitRow, FitCol, Radius, StartPhi, EndPhi, PointOrder) +if (|FitRow| != 16) + throw ('fit circle count != 16, got ' + |FitRow|) +endif +CircleRadiusTolerance := 15 +create_metrology_model (MetrologyHandle) +set_metrology_model_image_size (MetrologyHandle, Width, Height) +add_metrology_object_circle_measure (MetrologyHandle, FitRow, FitCol, Radius, CircleRadiusTolerance, 5, 1, 30, [], [], MetrologyCircleIndices) +set_metrology_object_param (MetrologyHandle, MetrologyCircleIndices, 'num_instances', 1) +set_metrology_object_param (MetrologyHandle, MetrologyCircleIndices, 'measure_transition', 'positive') +set_metrology_object_param (MetrologyHandle, MetrologyCircleIndices, 'min_score', 0.3) +apply_metrology_model (Image1, MetrologyHandle) +get_metrology_object_result (MetrologyHandle, MetrologyCircleIndices, 'all', 'result_type', 'all_param', CircleParameter) +Sequence := [0:3:|CircleParameter| - 1] +MetroRow := CircleParameter[Sequence] +MetroCol := CircleParameter[Sequence + 1] +if (|MetroRow| != 16) + throw ('metrology circle count != 16, got ' + |MetroRow|) +endif +clear_metrology_model (MetrologyHandle) + + + + + + + + + + + + + diff --git a/plugins/halcon/skills/halcon/references/examples/run_compare.py b/plugins/halcon/skills/halcon/references/examples/run_compare.py new file mode 100644 index 0000000..e8f5493 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/examples/run_compare.py @@ -0,0 +1,79 @@ +"""HDevEngine 全自动驱动:读 roi.hobj,循环所有 png 跑 find_circles, +对比 拟合法 vs 计量模型法 两种找圆结果,输出偏差统计,并写 CSV。""" +import math +import csv +from halcon.hdevengine import HDevEngine, HDevProcedure, HDevProcedureCall, HDevEngineError +import halcon as ha + +PROJ = r"C:\workspace\agent-studio\halcon-001" +IMG_DIR = r"C:\工作文档\2025.10.03_精度实验数据分析\两种找圆算法对比\初始状态-往复-右侧上视左标定片阵列Mark定位" +ROI_FILE = PROJ + r"\roi.hobj" +CSV_OUT = PROJ + r"\compare_result.csv" + +def as_list(v): + return list(v) if isinstance(v, (list, tuple)) else [v] + +# 引擎 + procedure +eng = HDevEngine() +eng.set_procedure_path(PROJ) +proc = HDevProcedure.load_external("find_circles") +call = HDevProcedureCall(proc) + +# 图片列表 +files = ha.list_files(IMG_DIR, "files") +pngs = sorted(ha.tuple_regexp_select(files, r"\.png$")) +print(f"待处理图片: {len(pngs)} 张") + +all_dists = [] # 所有 图×圆 的中心欧氏距离 +per_image_mean = [] # 每张图的平均偏差 +skipped = 0 +rows_csv = [("image", "circle_idx", "fit_row", "fit_col", "metro_row", "metro_col", "dist_px")] + +for path in pngs: + call.reset() + call.set_input_control_param_by_name("ImageFile", path) + call.set_input_control_param_by_name("RoiFile", ROI_FILE) + try: + call.execute() + except HDevEngineError as e: + skipped += 1 + if skipped <= 3: + print(f"[skip] {path.rsplit(chr(92),1)[-1]}: {e}") + continue + fr = as_list(call.get_output_control_param_by_name("FitRow")) + fc = as_list(call.get_output_control_param_by_name("FitCol")) + mr = as_list(call.get_output_control_param_by_name("MetroRow")) + mc = as_list(call.get_output_control_param_by_name("MetroCol")) + + name = path.rsplit("\\", 1)[-1] + dists = [] + for i in range(16): + d = math.hypot(fr[i] - mr[i], fc[i] - mc[i]) + dists.append(d) + all_dists.append(d) + rows_csv.append((name, i, f"{fr[i]:.4f}", f"{fc[i]:.4f}", + f"{mr[i]:.4f}", f"{mc[i]:.4f}", f"{d:.4f}")) + per_image_mean.append(sum(dists) / len(dists)) + +# 统计 +def stats(xs): + n = len(xs) + m = sum(xs) / n + sd = math.sqrt(sum((x - m) ** 2 for x in xs) / n) + return n, m, sd, min(xs), max(xs) + +with open(CSV_OUT, "w", newline="", encoding="utf-8-sig") as f: + csv.writer(f).writerows(rows_csv) + +print("=" * 60) +print(f"成功处理: {len(per_image_mean)} 张 跳过(圆数!=16): {skipped} 张") +if all_dists: + n, m, sd, lo, hi = stats(all_dists) + print(f"两算法圆心偏差 (像素),样本 {n} 个圆:") + print(f" 均值 = {m:.4f}") + print(f" 标准差 = {sd:.4f}") + print(f" 最小 = {lo:.4f}") + print(f" 最大 = {hi:.4f}") + _, mm, _, _, _ = stats(per_image_mean) + print(f" 每图平均偏差的均值 = {mm:.4f}") +print(f"明细已写: {CSV_OUT}") diff --git a/plugins/halcon/skills/halcon/references/examples/teach_roi.py b/plugins/halcon/skills/halcon/references/examples/teach_roi.py new file mode 100644 index 0000000..aee866f --- /dev/null +++ b/plugins/halcon/skills/halcon/references/examples/teach_roi.py @@ -0,0 +1,30 @@ +"""ROI 示教工具:显示一张代表图,人工画一次矩形,存成 roi.hobj。运行一次即可。""" +import halcon as ha + +IMG_DIR = r"C:\工作文档\2025.10.03_精度实验数据分析\两种找圆算法对比\初始状态-往复-右侧上视左标定片阵列Mark定位" +ROI_FILE = r"C:\workspace\agent-studio\halcon-001\roi.hobj" + +# 取目录里第一张 png 作为代表图 +files = ha.list_files(IMG_DIR, "files") +pngs = sorted(ha.tuple_regexp_select(files, r"\.png$")) +if not pngs: + raise SystemExit("目录里没有 png") +img = ha.read_image(pngs[0]) +width, height = ha.get_image_size(img) +width, height = width[0], height[0] + +# 开窗口,映射到整幅图坐标(这样画出来的框就是图像坐标) +win = ha.open_window(0, 0, 1024, 768, 0, "visible", "") +ha.set_part(win, 0, 0, height - 1, width - 1) +ha.disp_obj(img, win) +ha.set_color(win, "green") + +print("请在弹出的窗口里用鼠标左键拖出 ROI 矩形,松开即可 ...", flush=True) +row1, col1, row2, col2 = ha.draw_rectangle1(win) # 阻塞,等人工画 + +rect = ha.gen_rectangle1(row1, col1, row2, col2) +ha.write_region(rect, ROI_FILE) + +print(f"ROI 已保存: {ROI_FILE}") +print(f"矩形坐标 Row1={row1:.1f} Col1={col1:.1f} Row2={row2:.1f} Col2={col2:.1f}") +ha.close_window(win) diff --git a/plugins/halcon/skills/halcon/references/invocation.md b/plugins/halcon/skills/halcon/references/invocation.md new file mode 100644 index 0000000..f7b164f --- /dev/null +++ b/plugins/halcon/skills/halcon/references/invocation.md @@ -0,0 +1,179 @@ +# Invoking HALCON on this machine + +Everything here is specific to this install. Read `SKILL.md` first for the +one-paragraph environment summary; this file is the detailed, copy-paste +reference. + +## Fixed paths + +| What | Path | +|------|------| +| HALCON install | `C:\Users\NAURA\AppData\Local\Programs\MVTec\HALCON-24.11-Progress-Steady` | +| Windows binaries | `\bin\x64-win64` (on Windows PATH: `hrun.exe`, `hdevelop.exe`, `hhostid.exe`) | +| License dir | `\license\` — monthly `license_eval_halcon_progress_YYYY_MM.dat` | +| Project | `C:\workspace\agent-studio\halcon-001` (WSL: `/mnt/c/workspace/agent-studio/halcon-001`) | +| venv | `C:\workspace\agent-studio\halcon-001\.venv` (`mvtec-halcon==24111.0.0`) | +| venv python (direct) | `C:\workspace\agent-studio\halcon-001\.venv\Scripts\python.exe` | +| **uv (use this)** | `/mnt/c/Users/NAURA/.local/bin/uv.exe` | + +WSL has **no** Linux HALCON runtime. Every path above is Windows-side; drive it +from WSL by calling the Windows `.exe` directly. + +## Running Python (always via uv) + +`uv` is not on the WSL PATH — call it by full path. Run from the **project +directory** so `uv` auto-detects `.venv` (there is no `pyproject.toml`; uv picks +up the local `.venv`): + +```bash +cd /mnt/c/workspace/agent-studio/halcon-001 +/mnt/c/Users/NAURA/.local/bin/uv.exe run python [args...] +``` + +Tested: `uv.exe run python -c "import halcon as ha; print(ha.get_system('version'))"` +→ `['24.11']`. If you prefer a shorter command, alias it: +`alias uv=/mnt/c/Users/NAURA/.local/bin/uv.exe` (session-local). + +> Do **not** call `python`/`python3` directly (user rule). Use `uv run`. Direct +> `.venv\Scripts\python.exe` also works but `uv` is preferred. + +## Method 1 — HDevEngine from Python (preferred for automation) + +HDevEngine runs the exact `.hdev`/`.hdvp` logic HDevelop would, from Python, so +you can pass inputs in and read variables back. Interactive `draw_*` operators +are **not** supported here — supply those inputs as parameters (see ROI seam). + +### Imports (ground truth from the tested project) + +```python +from halcon.hdevengine import ( + HDevEngine, HDevProcedure, HDevProcedureCall, + HDevProgram, HDevProgramCall, HDevEngineError, +) +import halcon as ha # plain operators: read_image, list_files, tuple_*, ... +``` + +### External procedure (`.hdvp`) + +```python +eng = HDevEngine() +eng.set_procedure_path(r"C:\workspace\agent-studio\halcon-001") # dir holding the .hdvp +proc = HDevProcedure.load_external("find_circles") # base name, no extension +call = HDevProcedureCall(proc) + +call.reset() # before each iteration +call.set_input_control_param_by_name("ImageFile", r"C:\data\a.png") +call.set_input_control_param_by_name("RoiFile", r"C:\...\roi.hobj") +call.execute() +fit_row = call.get_output_control_param_by_name("FitRow") # -> native list/scalar +``` + +Wrap `call.execute()` in `try/except HDevEngineError` to skip bad images (the +tested `find_circles.hdvp` `throw`s when the circle count != 16; the Python +driver catches it and continues). Helper: values come back as scalars or +lists — normalize with `list(v) if isinstance(v,(list,tuple)) else [v]`. + +Use the generic runner instead of hand-writing this: + +```bash +uv.exe run python .claude/skills/halcon/scripts/run_procedure.py \ + --proc-path C:/workspace/agent-studio/halcon-001 \ + --proc find_circles \ + --set ImageFile=C:/data/a.png --set RoiFile=C:/workspace/agent-studio/halcon-001/roi.hobj \ + --get FitRow --get FitCol --get MetroRow --get MetroCol +# prints a JSON object of the requested outputs +``` + +### Whole program (`.hdev`) + +```python +program = HDevProgram(r"C:\...\demo_prog.hdev") +call = HDevProgramCall(program) +call.execute() +total = call.get_control_var_by_name("Total") # any control var by name +``` + +Generic runner: `scripts/run_program.py --program --get Total --get Area`. + +## Method 2 — `hrun.exe` (headless batch) + +Runs a `.hdev` to completion without the GUI. The script must persist its own +results (write to file). Launch from WSL with the working dir set so relative +paths resolve: + +```bash +cd /path/to/script/dir +"/mnt/c/Users/NAURA/AppData/Local/Programs/MVTec/HALCON-24.11-Progress-Steady/bin/x64-win64/hrun.exe" \ + script.hdev | iconv -f GBK -t UTF-8 +``` + +Useful flags: + +| Flag | Meaning | +|------|---------| +| `-c ` | after the run, check a variable; nonzero/true = success | +| `-D name=value` | preset a global control variable | +| `-d` | dump all control variable values after the run | +| `-j` | run procedures JIT-compiled | + +Gotchas: **no graphics window is opened** — if the script uses +`dev_get_window`/`draw_*`, add `dev_open_window` first. Keep an +hrun-runnable copy of interactive scripts (the project convention is a +`*_hrun.hdev` variant with `dev_open_window` added and `stop()`/`draw_*` +removed). + +## Method 3 — HDevelop GUI (`hdevelop.exe`) + +For interactive runs / inspection. There is **no run-and-exit**; the window stays +open until closed. `hdevelop.exe` is a GUI app, so **its stdout is not captured +from WSL** — for any batch/convert/export use file outputs. + +- `hdevelop -run ` — open GUI and auto-run. +- `-override_stop ` — replace every `stop()` with `wait_seconds(n)` (use `0`). +- `-override_wait ` — override all `wait_seconds()` durations. +- `-external_proc_path ""` — external procedure search path. + +Remote debugging: a running application calls `start_debug_server` (HALCON) / +enables the debug server, then HDevelop attaches to it. See +`hdevelop_users_guide.pdf` ch. 9 (Remote Debugging, p299). + +### Convert / export (batch, no interaction — write to a FILE) + +- Convert: `hdevelop -convert ` — target type from `` extension + (`.hdev/.dev/.hdvp/.dvp/.hdpl/.c/.cpp/.cs/.vb/.txt`). Add `-no_msg_box` to + suppress GUI error dialogs in batch; `-external_procs_only_interfaces` for + interface-only export. +- Export project: `hdevelop -export_project` for a CMake C++/C# project. + **`-namespace` is REQUIRED** — omitting it fails silently and writes nothing. + Prefer absolute paths for input and output folder. + +Command-line reference: `hdevelop_users_guide.pdf` Appendix C (p323 HDevelop, +p326 Hrun). + +## The ROI seam (teach once → reuse headless) + +- **Teach:** `scripts/teach_roi.py` — shows a representative image, human drags a + shape, `write_region` saves `roi.hobj`. Draw **tightly** (loose ROI → extra + contours → count checks fail). +- **Reuse:** in a procedure/program, `read_region(Roi, RoiFile)` then + `reduce_domain(Image, Roi, ImageReduced)`. This is what unattended runs call + instead of `draw_*`. + +## Encoding & path gotchas (recap with fixes) + +- Chinese/Unicode paths: call the `.exe`/`uv.exe` **directly** from WSL (UTF-16 + argv). Never wrap in `cmd.exe /c` (GBK → "syntax incorrect"). +- Restore Chinese console output: `... | iconv -f GBK -t UTF-8`. +- HALCON internally uses UTF-8 for strings since 18.11 (see + `technical_updates.pdf`); the GBK issue is the Windows *console/cmd* layer, not + HALCON itself. +- HDevEngine: always pass **absolute** paths — no cwd ambiguity. + +## License + +Monthly evaluation `.dat` in `\license\`, updated manually by the user. +Stale/expired `.dat` files may linger; HALCON auto-selects a valid one. If you +hit a license error, the current month's file is probably missing — **surface +this to the user**, don't attempt to bypass it. Host id for a new license: +run `hhostid.exe` (also a quick "can the binaries execute?" check). License +details: `installation_guide.pdf` ch. 5 (p25). diff --git a/plugins/halcon/skills/halcon/references/mcp-server.md b/plugins/halcon/skills/halcon/references/mcp-server.md new file mode 100644 index 0000000..008dd69 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/mcp-server.md @@ -0,0 +1,64 @@ +# halcon-mcp — the HALCON MCP server + +A local MCP server that exposes common HALCON algorithms + script runners as +tools, for driving HALCON experiments without hand-writing Python each time. It +lives at the **project root** (outside this skill): `halcon-mcp/`. Source of truth +is `halcon-mcp/README.md`; this file is the pointer from the skill. + +## What it is + +- Python + official `mcp` SDK (FastMCP), **stdio** transport. +- Runs **in-process** in the shared HALCON venv (`import halcon`), so algorithm + tools call operators directly and return structured JSON + the **equivalent + HDevelop code** + an **overlay PNG**. +- Errors return `{ok:false, error:...}` (no crash) so the model can self-correct. + +## Tools (11) + +Run/experiment: `halcon_check_env`, `halcon_run_script` (inline HDevelop snippet), +`halcon_run_program` (.hdev), `halcon_run_procedure` (.hdvp), `halcon_run_hrun` +(headless, GBK-decoded), `halcon_open_in_hdevelop` (GUI), `halcon_teach_roi` +(interactive pan/zoom/box-select ROI → `.hobj`, or headless via `box`; runs +`halcon-mcp/roi_picker.py` in a subprocess and returns the saved bbox). + +Algorithms: `halcon_enhance_image`, `halcon_find_circles` (edge-fit + metrology, +same chain as `examples/find_circles.hdvp`), `halcon_measure_metrology` +(circle/line/rectangle2), `halcon_match_shape` (2D shape-based matching). + +`halcon_teach_roi`'s output feeds `halcon_find_circles` / `halcon_match_shape` / +`halcon_measure_metrology` as their `roi_file` / `template_roi`. + +## Prerequisite (one-time) + +Add `mcp` to the shared venv (mvtec-halcon is already there): + +```bash +/mnt/c/Users/NAURA/.local/bin/uv.exe pip install mcp +``` + +## Register in Claude Code (this WSL) + +A ready config is at the project root as `.mcp.json` (copied from +`halcon-mcp/.mcp.json.example`). Or via CLI: + +```bash +claude mcp add halcon -- /mnt/c/Users/NAURA/.local/bin/uv.exe run \ + --directory C:/workspace/agent-studio/halcon-001 python halcon-mcp/server.py +``` + +Then `/mcp` lists `halcon`. The server is a Windows process launched from WSL; +it speaks JSON-RPC over stdio across the interop boundary (verified working). + +## Test without a client + +```bash +/mnt/c/Users/NAURA/.local/bin/uv.exe run python halcon-mcp/examples/smoke_test.py +``` + +## Relationship to this skill + +The skill is the **knowledge** (how to run HALCON here, the manuals, recipes); +the MCP server is the **executable surface** built from that knowledge. When a +task needs repeatable, parameterized calls (enhance / find circles / metrology / +matching / run a script), prefer the `halcon_*` MCP tools; for one-off custom +pipelines, use the skill's `scripts/` runners or write an `.hdvp`. diff --git a/plugins/halcon/skills/halcon/references/operator-ref/README.md b/plugins/halcon/skills/halcon/references/operator-ref/README.md new file mode 100644 index 0000000..e3200cd --- /dev/null +++ b/plugins/halcon/skills/halcon/references/operator-ref/README.md @@ -0,0 +1,41 @@ +# HALCON 24.11 算子参考索引 (Operator Reference Index) + +面向 Halcon skills / Agent 检索用的离线索引，数据源为 MVTec 官方在线参考 +`https://www.mvtec.com/doc/halcon/2411/en/`（版本 24.11.2.0，公开无需登录）。 + +## 文件 + +| 文件 | 内容 | +|---|---| +| `operators.csv` | 全部算子 `operator,doc_url`（2387 行）。程序化检索首选。 | +| `operators.txt` | 纯算子名列表，一行一个。`grep` 快查用。 | +| `categories.md` | 算子分类目录树（29 个顶级章节 / 219 个 TOC 页），每个 TOC 页 URL 列出该类算子。 | + +## 用法 + +**按名查文档**（拼出算子文档页）： +``` +https://www.mvtec.com/doc/halcon/2411/en/.html +# 例: gen_measure_rectangle2 -> .../gen_measure_rectangle2.html +``` + +**模糊找算子**： +```bash +grep -i circle operators.txt # 找圆相关算子 +grep -iE 'measure|metrology' operators.txt +``` + +**按功能定位**（先查 categories.md 找到对应 TOC 页，再打开看该类下所有算子）： +- 圆心/边缘亚像素测量 → `toc_2dmetrology` / `toc_1dmeasuring` / `toc_xld_features` +- 模板匹配（overlay 粗定位）→ `toc_matching_shapebased` / `toc_matching_correlationbased` +- XLD 轮廓/圆拟合 → `toc_xld` 及子类 +- 标定 → `toc_calibration` + +## 与本项目的对应 + +D2W overlay 复核链路常用：`gen_measure_rectangle2` / `measure_pos`（1D 边缘）、 +`edges_sub_pix` + `select_shape_xld` + `fit_circle_contour_xld`（XLD 圆拟合）、 +`find_shape_model`（套圈 Mark 粗定位）、`area_center` / `smallest_circle`（圆心统计）。 + +> 注：这是**索引**，不含算子正文。正文按需从上面的 URL 现取（或安装本地 +> HALCON 后从 `$HALCONROOT/doc/html/reference/` 离线读取）。 diff --git a/plugins/halcon/skills/halcon/references/operator-ref/categories.md b/plugins/halcon/skills/halcon/references/operator-ref/categories.md new file mode 100644 index 0000000..3c51775 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/operator-ref/categories.md @@ -0,0 +1,223 @@ +# HALCON 24.11 算子分类目录 (Operator Reference TOC) + +顶级章节 29 个 · TOC 页 219 个 · 算子 2387 个 + +- **1dmeasuring** — https://www.mvtec.com/doc/halcon/2411/en/toc_1dmeasuring.html +- **2dmetrology** — https://www.mvtec.com/doc/halcon/2411/en/toc_2dmetrology.html +- **3dmatching** — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching.html + - 3dbox — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_3dbox.html + - 3dgrippingpointdetection — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_3dgrippingpointdetection.html + - deep3dmatching — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_deep3dmatching.html + - deformablesurfacebased — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_deformablesurfacebased.html + - shapebased — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_shapebased.html + - surfacebased — https://www.mvtec.com/doc/halcon/2411/en/toc_3dmatching_surfacebased.html +- **3dobjectmodel** — https://www.mvtec.com/doc/halcon/2411/en/toc_3dobjectmodel.html + - creation — https://www.mvtec.com/doc/halcon/2411/en/toc_3dobjectmodel_creation.html + - features — https://www.mvtec.com/doc/halcon/2411/en/toc_3dobjectmodel_features.html + - segmentation — https://www.mvtec.com/doc/halcon/2411/en/toc_3dobjectmodel_segmentation.html + - transformations — https://www.mvtec.com/doc/halcon/2411/en/toc_3dobjectmodel_transformations.html +- **3dreconstruction** — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction.html + - binocularstereo — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_binocularstereo.html + - depthfromfocus — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_depthfromfocus.html + - multiviewstereo — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_multiviewstereo.html + - photometricstereo — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_photometricstereo.html + - sheetoflight — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_sheetoflight.html + - structuredlight — https://www.mvtec.com/doc/halcon/2411/en/toc_3dreconstruction_structuredlight.html +- **calibration** — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration.html + - binocular — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_binocular.html + - calibrationobject — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_calibrationobject.html + - cameraparameters — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_cameraparameters.html + - handeye — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_handeye.html + - inverseprojection — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_inverseprojection.html + - monocular — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_monocular.html + - multiview — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_multiview.html + - projection — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_projection.html + - rectification — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_rectification.html + - selfcalibration — https://www.mvtec.com/doc/halcon/2411/en/toc_calibration_selfcalibration.html +- **classification** — https://www.mvtec.com/doc/halcon/2411/en/toc_classification.html + - gaussianmixturemodels — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_gaussianmixturemodels.html + - knearestneighbor — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_knearestneighbor.html + - lookuptable — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_lookuptable.html + - misc — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_misc.html + - neuralnets — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_neuralnets.html + - supportvectormachines — https://www.mvtec.com/doc/halcon/2411/en/toc_classification_supportvectormachines.html +- **control** — https://www.mvtec.com/doc/halcon/2411/en/toc_control.html +- **deeplearning** — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning.html + - anomalydetection — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_anomalydetection.html + - classification — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_classification.html + - framework — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_framework.html + - model — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_model.html + - multilabelclassification — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_multilabelclassification.html + - objectdetection — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_objectdetection.html + - semanticsegmentation — https://www.mvtec.com/doc/halcon/2411/en/toc_deeplearning_semanticsegmentation.html +- **develop** — https://www.mvtec.com/doc/halcon/2411/en/toc_develop.html +- **file** — https://www.mvtec.com/doc/halcon/2411/en/toc_file.html + - access — https://www.mvtec.com/doc/halcon/2411/en/toc_file_access.html + - images — https://www.mvtec.com/doc/halcon/2411/en/toc_file_images.html + - misc — https://www.mvtec.com/doc/halcon/2411/en/toc_file_misc.html + - object — https://www.mvtec.com/doc/halcon/2411/en/toc_file_object.html + - region — https://www.mvtec.com/doc/halcon/2411/en/toc_file_region.html + - tuple — https://www.mvtec.com/doc/halcon/2411/en/toc_file_tuple.html + - xld — https://www.mvtec.com/doc/halcon/2411/en/toc_file_xld.html +- **filters** — https://www.mvtec.com/doc/halcon/2411/en/toc_filters.html + - arithmetic — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_arithmetic.html + - bit — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_bit.html + - color — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_color.html + - edges — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_edges.html + - enhancement — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_enhancement.html + - fft — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_fft.html + - geometrictransformations — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_geometrictransformations.html + - inpainting — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_inpainting.html + - lines — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_lines.html + - match — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_match.html + - misc — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_misc.html + - noise — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_noise.html + - opticalflow — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_opticalflow.html + - points — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_points.html + - sceneflow — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_sceneflow.html + - smoothing — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_smoothing.html + - texture — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_texture.html + - wienerfilter — https://www.mvtec.com/doc/halcon/2411/en/toc_filters_wienerfilter.html +- **graphics** — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics.html + - 3dscene — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_3dscene.html + - drawing — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_drawing.html + - lut — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_lut.html + - mouse — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_mouse.html + - object — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_object.html + - output — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_output.html + - parameters — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_parameters.html + - text — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_text.html + - window — https://www.mvtec.com/doc/halcon/2411/en/toc_graphics_window.html +- **identification** — https://www.mvtec.com/doc/halcon/2411/en/toc_identification.html + - barcode — https://www.mvtec.com/doc/halcon/2411/en/toc_identification_barcode.html + - datacode — https://www.mvtec.com/doc/halcon/2411/en/toc_identification_datacode.html +- **image** — https://www.mvtec.com/doc/halcon/2411/en/toc_image.html + - access — https://www.mvtec.com/doc/halcon/2411/en/toc_image_access.html + - acquisition — https://www.mvtec.com/doc/halcon/2411/en/toc_image_acquisition.html + - channel — https://www.mvtec.com/doc/halcon/2411/en/toc_image_channel.html + - creation — https://www.mvtec.com/doc/halcon/2411/en/toc_image_creation.html + - domain — https://www.mvtec.com/doc/halcon/2411/en/toc_image_domain.html + - features — https://www.mvtec.com/doc/halcon/2411/en/toc_image_features.html + - format — https://www.mvtec.com/doc/halcon/2411/en/toc_image_format.html + - manipulation — https://www.mvtec.com/doc/halcon/2411/en/toc_image_manipulation.html + - typeconversion — https://www.mvtec.com/doc/halcon/2411/en/toc_image_typeconversion.html +- **inspection** — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection.html + - beadinspection — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection_beadinspection.html + - ocv — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection_ocv.html + - structuredlight — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection_structuredlight.html + - texture — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection_texture.html + - variationmodel — https://www.mvtec.com/doc/halcon/2411/en/toc_inspection_variationmodel.html +- **legacy** — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy.html + - 2dmetrology — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_2dmetrology.html + - classification — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_classification.html + - control — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_control.html + - develop — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_develop.html + - filters — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_filters.html + - graphics — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_graphics.html + - identification — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_identification.html + - legdlclassification — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_legdlclassification.html + - legmatchcomp — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_legmatchcomp.html + - matching — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_matching.html + - morphology — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_morphology.html + - ocr — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_ocr.html + - regions — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_regions.html + - segmentation — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_segmentation.html + - tools — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_tools.html + - xld — https://www.mvtec.com/doc/halcon/2411/en/toc_legacy_xld.html +- **matching** — https://www.mvtec.com/doc/halcon/2411/en/toc_matching.html + - correlationbased — https://www.mvtec.com/doc/halcon/2411/en/toc_matching_correlationbased.html + - deepcounting — https://www.mvtec.com/doc/halcon/2411/en/toc_matching_deepcounting.html + - deformable — https://www.mvtec.com/doc/halcon/2411/en/toc_matching_deformable.html + - descriptorbased — https://www.mvtec.com/doc/halcon/2411/en/toc_matching_descriptorbased.html + - shapebased — https://www.mvtec.com/doc/halcon/2411/en/toc_matching_shapebased.html +- **matrix** — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix.html + - access — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_access.html + - arithmetic — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_arithmetic.html + - creation — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_creation.html + - decomposition — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_decomposition.html + - eigenvalues — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_eigenvalues.html + - features — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_features.html + - file — https://www.mvtec.com/doc/halcon/2411/en/toc_matrix_file.html +- **morphology** — https://www.mvtec.com/doc/halcon/2411/en/toc_morphology.html + - grayvalues — https://www.mvtec.com/doc/halcon/2411/en/toc_morphology_grayvalues.html + - region — https://www.mvtec.com/doc/halcon/2411/en/toc_morphology_region.html +- **object** — https://www.mvtec.com/doc/halcon/2411/en/toc_object.html + - information — https://www.mvtec.com/doc/halcon/2411/en/toc_object_information.html + - manipulation — https://www.mvtec.com/doc/halcon/2411/en/toc_object_manipulation.html +- **ocr** — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr.html + - convolutionalneuralnets — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_convolutionalneuralnets.html + - deepocr — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_deepocr.html + - knearestneighbor — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_knearestneighbor.html + - lexica — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_lexica.html + - neuralnets — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_neuralnets.html + - segmentation — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_segmentation.html + - supportvectormachines — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_supportvectormachines.html + - trainingfiles — https://www.mvtec.com/doc/halcon/2411/en/toc_ocr_trainingfiles.html +- **regions** — https://www.mvtec.com/doc/halcon/2411/en/toc_regions.html + - access — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_access.html + - creation — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_creation.html + - features — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_features.html + - geometrictransformations — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_geometrictransformations.html + - sets — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_sets.html + - tests — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_tests.html + - transformations — https://www.mvtec.com/doc/halcon/2411/en/toc_regions_transformations.html +- **segmentation** — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation.html + - classification — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_classification.html + - edges — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_edges.html + - mser — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_mser.html + - regiongrowing — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_regiongrowing.html + - threshold — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_threshold.html + - topography — https://www.mvtec.com/doc/halcon/2411/en/toc_segmentation_topography.html +- **system** — https://www.mvtec.com/doc/halcon/2411/en/toc_system.html + - computedevices — https://www.mvtec.com/doc/halcon/2411/en/toc_system_computedevices.html + - database — https://www.mvtec.com/doc/halcon/2411/en/toc_system_database.html + - encrypteditem — https://www.mvtec.com/doc/halcon/2411/en/toc_system_encrypteditem.html + - errorhandling — https://www.mvtec.com/doc/halcon/2411/en/toc_system_errorhandling.html + - information — https://www.mvtec.com/doc/halcon/2411/en/toc_system_information.html + - iodevices — https://www.mvtec.com/doc/halcon/2411/en/toc_system_iodevices.html + - memoryblock — https://www.mvtec.com/doc/halcon/2411/en/toc_system_memoryblock.html + - multithreading — https://www.mvtec.com/doc/halcon/2411/en/toc_system_multithreading.html + - operatingsystem — https://www.mvtec.com/doc/halcon/2411/en/toc_system_operatingsystem.html + - parallelization — https://www.mvtec.com/doc/halcon/2411/en/toc_system_parallelization.html + - parameters — https://www.mvtec.com/doc/halcon/2411/en/toc_system_parameters.html + - serial — https://www.mvtec.com/doc/halcon/2411/en/toc_system_serial.html + - serializeditem — https://www.mvtec.com/doc/halcon/2411/en/toc_system_serializeditem.html + - sockets — https://www.mvtec.com/doc/halcon/2411/en/toc_system_sockets.html +- **tools** — https://www.mvtec.com/doc/halcon/2411/en/toc_tools.html + - backgroundestimator — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_backgroundestimator.html + - function — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_function.html + - geometry — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_geometry.html + - gridrectification — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_gridrectification.html + - hough — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_hough.html + - interpolation — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_interpolation.html + - lines — https://www.mvtec.com/doc/halcon/2411/en/toc_tools_lines.html + - mosaicking 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+get_contour_attrib_xld,https://www.mvtec.com/doc/halcon/2411/en/get_contour_attrib_xld.html +get_contour_global_attrib_xld,https://www.mvtec.com/doc/halcon/2411/en/get_contour_global_attrib_xld.html +get_contour_style,https://www.mvtec.com/doc/halcon/2411/en/get_contour_style.html +get_contour_xld,https://www.mvtec.com/doc/halcon/2411/en/get_contour_xld.html +get_current_dir,https://www.mvtec.com/doc/halcon/2411/en/get_current_dir.html +get_current_hthread_id,https://www.mvtec.com/doc/halcon/2411/en/get_current_hthread_id.html +get_data_code_2d_objects,https://www.mvtec.com/doc/halcon/2411/en/get_data_code_2d_objects.html +get_data_code_2d_param,https://www.mvtec.com/doc/halcon/2411/en/get_data_code_2d_param.html +get_data_code_2d_results,https://www.mvtec.com/doc/halcon/2411/en/get_data_code_2d_results.html +get_deep_counting_model_param,https://www.mvtec.com/doc/halcon/2411/en/get_deep_counting_model_param.html 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+get_descriptor_model_points,https://www.mvtec.com/doc/halcon/2411/en/get_descriptor_model_points.html +get_descriptor_model_results,https://www.mvtec.com/doc/halcon/2411/en/get_descriptor_model_results.html +get_diagonal_matrix,https://www.mvtec.com/doc/halcon/2411/en/get_diagonal_matrix.html +get_dict_object,https://www.mvtec.com/doc/halcon/2411/en/get_dict_object.html +get_dict_param,https://www.mvtec.com/doc/halcon/2411/en/get_dict_param.html +get_dict_tuple,https://www.mvtec.com/doc/halcon/2411/en/get_dict_tuple.html +get_disp_object_model_3d_info,https://www.mvtec.com/doc/halcon/2411/en/get_disp_object_model_3d_info.html +get_display_scene_3d_info,https://www.mvtec.com/doc/halcon/2411/en/get_display_scene_3d_info.html +get_distance_transform_xld_contour,https://www.mvtec.com/doc/halcon/2411/en/get_distance_transform_xld_contour.html +get_distance_transform_xld_param,https://www.mvtec.com/doc/halcon/2411/en/get_distance_transform_xld_param.html +get_dl_classifier_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_classifier_param.html +get_dl_classifier_result,https://www.mvtec.com/doc/halcon/2411/en/get_dl_classifier_result.html +get_dl_classifier_train_result,https://www.mvtec.com/doc/halcon/2411/en/get_dl_classifier_train_result.html +get_dl_device_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_device_param.html +get_dl_layer_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_layer_param.html +get_dl_model_layer,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_layer.html +get_dl_model_layer_activations,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_layer_activations.html +get_dl_model_layer_gradients,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_layer_gradients.html +get_dl_model_layer_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_layer_param.html +get_dl_model_layer_weights,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_layer_weights.html +get_dl_model_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_model_param.html +get_dl_pruning_param,https://www.mvtec.com/doc/halcon/2411/en/get_dl_pruning_param.html +get_domain,https://www.mvtec.com/doc/halcon/2411/en/get_domain.html +get_draw,https://www.mvtec.com/doc/halcon/2411/en/get_draw.html +get_drawing_object_iconic,https://www.mvtec.com/doc/halcon/2411/en/get_drawing_object_iconic.html +get_drawing_object_params,https://www.mvtec.com/doc/halcon/2411/en/get_drawing_object_params.html +get_error_text,https://www.mvtec.com/doc/halcon/2411/en/get_error_text.html +get_extended_error_info,https://www.mvtec.com/doc/halcon/2411/en/get_extended_error_info.html +get_features_ocr_class_knn,https://www.mvtec.com/doc/halcon/2411/en/get_features_ocr_class_knn.html +get_features_ocr_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_features_ocr_class_mlp.html +get_features_ocr_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_features_ocr_class_svm.html +get_fix,https://www.mvtec.com/doc/halcon/2411/en/get_fix.html +get_fixed_lut,https://www.mvtec.com/doc/halcon/2411/en/get_fixed_lut.html +get_font,https://www.mvtec.com/doc/halcon/2411/en/get_font.html +get_font_extents,https://www.mvtec.com/doc/halcon/2411/en/get_font_extents.html +get_found_component_model,https://www.mvtec.com/doc/halcon/2411/en/get_found_component_model.html +get_framegrabber_callback,https://www.mvtec.com/doc/halcon/2411/en/get_framegrabber_callback.html +get_framegrabber_lut,https://www.mvtec.com/doc/halcon/2411/en/get_framegrabber_lut.html +get_framegrabber_param,https://www.mvtec.com/doc/halcon/2411/en/get_framegrabber_param.html +get_full_matrix,https://www.mvtec.com/doc/halcon/2411/en/get_full_matrix.html +get_generic_shape_model_object,https://www.mvtec.com/doc/halcon/2411/en/get_generic_shape_model_object.html +get_generic_shape_model_param,https://www.mvtec.com/doc/halcon/2411/en/get_generic_shape_model_param.html +get_generic_shape_model_result,https://www.mvtec.com/doc/halcon/2411/en/get_generic_shape_model_result.html +get_generic_shape_model_result_object,https://www.mvtec.com/doc/halcon/2411/en/get_generic_shape_model_result_object.html +get_grayval,https://www.mvtec.com/doc/halcon/2411/en/get_grayval.html +get_grayval_contour_xld,https://www.mvtec.com/doc/halcon/2411/en/get_grayval_contour_xld.html +get_grayval_interpolated,https://www.mvtec.com/doc/halcon/2411/en/get_grayval_interpolated.html +get_handle_object,https://www.mvtec.com/doc/halcon/2411/en/get_handle_object.html +get_handle_param,https://www.mvtec.com/doc/halcon/2411/en/get_handle_param.html +get_handle_tuple,https://www.mvtec.com/doc/halcon/2411/en/get_handle_tuple.html +get_hsi,https://www.mvtec.com/doc/halcon/2411/en/get_hsi.html +get_icon,https://www.mvtec.com/doc/halcon/2411/en/get_icon.html +get_image_pointer1,https://www.mvtec.com/doc/halcon/2411/en/get_image_pointer1.html +get_image_pointer1_rect,https://www.mvtec.com/doc/halcon/2411/en/get_image_pointer1_rect.html +get_image_pointer3,https://www.mvtec.com/doc/halcon/2411/en/get_image_pointer3.html +get_image_size,https://www.mvtec.com/doc/halcon/2411/en/get_image_size.html +get_image_time,https://www.mvtec.com/doc/halcon/2411/en/get_image_time.html +get_image_type,https://www.mvtec.com/doc/halcon/2411/en/get_image_type.html +get_insert,https://www.mvtec.com/doc/halcon/2411/en/get_insert.html +get_io_channel_param,https://www.mvtec.com/doc/halcon/2411/en/get_io_channel_param.html +get_io_device_param,https://www.mvtec.com/doc/halcon/2411/en/get_io_device_param.html +get_keywords,https://www.mvtec.com/doc/halcon/2411/en/get_keywords.html +get_line_approx,https://www.mvtec.com/doc/halcon/2411/en/get_line_approx.html +get_line_of_sight,https://www.mvtec.com/doc/halcon/2411/en/get_line_of_sight.html +get_line_style,https://www.mvtec.com/doc/halcon/2411/en/get_line_style.html +get_line_width,https://www.mvtec.com/doc/halcon/2411/en/get_line_width.html +get_lines_xld,https://www.mvtec.com/doc/halcon/2411/en/get_lines_xld.html +get_lut,https://www.mvtec.com/doc/halcon/2411/en/get_lut.html +get_lut_style,https://www.mvtec.com/doc/halcon/2411/en/get_lut_style.html +get_mbutton,https://www.mvtec.com/doc/halcon/2411/en/get_mbutton.html +get_mbutton_sub_pix,https://www.mvtec.com/doc/halcon/2411/en/get_mbutton_sub_pix.html +get_measure_param,https://www.mvtec.com/doc/halcon/2411/en/get_measure_param.html +get_memory_block_ptr,https://www.mvtec.com/doc/halcon/2411/en/get_memory_block_ptr.html +get_message_obj,https://www.mvtec.com/doc/halcon/2411/en/get_message_obj.html +get_message_param,https://www.mvtec.com/doc/halcon/2411/en/get_message_param.html +get_message_queue_param,https://www.mvtec.com/doc/halcon/2411/en/get_message_queue_param.html +get_message_tuple,https://www.mvtec.com/doc/halcon/2411/en/get_message_tuple.html +get_metrology_model_param,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_model_param.html +get_metrology_object_fuzzy_param,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_fuzzy_param.html +get_metrology_object_indices,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_indices.html +get_metrology_object_measures,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_measures.html +get_metrology_object_model_contour,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_model_contour.html +get_metrology_object_num_instances,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_num_instances.html +get_metrology_object_param,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_param.html +get_metrology_object_result,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_result.html +get_metrology_object_result_contour,https://www.mvtec.com/doc/halcon/2411/en/get_metrology_object_result_contour.html 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+get_operator_name,https://www.mvtec.com/doc/halcon/2411/en/get_operator_name.html +get_os_window_handle,https://www.mvtec.com/doc/halcon/2411/en/get_os_window_handle.html +get_paint,https://www.mvtec.com/doc/halcon/2411/en/get_paint.html +get_pair_funct_1d,https://www.mvtec.com/doc/halcon/2411/en/get_pair_funct_1d.html +get_parallels_xld,https://www.mvtec.com/doc/halcon/2411/en/get_parallels_xld.html +get_param_info,https://www.mvtec.com/doc/halcon/2411/en/get_param_info.html +get_param_names,https://www.mvtec.com/doc/halcon/2411/en/get_param_names.html +get_param_num,https://www.mvtec.com/doc/halcon/2411/en/get_param_num.html +get_param_types,https://www.mvtec.com/doc/halcon/2411/en/get_param_types.html +get_params_class_gmm,https://www.mvtec.com/doc/halcon/2411/en/get_params_class_gmm.html +get_params_class_knn,https://www.mvtec.com/doc/halcon/2411/en/get_params_class_knn.html +get_params_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_params_class_mlp.html +get_params_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_params_class_svm.html +get_params_ocr_class_cnn,https://www.mvtec.com/doc/halcon/2411/en/get_params_ocr_class_cnn.html +get_params_ocr_class_knn,https://www.mvtec.com/doc/halcon/2411/en/get_params_ocr_class_knn.html +get_params_ocr_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_params_ocr_class_mlp.html +get_params_ocr_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_params_ocr_class_svm.html +get_part,https://www.mvtec.com/doc/halcon/2411/en/get_part.html +get_part_style,https://www.mvtec.com/doc/halcon/2411/en/get_part_style.html +get_pixel,https://www.mvtec.com/doc/halcon/2411/en/get_pixel.html +get_points_ellipse,https://www.mvtec.com/doc/halcon/2411/en/get_points_ellipse.html +get_polygon_xld,https://www.mvtec.com/doc/halcon/2411/en/get_polygon_xld.html +get_pose_type,https://www.mvtec.com/doc/halcon/2411/en/get_pose_type.html +get_prep_info_class_gmm,https://www.mvtec.com/doc/halcon/2411/en/get_prep_info_class_gmm.html +get_prep_info_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_prep_info_class_mlp.html +get_prep_info_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_prep_info_class_svm.html +get_prep_info_ocr_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_prep_info_ocr_class_mlp.html +get_prep_info_ocr_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_prep_info_ocr_class_svm.html +get_rectangle_pose,https://www.mvtec.com/doc/halcon/2411/en/get_rectangle_pose.html +get_region_chain,https://www.mvtec.com/doc/halcon/2411/en/get_region_chain.html +get_region_contour,https://www.mvtec.com/doc/halcon/2411/en/get_region_contour.html +get_region_convex,https://www.mvtec.com/doc/halcon/2411/en/get_region_convex.html +get_region_index,https://www.mvtec.com/doc/halcon/2411/en/get_region_index.html +get_region_points,https://www.mvtec.com/doc/halcon/2411/en/get_region_points.html +get_region_polygon,https://www.mvtec.com/doc/halcon/2411/en/get_region_polygon.html +get_region_runs,https://www.mvtec.com/doc/halcon/2411/en/get_region_runs.html +get_region_thickness,https://www.mvtec.com/doc/halcon/2411/en/get_region_thickness.html +get_regress_params_xld,https://www.mvtec.com/doc/halcon/2411/en/get_regress_params_xld.html +get_regularization_params_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_regularization_params_class_mlp.html +get_regularization_params_ocr_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_regularization_params_ocr_class_mlp.html +get_rejection_params_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_rejection_params_class_mlp.html +get_rejection_params_ocr_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_rejection_params_ocr_class_mlp.html +get_rgb,https://www.mvtec.com/doc/halcon/2411/en/get_rgb.html +get_rgba,https://www.mvtec.com/doc/halcon/2411/en/get_rgba.html +get_sample_class_gmm,https://www.mvtec.com/doc/halcon/2411/en/get_sample_class_gmm.html +get_sample_class_knn,https://www.mvtec.com/doc/halcon/2411/en/get_sample_class_knn.html +get_sample_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_sample_class_mlp.html +get_sample_class_svm,https://www.mvtec.com/doc/halcon/2411/en/get_sample_class_svm.html +get_sample_class_train_data,https://www.mvtec.com/doc/halcon/2411/en/get_sample_class_train_data.html +get_sample_identifier_object_info,https://www.mvtec.com/doc/halcon/2411/en/get_sample_identifier_object_info.html +get_sample_identifier_param,https://www.mvtec.com/doc/halcon/2411/en/get_sample_identifier_param.html +get_sample_num_class_gmm,https://www.mvtec.com/doc/halcon/2411/en/get_sample_num_class_gmm.html +get_sample_num_class_knn,https://www.mvtec.com/doc/halcon/2411/en/get_sample_num_class_knn.html +get_sample_num_class_mlp,https://www.mvtec.com/doc/halcon/2411/en/get_sample_num_class_mlp.html 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+y_range_funct_1d,https://www.mvtec.com/doc/halcon/2411/en/y_range_funct_1d.html +zero_crossing,https://www.mvtec.com/doc/halcon/2411/en/zero_crossing.html +zero_crossing_sub_pix,https://www.mvtec.com/doc/halcon/2411/en/zero_crossing_sub_pix.html +zero_crossings_funct_1d,https://www.mvtec.com/doc/halcon/2411/en/zero_crossings_funct_1d.html +zoom_image_factor,https://www.mvtec.com/doc/halcon/2411/en/zoom_image_factor.html +zoom_image_size,https://www.mvtec.com/doc/halcon/2411/en/zoom_image_size.html +zoom_region,https://www.mvtec.com/doc/halcon/2411/en/zoom_region.html diff --git a/plugins/halcon/skills/halcon/references/operator-ref/operators.txt b/plugins/halcon/skills/halcon/references/operator-ref/operators.txt new file mode 100644 index 0000000..3749346 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/operator-ref/operators.txt @@ -0,0 +1,2387 @@ +abs_diff_image +abs_funct_1d +abs_image +abs_matrix +abs_matrix_mod +access_channel +acos_image +activate_compute_device +adapt_shape_model_high_noise +adapt_template +add_channels +add_class_train_data_gmm +add_class_train_data_knn +add_class_train_data_mlp +add_class_train_data_svm +add_deformable_surface_model_reference_point +add_deformable_surface_model_sample +add_dl_pruning_batch +add_image +add_image_border +add_matrix +add_matrix_mod +add_metrology_object_circle_measure +add_metrology_object_ellipse_measure +add_metrology_object_generic +add_metrology_object_line_measure +add_metrology_object_rectangle2_measure +add_noise_distribution +add_noise_white +add_noise_white_contour_xld +add_sample_class_gmm +add_sample_class_knn +add_sample_class_mlp +add_sample_class_svm +add_sample_class_train_data +add_sample_identifier_preparation_data +add_sample_identifier_training_data +add_samples_image_class_gmm +add_samples_image_class_knn +add_samples_image_class_mlp +add_samples_image_class_svm +add_scene_3d_camera +add_scene_3d_instance +add_scene_3d_label +add_scene_3d_light +add_texture_inspection_model_image +adjust_mosaic_images +affine_trans_contour_xld +affine_trans_image +affine_trans_image_size +affine_trans_object_model_3d +affine_trans_pixel +affine_trans_point_2d +affine_trans_point_3d +affine_trans_polygon_xld +affine_trans_region +align_metrology_model +angle_ll +angle_lx +anisotropic_diffusion +append_channel +append_ocr_trainf +apply_bead_inspection_model +apply_color_trans_lut +apply_deep_counting_model +apply_deep_matching_3d +apply_deep_ocr +apply_distance_transform_xld +apply_dl_classifier +apply_dl_model +apply_metrology_model +apply_sample_identifier +apply_sheet_of_light_calibration +apply_texture_inspection_model +approx_chain +approx_chain_simple +area_center +area_center_gray +area_center_points_xld +area_center_xld +area_holes +area_intersection_rectangle2 +area_object_model_3d +asin_image +assign +assign_at +atan2_image +atan_image +attach_background_to_window +attach_drawing_object_to_window +auto_threshold +axis_angle_to_quat +background_seg +bandpass_image +best_match +best_match_mg +best_match_pre_mg +best_match_rot +best_match_rot_mg +bilateral_filter +bin_threshold +binary_threshold +binocular_calibration +binocular_disparity +binocular_disparity_mg +binocular_disparity_ms +binocular_distance +binocular_distance_mg +binocular_distance_ms +binomial_filter +bit_and +bit_lshift +bit_mask +bit_not +bit_or +bit_rshift +bit_slice +bit_xor +bottom_hat +boundary +break +broadcast_condition +bundle_adjust_mosaic +calibrate_cameras +calibrate_hand_eye +calibrate_sheet_of_light +caltab_points +cam_mat_to_cam_par +cam_par_pose_to_hom_mat3d +cam_par_to_cam_mat +camera_calibration +case +catch +cfa_to_rgb +change_domain +change_format +change_radial_distortion_cam_par +change_radial_distortion_contours_xld +change_radial_distortion_image +change_radial_distortion_points +channels_to_image +char_threshold +check_difference +circularity +circularity_xld +class_2dim_sup +class_2dim_unsup +class_ndim_box +class_ndim_norm +classify_class_gmm +classify_class_knn +classify_class_mlp +classify_class_svm +classify_image_class_gmm +classify_image_class_knn +classify_image_class_lut +classify_image_class_mlp +classify_image_class_svm +clear_all_bar_code_models +clear_all_barriers +clear_all_calib_data +clear_all_camera_setup_models +clear_all_class_gmm +clear_all_class_knn +clear_all_class_lut +clear_all_class_mlp +clear_all_class_svm +clear_all_class_train_data +clear_all_color_trans_luts +clear_all_component_models +clear_all_conditions +clear_all_data_code_2d_models +clear_all_deformable_models +clear_all_descriptor_models +clear_all_events +clear_all_lexica +clear_all_matrices +clear_all_metrology_models +clear_all_mutexes +clear_all_ncc_models +clear_all_object_model_3d +clear_all_ocr_class_knn +clear_all_ocr_class_mlp +clear_all_ocr_class_svm +clear_all_sample_identifiers +clear_all_scattered_data_interpolators +clear_all_serialized_items +clear_all_shape_model_3d +clear_all_shape_models +clear_all_sheet_of_light_models +clear_all_stereo_models +clear_all_surface_matching_results +clear_all_surface_models +clear_all_templates +clear_all_text_models +clear_all_text_results +clear_all_training_components +clear_all_variation_models +clear_bar_code_model +clear_barrier +clear_bead_inspection_model +clear_calib_data +clear_camera_setup_model +clear_class_gmm +clear_class_knn +clear_class_lut +clear_class_mlp +clear_class_svm +clear_class_train_data +clear_color_trans_lut +clear_component_model +clear_condition +clear_data_code_2d_model +clear_deformable_model +clear_deformable_surface_matching_result +clear_deformable_surface_model +clear_descriptor_model +clear_distance_transform_xld +clear_dl_classifier +clear_dl_classifier_result +clear_dl_classifier_train_result +clear_dl_model +clear_drawing_object +clear_event +clear_handle +clear_lexicon +clear_matrix +clear_message +clear_message_queue +clear_metrology_model +clear_metrology_object +clear_mutex +clear_ncc_model +clear_obj +clear_object_model_3d +clear_ocr_class_cnn +clear_ocr_class_knn +clear_ocr_class_mlp +clear_ocr_class_svm +clear_rectangle +clear_sample_identifier +clear_samples_class_gmm +clear_samples_class_mlp +clear_samples_class_svm +clear_sampset +clear_scattered_data_interpolator +clear_scene_3d +clear_serial +clear_serialized_item +clear_shape_model +clear_shape_model_3d +clear_sheet_of_light_model +clear_stereo_model +clear_structured_light_model +clear_surface_matching_result +clear_surface_model +clear_template +clear_text_model +clear_text_result +clear_texture_inspection_model +clear_texture_inspection_result +clear_train_data_variation_model +clear_training_components +clear_variation_model +clear_window +clip_contours_xld +clip_end_points_contours_xld +clip_region +clip_region_rel +close_all_bg_esti +close_all_class_box +close_all_files +close_all_framegrabbers +close_all_measures +close_all_ocrs +close_all_ocvs +close_all_serials +close_all_sockets +close_bg_esti +close_class_box +close_contours_xld +close_edges +close_edges_length +close_file +close_framegrabber +close_io_channel +close_io_device +close_measure +close_ocr +close_ocv +close_serial +close_socket +close_window +closest_point_transform +closing +closing_circle +closing_golay +closing_rectangle1 +cluster_model_components +coherence_enhancing_diff +combine_roads_xld +comment +compactness +compactness_xld +compare_ext_variation_model +compare_memory_block +compare_obj +compare_variation_model +complement +complex_to_real +compose2 +compose3 +compose4 +compose5 +compose6 +compose7 +compose_funct_1d +concat_obj +concat_ocr_trainf +connect_and_holes +connect_grid_points +connection +connection_object_model_3d +continue +contlength +contour_point_num_xld +contour_to_world_plane_xld +control_io_channel +control_io_device +control_io_interface +convert_coordinates_image_to_window +convert_coordinates_window_to_image +convert_image_type +convert_map_type +convert_point_3d_cart_to_spher +convert_point_3d_spher_to_cart +convert_pose_type +convert_tuple_to_vector_1d +convert_vector_to_tuple +convex_hull_object_model_3d +convexity +convexity_xld +convol_fft +convol_gabor +convol_image +cooc_feature_image +cooc_feature_matrix +copy_dict +copy_file +copy_image +copy_matrix +copy_metrology_model +copy_metrology_object +copy_obj +copy_object_model_3d +copy_rectangle +corner_response +correlation_fft +cos_image +count_channels +count_obj +count_relation +count_seconds +create_aniso_shape_model +create_aniso_shape_model_xld +create_bar_code_model +create_barrier +create_bead_inspection_model +create_bg_esti +create_calib_data +create_calib_descriptor_model +create_caltab +create_cam_pose_look_at_point +create_camera_setup_model +create_class_box +create_class_gmm +create_class_knn +create_class_lut_gmm +create_class_lut_knn +create_class_lut_mlp +create_class_lut_svm +create_class_mlp +create_class_svm +create_class_train_data +create_color_trans_lut +create_component_model +create_condition +create_data_code_2d_model +create_deep_counting_model +create_deep_ocr +create_deformable_surface_model +create_dict +create_distance_transform_xld +create_dl_layer_activation +create_dl_layer_batch_normalization +create_dl_layer_class_id_conversion +create_dl_layer_concat +create_dl_layer_convolution +create_dl_layer_dense +create_dl_layer_depth_max +create_dl_layer_depth_to_space +create_dl_layer_dropout +create_dl_layer_elementwise +create_dl_layer_identity +create_dl_layer_input +create_dl_layer_loss_cross_entropy +create_dl_layer_loss_ctc +create_dl_layer_loss_distance +create_dl_layer_loss_focal +create_dl_layer_loss_huber +create_dl_layer_lrn +create_dl_layer_matmul +create_dl_layer_permutation +create_dl_layer_pooling +create_dl_layer_reduce +create_dl_layer_reshape +create_dl_layer_softmax +create_dl_layer_transposed_convolution +create_dl_layer_zoom_factor +create_dl_layer_zoom_size +create_dl_layer_zoom_to_layer_size +create_dl_model +create_dl_model_detection +create_dl_pruning +create_drawing_object_circle +create_drawing_object_circle_sector +create_drawing_object_ellipse +create_drawing_object_ellipse_sector +create_drawing_object_line +create_drawing_object_rectangle1 +create_drawing_object_rectangle2 +create_drawing_object_text +create_drawing_object_xld +create_event +create_funct_1d_array +create_funct_1d_pairs +create_generic_shape_model +create_lexicon +create_local_deformable_model +create_local_deformable_model_xld +create_matrix +create_memory_block_extern +create_memory_block_extern_copy +create_message +create_message_queue +create_metrology_model +create_mutex +create_ncc_model +create_ocr_class_box +create_ocr_class_knn +create_ocr_class_mlp +create_ocr_class_svm +create_ocv_proj +create_planar_calib_deformable_model +create_planar_calib_deformable_model_xld +create_planar_uncalib_deformable_model +create_planar_uncalib_deformable_model_xld +create_pose +create_rectification_grid +create_sample_identifier +create_scaled_shape_model +create_scaled_shape_model_xld +create_scattered_data_interpolator +create_scene_3d +create_serialized_item_ptr +create_shape_model +create_shape_model_3d +create_shape_model_xld +create_sheet_of_light_calib_object +create_sheet_of_light_model +create_stereo_model +create_structured_light_model +create_surface_model +create_template +create_template_rot +create_text_model +create_text_model_reader +create_texture_inspection_model +create_trained_component_model +create_uncalib_descriptor_model +create_variation_model +critical_points_sub_pix +crop_contours_xld +crop_domain +crop_domain_rel +crop_part +crop_rectangle1 +crop_rectangle2 +deactivate_all_compute_devices +deactivate_compute_device +decode_bar_code_rectangle2 +decode_structured_light_pattern +decompose2 +decompose3 +decompose4 +decompose5 +decompose6 +decompose7 +decompose_matrix +decrypt_serialized_item +default +delete_file +depth_from_focus +dequeue_message +derivate_funct_1d +derivate_gauss +derivate_vector_field +descript_class_box +deserialize_bar_code_model +deserialize_calib_data +deserialize_cam_par +deserialize_camera_setup_model +deserialize_class_box +deserialize_class_gmm +deserialize_class_knn +deserialize_class_mlp +deserialize_class_svm +deserialize_class_train_data +deserialize_component_model +deserialize_data_code_2d_model +deserialize_deformable_model +deserialize_deformable_surface_model +deserialize_descriptor_model +deserialize_distance_transform_xld +deserialize_dl_classifier +deserialize_dl_model +deserialize_dual_quat +deserialize_fft_optimization_data +deserialize_handle +deserialize_hom_mat2d +deserialize_hom_mat3d +deserialize_image +deserialize_matrix +deserialize_measure +deserialize_metrology_model +deserialize_ncc_model +deserialize_object +deserialize_object_model_3d +deserialize_ocr +deserialize_ocr_class_cnn +deserialize_ocr_class_knn +deserialize_ocr_class_mlp +deserialize_ocr_class_svm +deserialize_ocv +deserialize_pose +deserialize_quat +deserialize_region +deserialize_sample_identifier +deserialize_shape_model +deserialize_shape_model_3d +deserialize_sheet_of_light_model +deserialize_structured_light_model +deserialize_surface_model +deserialize_template +deserialize_texture_inspection_model +deserialize_training_components +deserialize_tuple +deserialize_variation_model +deserialize_xld +detach_background_from_window +detach_drawing_object_from_window +detect_edge_segments +determinant_matrix +determine_deformable_model_params +determine_ncc_model_params +determine_shape_model_params +dev_clear_obj +dev_clear_window +dev_close_inspect_ctrl +dev_close_tool +dev_close_window +dev_disp_text +dev_display +dev_error_var +dev_get_exception_data +dev_get_preferences +dev_get_system +dev_get_window +dev_inspect_ctrl +dev_map_par +dev_map_prog +dev_map_var +dev_open_dialog +dev_open_file_dialog +dev_open_tool +dev_open_window +dev_set_check +dev_set_color +dev_set_colored +dev_set_contour_style +dev_set_draw +dev_set_line_width +dev_set_lut +dev_set_paint +dev_set_part +dev_set_preferences +dev_set_shape +dev_set_system +dev_set_tool_geometry +dev_set_window +dev_set_window_extents +dev_show_tool +dev_unmap_par +dev_unmap_prog +dev_unmap_var +dev_update_pc +dev_update_time +dev_update_var +dev_update_window +deviation_image +deviation_n +diameter_region +diameter_xld +dict_to_json +diff_of_gauss +difference +difference_closed_contours_xld +difference_closed_polygons_xld +dilation1 +dilation2 +dilation_circle +dilation_golay +dilation_rectangle1 +dilation_seq +disp_arc +disp_arrow +disp_caltab +disp_channel +disp_circle +disp_color +disp_cross +disp_distribution +disp_ellipse +disp_image +disp_line +disp_lut +disp_obj +disp_object_model_3d +disp_polygon +disp_rectangle1 +disp_rectangle2 +disp_region +disp_text +disp_xld +disparity_image_to_xyz +disparity_to_distance +disparity_to_point_3d +display_scene_3d +dist_ellipse_contour_points_xld +dist_ellipse_contour_xld +dist_rectangle2_contour_points_xld +distance_cc +distance_cc_min +distance_cc_min_points +distance_contours_xld +distance_funct_1d +distance_lc +distance_lr +distance_object_model_3d +distance_pc +distance_pl +distance_point_line +distance_point_pluecker_line +distance_pp +distance_pr +distance_ps +distance_rr_min +distance_rr_min_dil +distance_sc +distance_sl +distance_sr +distance_ss +distance_to_disparity +distance_transform +div_element_matrix +div_element_matrix_mod +div_image +do_ocr_multi +do_ocr_multi_class_cnn +do_ocr_multi_class_knn +do_ocr_multi_class_mlp +do_ocr_multi_class_svm +do_ocr_single +do_ocr_single_class_cnn +do_ocr_single_class_knn +do_ocr_single_class_mlp +do_ocr_single_class_svm +do_ocr_word_cnn +do_ocr_word_knn +do_ocr_word_mlp +do_ocr_word_svm +do_ocv_simple +dots_image +drag_region1 +drag_region2 +drag_region3 +draw_circle +draw_circle_mod +draw_ellipse +draw_ellipse_mod +draw_line +draw_line_mod +draw_nurbs +draw_nurbs_interp +draw_nurbs_interp_mod +draw_nurbs_mod +draw_point +draw_point_mod +draw_polygon +draw_rectangle1 +draw_rectangle1_mod +draw_rectangle2 +draw_rectangle2_mod +draw_region +draw_xld +draw_xld_mod +dual_quat_compose +dual_quat_conjugate +dual_quat_interpolate +dual_quat_normalize +dual_quat_to_hom_mat3d +dual_quat_to_pose +dual_quat_to_screw +dual_quat_trans_line_3d +dual_quat_trans_point_3d +dual_rank +dual_threshold +dump_window +dump_window_image +dyn_threshold +eccentricity +eccentricity_points_xld +eccentricity_xld +edges_color +edges_color_sub_pix +edges_image +edges_object_model_3d +edges_sub_pix +eigenvalues_general_matrix +eigenvalues_symmetric_matrix +eliminate_min_max +eliminate_runs +eliminate_sp +elliptic_axis +elliptic_axis_gray +elliptic_axis_points_xld +elliptic_axis_xld +else +elseif +emphasize +encrypt_serialized_item +endfor +endif +endswitch +endtry +endwhile +energy_gabor +enqueue_message +enquire_class_box +enquire_reject_class_box +entropy_gray +entropy_image +equ_histo_image +equ_histo_image_rect +erosion1 +erosion2 +erosion_circle +erosion_golay +erosion_rectangle1 +erosion_seq +essential_to_fundamental_matrix +estimate_al_am +estimate_noise +estimate_sl_al_lr +estimate_sl_al_zc +estimate_tilt_lr +estimate_tilt_zc +euler_number +evaluate_class_gmm +evaluate_class_mlp +evaluate_class_svm +executable_expression +exhaustive_match +exhaustive_match_mg +exit +exp_image +expand_domain_gray +expand_gray +expand_gray_ref +expand_line +expand_region +export_def +fast_match +fast_match_mg +fast_threshold +fft_generic +fft_image +fft_image_inv +file_exists +fill_interlace +fill_up +fill_up_shape +filter_kalman +find_aniso_shape_model +find_aniso_shape_models +find_bar_code +find_box_3d +find_calib_descriptor_model +find_calib_object +find_caltab +find_component_model +find_data_code_2d +find_deformable_surface_model +find_generic_shape_model +find_local_deformable_model +find_marks_and_pose +find_ncc_model +find_ncc_models +find_neighbors +find_planar_calib_deformable_model +find_planar_uncalib_deformable_model +find_rectification_grid +find_scaled_shape_model +find_scaled_shape_models +find_shape_model +find_shape_model_3d +find_shape_models +find_surface_model +find_surface_model_image +find_text +find_uncalib_descriptor_model +fit_circle_contour_xld +fit_dl_out_of_distribution +fit_ellipse_contour_xld +fit_line_contour_xld +fit_primitives_object_model_3d +fit_rectangle2_contour_xld +fit_surface_first_order +fit_surface_second_order +fitting +flush_buffer +fnew_line +for +fread_bytes +fread_char +fread_line +fread_serialized_item +fread_string +frei_amp +frei_dir +full_domain +funct_1d_to_pairs +fuse_object_model_3d +fuzzy_entropy +fuzzy_measure_pairing +fuzzy_measure_pairs +fuzzy_measure_pos +fuzzy_perimeter +fwrite_bytes +fwrite_serialized_item +fwrite_string +gamma_image +gauss_distribution +gauss_filter +gauss_image +gen_arbitrary_distortion_map +gen_bandfilter +gen_bandpass +gen_binocular_proj_rectification +gen_binocular_rectification_map +gen_box_object_model_3d +gen_bundle_adjusted_mosaic +gen_caltab +gen_checker_region +gen_circle +gen_circle_contour_xld +gen_circle_sector +gen_contour_nurbs_xld +gen_contour_polygon_rounded_xld +gen_contour_polygon_xld +gen_contour_region_xld +gen_contours_skeleton_xld +gen_cooc_matrix +gen_cross_contour_xld +gen_cube_map_mosaic +gen_cylinder_object_model_3d +gen_derivative_filter +gen_disc_se +gen_dl_model_heatmap +gen_dl_pruned_model +gen_ellipse +gen_ellipse_contour_xld +gen_ellipse_sector +gen_empty_obj +gen_empty_object_model_3d +gen_empty_region +gen_filter_mask +gen_gabor +gen_gauss_filter +gen_gauss_pyramid +gen_grid_rectification_map +gen_grid_region +gen_highpass +gen_image1 +gen_image1_extern +gen_image1_rect +gen_image3 +gen_image3_extern +gen_image_const +gen_image_gray_ramp +gen_image_interleaved +gen_image_proto +gen_image_surface_first_order +gen_image_surface_second_order +gen_image_to_world_plane_map +gen_initial_components +gen_lowpass +gen_mean_filter +gen_measure_arc +gen_measure_rectangle2 +gen_nurbs_interp +gen_object_model_3d_from_points +gen_parallel_contour_xld +gen_parallels_xld +gen_plane_object_model_3d +gen_polygons_xld +gen_principal_comp_trans +gen_projective_mosaic +gen_psf_defocus +gen_psf_motion +gen_radial_distortion_map +gen_random_region +gen_random_regions +gen_rectangle1 +gen_rectangle2 +gen_rectangle2_contour_xld +gen_region_contour_xld +gen_region_histo +gen_region_hline +gen_region_line +gen_region_points +gen_region_polygon +gen_region_polygon_filled +gen_region_polygon_xld +gen_region_runs +gen_sin_bandpass +gen_sphere_object_model_3d +gen_sphere_object_model_3d_center +gen_spherical_mosaic +gen_std_bandpass +gen_struct_elements +gen_structured_light_pattern +generalized_eigenvalues_general_matrix +generalized_eigenvalues_symmetric_matrix +get_aop_info +get_bar_code_object +get_bar_code_param +get_bar_code_param_specific +get_bar_code_result +get_bead_inspection_param +get_bg_esti_params +get_calib_data +get_calib_data_observ_contours +get_calib_data_observ_points +get_calib_data_observ_pose +get_camera_setup_param +get_channel_info +get_chapter_info +get_check +get_circle_pose +get_class_box_param +get_class_train_data_gmm +get_class_train_data_knn +get_class_train_data_mlp +get_class_train_data_svm +get_component_model_params +get_component_model_tree +get_component_relations +get_comprise +get_compute_device_info +get_compute_device_param +get_contour_angle_xld +get_contour_attrib_xld +get_contour_global_attrib_xld +get_contour_style +get_contour_xld +get_current_dir +get_current_hthread_id +get_data_code_2d_objects +get_data_code_2d_param +get_data_code_2d_results +get_deep_counting_model_param +get_deep_matching_3d_param +get_deep_ocr_param +get_deformable_model_contours +get_deformable_model_origin +get_deformable_model_params +get_deformable_surface_matching_result +get_deformable_surface_model_param +get_descriptor_model_origin +get_descriptor_model_params +get_descriptor_model_points +get_descriptor_model_results +get_diagonal_matrix +get_dict_object +get_dict_param +get_dict_tuple +get_disp_object_model_3d_info +get_display_scene_3d_info +get_distance_transform_xld_contour +get_distance_transform_xld_param +get_dl_classifier_param +get_dl_classifier_result +get_dl_classifier_train_result +get_dl_device_param +get_dl_layer_param +get_dl_model_layer +get_dl_model_layer_activations +get_dl_model_layer_gradients +get_dl_model_layer_param +get_dl_model_layer_weights +get_dl_model_param +get_dl_pruning_param +get_domain +get_draw +get_drawing_object_iconic +get_drawing_object_params +get_error_text +get_extended_error_info +get_features_ocr_class_knn +get_features_ocr_class_mlp +get_features_ocr_class_svm +get_fix +get_fixed_lut +get_font +get_font_extents +get_found_component_model +get_framegrabber_callback +get_framegrabber_lut +get_framegrabber_param +get_full_matrix +get_generic_shape_model_object +get_generic_shape_model_param +get_generic_shape_model_result +get_generic_shape_model_result_object +get_grayval +get_grayval_contour_xld +get_grayval_interpolated +get_handle_object +get_handle_param +get_handle_tuple +get_hsi +get_icon +get_image_pointer1 +get_image_pointer1_rect +get_image_pointer3 +get_image_size +get_image_time +get_image_type +get_insert +get_io_channel_param +get_io_device_param +get_keywords +get_line_approx +get_line_of_sight +get_line_style +get_line_width +get_lines_xld +get_lut +get_lut_style +get_mbutton +get_mbutton_sub_pix +get_measure_param +get_memory_block_ptr +get_message_obj +get_message_param +get_message_queue_param +get_message_tuple +get_metrology_model_param +get_metrology_object_fuzzy_param +get_metrology_object_indices +get_metrology_object_measures +get_metrology_object_model_contour +get_metrology_object_num_instances +get_metrology_object_param +get_metrology_object_result +get_metrology_object_result_contour +get_modules +get_mposition +get_mposition_sub_pix +get_mshape +get_ncc_model_origin +get_ncc_model_params +get_ncc_model_region +get_next_socket_data_type +get_obj_class +get_object_model_3d_params +get_operator_info +get_operator_name +get_os_window_handle +get_paint +get_pair_funct_1d +get_parallels_xld +get_param_info +get_param_names +get_param_num +get_param_types +get_params_class_gmm +get_params_class_knn +get_params_class_mlp +get_params_class_svm +get_params_ocr_class_cnn +get_params_ocr_class_knn +get_params_ocr_class_mlp +get_params_ocr_class_svm +get_part +get_part_style +get_pixel +get_points_ellipse +get_polygon_xld +get_pose_type +get_prep_info_class_gmm +get_prep_info_class_mlp +get_prep_info_class_svm +get_prep_info_ocr_class_mlp +get_prep_info_ocr_class_svm +get_rectangle_pose +get_region_chain +get_region_contour +get_region_convex +get_region_index +get_region_points +get_region_polygon +get_region_runs +get_region_thickness +get_regress_params_xld +get_regularization_params_class_mlp +get_regularization_params_ocr_class_mlp +get_rejection_params_class_mlp +get_rejection_params_ocr_class_mlp +get_rgb +get_rgba +get_sample_class_gmm +get_sample_class_knn +get_sample_class_mlp +get_sample_class_svm +get_sample_class_train_data +get_sample_identifier_object_info +get_sample_identifier_param +get_sample_num_class_gmm +get_sample_num_class_knn +get_sample_num_class_mlp +get_sample_num_class_svm +get_sample_num_class_train_data +get_serial_param +get_serialized_item_ptr +get_shape +get_shape_model_3d_contours +get_shape_model_3d_params +get_shape_model_clutter +get_shape_model_contours +get_shape_model_origin +get_shape_model_params +get_sheet_of_light_param +get_sheet_of_light_result +get_sheet_of_light_result_object_model_3d +get_size_matrix +get_socket_descriptor +get_socket_param +get_spy +get_stereo_model_image_pairs +get_stereo_model_object +get_stereo_model_object_model_3d +get_stereo_model_param +get_string_extents +get_structured_light_model_param +get_structured_light_object +get_sub_matrix +get_support_vector_class_svm +get_support_vector_num_class_svm +get_support_vector_num_ocr_class_svm +get_support_vector_ocr_class_svm +get_surface_matching_result +get_surface_model_param +get_system +get_system_info +get_system_time +get_text_model_param +get_text_object +get_text_result +get_texture_inspection_model_image +get_texture_inspection_model_param +get_texture_inspection_result_object +get_threading_attrib +get_thresh_images_variation_model +get_tposition +get_training_components +get_tshape +get_value_matrix +get_variation_model +get_window_attr +get_window_background_image +get_window_extents +get_window_param +get_window_pointer3 +get_window_type +get_y_value_funct_1d +give_bg_esti +global +golay_elements +grab_data +grab_data_async +grab_image +grab_image_async +grab_image_start +gray_bothat +gray_closing +gray_closing_rect +gray_closing_shape +gray_dilation +gray_dilation_rect +gray_dilation_shape +gray_erosion +gray_erosion_rect +gray_erosion_shape +gray_features +gray_histo +gray_histo_abs +gray_histo_range +gray_inside +gray_opening +gray_opening_rect +gray_opening_shape +gray_projections +gray_range_rect +gray_skeleton +gray_tophat +guided_filter +hamming_change_region +hamming_distance +hamming_distance_norm +hand_eye_calibration +handle_to_integer +harmonic_interpolation +height_width_ratio +height_width_ratio_xld +highpass_image +histo_2dim +histo_to_thresh +hit_or_miss +hit_or_miss_golay +hit_or_miss_seq +hom_mat2d_compose +hom_mat2d_determinant +hom_mat2d_identity +hom_mat2d_invert +hom_mat2d_reflect +hom_mat2d_reflect_local +hom_mat2d_rotate +hom_mat2d_rotate_local +hom_mat2d_scale +hom_mat2d_scale_local +hom_mat2d_slant +hom_mat2d_slant_local +hom_mat2d_to_affine_par +hom_mat2d_translate +hom_mat2d_translate_local +hom_mat2d_transpose +hom_mat3d_compose +hom_mat3d_determinant +hom_mat3d_identity +hom_mat3d_invert +hom_mat3d_project +hom_mat3d_rotate +hom_mat3d_rotate_local +hom_mat3d_scale +hom_mat3d_scale_local +hom_mat3d_to_pose +hom_mat3d_translate +hom_mat3d_translate_local +hom_mat3d_transpose +hom_vector_to_proj_hom_mat2d +hough_circle_trans +hough_circles +hough_line_trans +hough_line_trans_dir +hough_lines +hough_lines_dir +hysteresis_threshold +if +ifelse +illuminate +image_points_to_world_plane +image_to_channels +image_to_memory_block +image_to_world_plane +import +import_lexicon +info_edges +info_framegrabber +info_ocr_class_box +info_parallels_xld +info_smooth +init_compute_device +inner_circle +inner_rectangle1 +inpainting_aniso +inpainting_ced +inpainting_ct +inpainting_mcf +inpainting_texture +insert +insert_obj +inspect_clustered_components +inspect_lexicon +inspect_shape_model +integer_to_handle +integer_to_obj +integrate_funct_1d +intensity +interjacent +interleave_channels +interpolate_scattered_data +interpolate_scattered_data_image +interpolate_scattered_data_points_to_image +interrupt_operator +intersect_lines_of_sight +intersect_plane_object_model_3d +intersection +intersection_circle_contour_xld +intersection_circles +intersection_closed_contours_xld +intersection_closed_polygons_xld +intersection_contours_xld +intersection_line_circle +intersection_line_contour_xld +intersection_lines +intersection_ll +intersection_region_contour_xld +intersection_segment_circle +intersection_segment_contour_xld +intersection_segment_line +intersection_segments +invert_funct_1d +invert_image +invert_matrix +invert_matrix_mod +isotropic_diffusion +json_to_dict +junctions_skeleton +kirsch_amp +kirsch_dir +label_to_region +laplace +laplace_of_gauss +learn_class_box +learn_ndim_box +learn_ndim_norm +learn_sampset_box +length_xld +line_orientation +line_position +linear_trans_color +lines_color +lines_facet +lines_gauss +list_files +load_dl_model_weights +local_max +local_max_contours_xld +local_max_sub_pix +local_min +local_min_max_funct_1d +local_min_sub_pix +local_threshold +lock_mutex +log_image +lookup_lexicon +lowlands +lowlands_center +lut_trans +make_dir +map_image +match_essential_matrix_ransac +match_funct_1d_trans +match_fundamental_matrix_distortion_ransac +match_fundamental_matrix_ransac +match_rel_pose_ransac +max_diameter_object_model_3d +max_image +max_matrix +max_parallels_xld +mean_curvature_flow +mean_image +mean_image_shape +mean_matrix +mean_n +mean_sp +measure_pairs +measure_pos +measure_profile_sheet_of_light +measure_projection +measure_thresh +median_image +median_rect +median_separate +median_weighted +memory_block_to_image +merge_cont_line_scan_xld +merge_regions_line_scan +midrange_image +min_image +min_matrix +min_max_gray +minkowski_add1 +minkowski_add2 +minkowski_sub1 +minkowski_sub2 +mirror_image +mirror_region +mod_parallels_xld +modify_component_relations +moments_any_points_xld +moments_any_xld +moments_gray_plane +moments_object_model_3d +moments_points_xld +moments_region_2nd +moments_region_2nd_invar +moments_region_2nd_rel_invar +moments_region_3rd +moments_region_3rd_invar +moments_region_central +moments_region_central_invar +moments_xld +monotony +morph_hat +morph_skeleton +morph_skiz +move_rectangle +move_region +mult_element_matrix +mult_element_matrix_mod +mult_image +mult_matrix +mult_matrix_mod +negate_funct_1d +new_extern_window +new_line +noise_distribution_mean +nonmax_suppression_amp +nonmax_suppression_dir +norm_matrix +num_points_funct_1d +obj_diff +obj_to_integer +object_model_3d_to_xyz +ocr_change_char +ocr_get_features +open_compute_device +open_file +open_framegrabber +open_io_channel +open_io_device +open_serial +open_socket_accept +open_socket_connect +open_textwindow +open_window +opening +opening_circle +opening_golay +opening_rectangle1 +opening_seg +optical_flow_mg +optimize_aop +optimize_dl_model_for_inference +optimize_fft_speed +optimize_rft_speed +orientation_points_xld +orientation_region +orientation_xld +orthogonal_decompose_matrix +overpaint_gray +overpaint_region +paint_gray +paint_region +paint_xld +par_join +partition_dynamic +partition_lines +partition_rectangle +phase_correlation_fft +phase_deg +phase_rad +photometric_stereo +plane_deviation +plateaus +plateaus_center +pluecker_line_to_point_direction +pluecker_line_to_points +point_direction_to_pluecker_line +point_line_to_hom_mat2d +point_pluecker_line_to_hom_mat3d +points_foerstner +points_harris +points_harris_binomial +points_lepetit +points_sojka +points_to_pluecker_line +polar_trans_contour_xld +polar_trans_contour_xld_inv +polar_trans_image +polar_trans_image_ext +polar_trans_image_inv +polar_trans_region +polar_trans_region_inv +pose_average +pose_compose +pose_invert +pose_to_dual_quat +pose_to_hom_mat3d +pose_to_quat +pouring +pow_element_matrix +pow_element_matrix_mod +pow_image +pow_matrix +pow_matrix_mod +pow_scalar_element_matrix +pow_scalar_element_matrix_mod +power_byte +power_ln +power_real +prepare_deep_counting_model +prepare_direct_variation_model +prepare_object_model_3d +prepare_sample_identifier +prepare_variation_model +prewitt_amp +prewitt_dir +principal_comp +proj_hom_mat2d_to_pose +proj_match_points_distortion_ransac +proj_match_points_distortion_ransac_guided +proj_match_points_ransac +proj_match_points_ransac_guided +project_3d_point +project_hom_point_hom_mat3d +project_object_model_3d +project_point_hom_mat3d +project_shape_model_3d +projection_pl +projective_trans_contour_xld +projective_trans_hom_point_3d +projective_trans_image +projective_trans_image_size +projective_trans_object_model_3d +projective_trans_pixel +projective_trans_point_2d +projective_trans_point_3d +projective_trans_region +protect_ocr_trainf +pruning +quat_compose +quat_conjugate +quat_interpolate +quat_normalize +quat_rotate_point_3d +quat_to_hom_mat3d +quat_to_pose +query_all_colors +query_aop_info +query_available_compute_devices +query_available_dl_devices +query_bar_code_params +query_calib_data_observ_indices +query_color +query_colored +query_contour_attribs_xld +query_contour_global_attribs_xld +query_data_code_2d_params +query_font +query_gray +query_insert +query_io_device +query_io_interface +query_line_width +query_lut +query_mshape +query_operator_info +query_paint +query_param_info +query_params_ocr_class_cnn +query_shape +query_sheet_of_light_params +query_spy +query_tshape +query_window_type +radial_distortion_self_calibration +radiometric_self_calibration +rank_image +rank_n +rank_rect +rank_region +read_aop_knowledge +read_bar_code_model +read_calib_data +read_cam_par +read_camera_setup_model +read_char +read_class_box +read_class_gmm +read_class_knn +read_class_mlp +read_class_svm +read_class_train_data +read_component_model +read_contour_xld_arc_info +read_contour_xld_dxf +read_data_code_2d_model +read_deep_counting_model +read_deep_matching_3d +read_deep_ocr +read_deformable_model +read_deformable_surface_model +read_descriptor_model +read_dict +read_distance_transform_xld +read_dl_classifier +read_dl_model +read_encrypted_item +read_fft_optimization_data +read_funct_1d +read_gray_se +read_image +read_image_metadata +read_io_channel +read_kalman +read_matrix +read_measure +read_memory_block +read_message +read_metrology_model +read_ncc_model +read_object +read_object_model_3d +read_ocr +read_ocr_class_cnn +read_ocr_class_knn +read_ocr_class_mlp +read_ocr_class_svm +read_ocr_trainf +read_ocr_trainf_names +read_ocr_trainf_names_protected +read_ocr_trainf_select +read_ocv +read_polygon_xld_arc_info +read_polygon_xld_dxf +read_pose +read_region +read_sample_identifier +read_samples_class_gmm +read_samples_class_mlp +read_samples_class_svm +read_sampset +read_sequence +read_serial +read_shape_model +read_shape_model_3d +read_sheet_of_light_model +read_string +read_structured_light_model +read_surface_model +read_template +read_texture_inspection_model +read_training_components +read_tuple +read_variation_model +read_world_file +real_to_complex +real_to_vector_field +receive_data +receive_image +receive_region +receive_serialized_item +receive_tuple +receive_xld +reconst3d_from_fundamental_matrix +reconstruct_height_field_from_gradient +reconstruct_points_stereo +reconstruct_surface_stereo +reconstruct_surface_structured_light +rectangle1_domain +rectangularity +rectangularity_xld +reduce_class_svm +reduce_domain +reduce_object_model_3d_by_view +reduce_ocr_class_svm +refine_deformable_surface_model +refine_surface_model_pose +refine_surface_model_pose_image +region_features +region_to_bin +region_to_label +region_to_mean +regiongrowing +regiongrowing_mean +regiongrowing_n +register_object_model_3d_global +register_object_model_3d_pair +regress_contours_xld +rel_pose_to_fundamental_matrix +release_all_compute_devices +release_compute_device +remove_calib_data +remove_calib_data_observ +remove_dict_key +remove_dir +remove_noise_region +remove_obj +remove_object_model_3d_attrib +remove_object_model_3d_attrib_mod +remove_sample_identifier_preparation_data +remove_sample_identifier_training_data +remove_scene_3d_camera +remove_scene_3d_instance +remove_scene_3d_label +remove_scene_3d_light +remove_texture_inspection_model_image +render_object_model_3d +render_scene_3d +repeat +repeat_matrix +replace_obj +reset_fuzzy_measure +reset_metrology_object_fuzzy_param +reset_metrology_object_param +reset_obj_db +reset_sheet_of_light_model +return +rft_generic +rgb1_to_gray +rgb3_to_gray +rigid_trans_object_model_3d +roberts +robinson_amp +robinson_dir +rotate_image +roundness +run_bg_esti +runlength_distribution +runlength_features +saddle_points_sub_pix +sample_funct_1d +sample_object_model_3d +scale_image +scale_image_max +scale_matrix +scale_matrix_mod +scale_y_funct_1d +scene_flow_calib +scene_flow_uncalib +screw_to_dual_quat +search_operator +segment_characters +segment_contour_attrib_xld +segment_contours_xld +segment_image_mser +segment_object_model_3d +select_characters +select_contours_xld +select_feature_set_gmm +select_feature_set_knn +select_feature_set_mlp +select_feature_set_svm +select_feature_set_trainf_knn +select_feature_set_trainf_mlp +select_feature_set_trainf_mlp_protected +select_feature_set_trainf_svm +select_feature_set_trainf_svm_protected +select_gray +select_grayvalues_from_channels +select_lines +select_lines_longest +select_matching_lines +select_obj +select_object_model_3d +select_points_object_model_3d +select_region_point +select_region_spatial +select_shape +select_shape_proto +select_shape_std +select_shape_xld +select_sub_feature_class_train_data +select_xld_point +send_data +send_image +send_mouse_double_click_event +send_mouse_down_event +send_mouse_drag_event +send_mouse_up_event +send_region +send_serialized_item +send_tuple +send_xld +serialize_bar_code_model +serialize_calib_data +serialize_cam_par +serialize_camera_setup_model +serialize_class_box +serialize_class_gmm +serialize_class_knn +serialize_class_mlp +serialize_class_svm +serialize_class_train_data +serialize_component_model +serialize_data_code_2d_model +serialize_deformable_model +serialize_deformable_surface_model +serialize_descriptor_model +serialize_distance_transform_xld +serialize_dl_classifier +serialize_dl_model +serialize_dual_quat +serialize_fft_optimization_data +serialize_handle +serialize_hom_mat2d +serialize_hom_mat3d +serialize_image +serialize_matrix +serialize_measure +serialize_metrology_model +serialize_ncc_model +serialize_object +serialize_object_model_3d +serialize_ocr +serialize_ocr_class_cnn +serialize_ocr_class_knn +serialize_ocr_class_mlp +serialize_ocr_class_svm +serialize_ocv +serialize_pose +serialize_quat +serialize_region +serialize_sample_identifier +serialize_shape_model +serialize_shape_model_3d +serialize_sheet_of_light_model +serialize_structured_light_model +serialize_surface_model +serialize_template +serialize_texture_inspection_model +serialize_training_components +serialize_tuple +serialize_variation_model +serialize_xld +set_aop_info +set_bar_code_param +set_bar_code_param_specific +set_bead_inspection_param +set_bg_esti_params +set_calib_data +set_calib_data_calib_object +set_calib_data_cam_param +set_calib_data_observ_points +set_calib_data_observ_pose +set_camera_setup_cam_param +set_camera_setup_param +set_check +set_class_box_param +set_color +set_colored +set_comprise +set_compute_device_param +set_content_update_callback +set_contour_style +set_current_dir +set_data_code_2d_param +set_deep_counting_model_param +set_deep_matching_3d_param +set_deep_ocr_param +set_deformable_model_origin +set_deformable_model_param +set_descriptor_model_origin +set_diagonal_matrix +set_dict_object +set_dict_tuple +set_dict_tuple_at +set_distance_transform_xld_param +set_dl_classifier_param +set_dl_device_param +set_dl_model_layer_param +set_dl_model_layer_weights +set_dl_model_param +set_dl_pruning_param +set_draw +set_drawing_object_callback +set_drawing_object_params +set_drawing_object_xld +set_feature_lengths_class_train_data +set_fix +set_fixed_lut +set_font +set_framegrabber_callback +set_framegrabber_lut +set_framegrabber_param +set_full_matrix +set_fuzzy_measure +set_fuzzy_measure_norm_pair +set_generic_shape_model_object +set_generic_shape_model_param +set_gray +set_grayval +set_hsi +set_icon +set_insert +set_io_channel_param +set_io_device_param +set_line_approx +set_line_style +set_line_width +set_local_deformable_model_metric +set_lut +set_lut_style +set_message_obj +set_message_param +set_message_queue_param +set_message_tuple +set_metrology_model_image_size +set_metrology_model_param +set_metrology_object_fuzzy_param +set_metrology_object_param +set_mshape +set_ncc_model_origin +set_ncc_model_param +set_object_model_3d_attrib +set_object_model_3d_attrib_mod +set_offset_template +set_operator_timeout +set_origin_pose +set_paint +set_params_class_knn +set_part +set_part_style +set_pixel +set_planar_calib_deformable_model_metric +set_planar_uncalib_deformable_model_metric +set_profile_sheet_of_light +set_reference_template +set_regularization_params_class_mlp +set_regularization_params_ocr_class_mlp +set_rejection_params_class_mlp +set_rejection_params_ocr_class_mlp +set_rgb +set_rgba +set_sample_identifier_object_info +set_sample_identifier_param +set_scene_3d_camera_pose +set_scene_3d_instance_param +set_scene_3d_instance_pose +set_scene_3d_label_param +set_scene_3d_light_param +set_scene_3d_param +set_scene_3d_to_world_pose +set_serial_param +set_shape +set_shape_model_clutter +set_shape_model_metric +set_shape_model_origin +set_shape_model_param +set_sheet_of_light_param +set_socket_param +set_spy +set_stereo_model_image_pairs +set_stereo_model_param +set_structured_light_model_param +set_sub_matrix +set_surface_model_param +set_system +set_text_model_param +set_texture_inspection_model_param +set_tposition +set_tshape +set_value_matrix +set_window_attr +set_window_dc +set_window_extents +set_window_param +set_window_type +sfs_mod_lr +sfs_orig_lr +sfs_pentland +shade_height_field +shape_histo_all +shape_histo_point +shape_trans +shape_trans_xld +shock_filter +sigma_image +signal_condition +signal_event +sim_caltab +simplify_object_model_3d +simulate_defocus +simulate_motion +sin_image +skeleton +slide_image +smallest_bounding_box_object_model_3d +smallest_circle +smallest_circle_xld +smallest_rectangle1 +smallest_rectangle1_xld +smallest_rectangle2 +smallest_rectangle2_xld +smallest_sphere_object_model_3d +smooth_contours_xld +smooth_funct_1d_gauss +smooth_funct_1d_mean +smooth_image +smooth_object_model_3d +sobel_amp +sobel_dir +socket_accept_connect +solve_matrix +sort_contours_xld +sort_region +sp_distribution +spatial_relation +split_contours_xld +split_skeleton_lines +split_skeleton_region +sqrt_image +sqrt_matrix +sqrt_matrix_mod +stationary_camera_self_calibration +stop +sub_image +sub_matrix +sub_matrix_mod +suggest_lexicon +sum_matrix +surface_normals_object_model_3d +svd_matrix +switch +symm_difference 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+ 3, + "5.2.1 Creating and Configuring the Calibration Data Model", + 122 + ], + [ + 3, + "5.2.2 Acquiring Calibration Images", + 123 + ], + [ + 3, + "5.2.3 Observing the Calibration Object", + 123 + ], + [ + 3, + "5.2.4 Calibrating the Cameras", + 124 + ], + [ + 2, + "5.3 Binocular Stereo Vision", + 124 + ], + [ + 3, + "5.3.1 Comparison of the Stereo Matching Approaches Correlation-Based, Multigrid, and Multi-Scanline Stereo", + 125 + ], + [ + 3, + "5.3.2 Accessing the Calibration Results", + 126 + ], + [ + 3, + "5.3.3 Acquiring Stereo Images", + 126 + ], + [ + 3, + "5.3.4 Rectifying the Stereo Images", + 127 + ], + [ + 3, + "5.3.5 Reconstructing 3D Information", + 130 + ], + [ + 3, + "5.3.6 Uncalibrated Stereo Vision", + 138 + ], + [ + 2, + "5.4 Multi-View Stereo Vision", + 139 + ], + [ + 3, + "5.4.1 Initializing the Stereo Model", + 139 + ], + [ + 3, + "5.4.2 Reconstructing 3D Information", + 141 + ], + [ + 1, + "6 Laser Triangulation with Sheet of Light", + 147 + ], + [ + 2, + "6.1 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+ 2, + "7.3 Working with Depth from Focus", + 170 + ], + [ + 3, + "7.3.1 Rules for Taking Images", + 170 + ], + [ + 3, + "7.3.2 Practical Use of Depth from Focus", + 171 + ], + [ + 3, + "7.3.3 Volume Measurement with Depth from Focus", + 171 + ], + [ + 2, + "7.4 Solutions for Typical Problems With DFF", + 172 + ], + [ + 3, + "7.4.1 Calibrating Aberration", + 172 + ], + [ + 2, + "7.5 Special Cases", + 173 + ], + [ + 2, + "7.6 Performing Depth from Focus with a Standard Lens", + 174 + ], + [ + 1, + "8 Robot Vision", + 175 + ], + [ + 2, + "8.1 Supported Configurations", + 175 + ], + [ + 3, + "8.1.1 Articulated Robot vs. SCARA Robot", + 175 + ], + [ + 3, + "8.1.2 Camera and Calibration Plate vs. 3D Sensor and 3D Object", + 176 + ], + [ + 3, + "8.1.3 Moving Camera vs. Stationary Camera", + 177 + ], + [ + 3, + "8.1.4 Calibrating the Camera in Advance vs. Calibrating It During Hand-Eye Calibration", + 177 + ], + [ + 2, + "8.2 The Principle of Hand-Eye Calibration", + 177 + ], + [ + 2, + "8.3 Calibrating the Camera in Advance", + 179 + ], + [ + 2, + "8.4 Preparing the Calibration Input Data", + 179 + ], + [ + 3, + "8.4.1 Creating the Data Model", + 180 + ], + [ + 3, + "8.4.2 Poses of the Calibration Object", + 181 + ], + [ + 3, + "8.4.3 Poses of the Robot Tool", + 182 + ], + [ + 2, + "8.5 Performing the Calibration", + 183 + ], + [ + 2, + "8.6 Determine Translation in Z Direction for SCARA Robots", + 184 + ], + [ + 2, + "8.7 Using the Calibration Data", + 185 + ], + [ + 3, + "8.7.1 Using the Hand-Eye Calibration for Grasping (3D Alignment)", + 185 + ], + [ + 3, + "8.7.2 How to Get the 3D Pose of the Object", + 186 + ], + [ + 3, + "8.7.3 Example Application with a Stationary Camera: Grasping a Nut", + 187 + ], + [ + 1, + "9 Calibrated Mosaicking", + 191 + ], + [ + 2, + "9.1 Setup", + 191 + ], + [ + 2, + "9.2 Approach Using a Single Calibration Plate", + 193 + ], + [ + 3, + "9.2.1 Calibration", + 193 + ], + [ + 3, + "9.2.2 Mosaicking", + 194 + ], + [ + 2, + "9.3 Approach Using Multiple Calibration Plates", + 195 + ], + [ + 3, + "9.3.1 Calibration", + 196 + ], + [ + 3, + "9.3.2 Merging the Individual Images into One Larger Image", + 197 + ], + [ + 1, + "10 Uncalibrated Mosaicking", + 205 + ], + [ + 2, + "10.1 Rules for Taking Images for a Mosaic Image", + 207 + ], + [ + 2, + "10.2 Definition of Overlapping Image Pairs", + 208 + ], + [ + 2, + "10.3 Detection of Characteristic Points", + 212 + ], + [ + 2, + "10.4 Matching of Characteristic Points", + 213 + ], + [ + 2, + "10.5 Generation of the Mosaic Image", + 215 + ], + [ + 2, + "10.6 Bundle Adjusted Mosaicking", + 215 + ], + [ + 2, + "10.7 Spherical Mosaicking", + 216 + ], + [ + 1, + "11 Rectification of Arbitrary Distortions", + 219 + ], + [ + 2, + "11.1 Basic Principle", + 220 + ], + [ + 2, + "11.2 Rules for Taking Images of the Rectification Grid", + 222 + ], + [ + 2, + "11.3 Machine Vision on Ruled Surfaces", + 223 + ], + [ + 2, + "11.4 Using Self-Defined Rectification Grids", + 225 + ], + [ + 1, + "A HDevelop Procedures Used in this Solution Guide", + 231 + ], + [ + 2, + "A.1 gen_hom_mat3d_from_three_points", + 231 + ], + [ + 2, + "A.2 parameters_image_to_world_plane_centered", + 232 + ], + [ + 2, + "A.3 parameters_image_to_world_plane_entire", + 232 + ], + [ + 2, + "A.4 tilt_correction", + 233 + ], + [ + 2, + "A.5 calc_calplate_pose_movingcam", + 233 + ], + [ + 2, + "A.6 calc_calplate_pose_stationarycam", + 233 + ], + [ + 2, + "A.7 define_reference_coord_system", + 234 + ], + [ + 1, + "Index", + 235 + ] + ] + }, + "surface_based_matching.pdf": { + "pages": 30, + "toc": [ + [ + 1, + "1 Overview of Surface-Based Matching", + 7 + ], + [ + 2, + "1.1 Surface-Based Matching Methods", + 7 + ], + [ + 1, + "2 Workflow of Surface-Based Matching", + 11 + ], + [ + 2, + "2.1 Creating the Surface Model", + 11 + ], + [ + 2, + "2.2 Finding the Surface Model", + 11 + ], + [ + 3, + "2.2.1 Approximate Matching", + 13 + ], + [ + 3, + "2.2.2 Sparse Pose Refinement", + 13 + ], + [ + 3, + "2.2.3 Dense Pose Refinement", + 13 + ], + [ + 2, + "2.3 Visualizing the Result", + 14 + ], + [ + 1, + "3 Data Requirements", + 15 + ], + [ + 2, + "3.1 XYZ-Mappings", + 15 + ], + [ + 2, + "3.2 Surface Normal Vectors", + 15 + ], + [ + 1, + "4 Troubleshooting", + 17 + ], + [ + 2, + "4.1 Normals", + 17 + ], + [ + 2, + "4.2 Shape of the Model", + 17 + ], + [ + 2, + "4.3 Duplicate Points", + 18 + ], + [ + 2, + "4.4 Checklist", + 19 + ], + [ + 3, + "4.4.1 Points to Consider for Surface-Based Matching and Edge-Supported Surface-Based Matching", + 20 + ], + [ + 3, + "4.4.2 Points to Consider for Edge-Supported Surface-Based Matching Only", + 21 + ], + [ + 1, + "5 Tips & Tricks for Improved Speed, Robustness, and Accuracy", + 22 + ], + [ + 2, + "5.1 Speed", + 22 + ], + [ + 3, + "5.1.1 Model", + 22 + ], + [ + 3, + "5.1.2 Scene", + 22 + ], + [ + 2, + "5.2 Robustness", + 23 + ], + [ + 2, + "5.3 Accuracy", + 25 + ], + [ + 1, + "6 Background Removal", + 26 + ], + [ + 2, + "6.1 Remove Background Plane", + 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a/plugins/halcon/skills/halcon/references/pdf/technical_updates.pdf b/plugins/halcon/skills/halcon/references/pdf/technical_updates.pdf new file mode 100644 index 0000000..7a3aed5 Binary files /dev/null and b/plugins/halcon/skills/halcon/references/pdf/technical_updates.pdf differ diff --git a/plugins/halcon/skills/halcon/references/remote-mcp.md b/plugins/halcon/skills/halcon/references/remote-mcp.md new file mode 100644 index 0000000..c2dd3ce --- /dev/null +++ b/plugins/halcon/skills/halcon/references/remote-mcp.md @@ -0,0 +1,96 @@ +# Remote HALCON over MCP (`halcon-remote`) + +A **remote** HALCON compute service exposed as an MCP server. Use it when there is +**no local HALCON** (e.g. MacOS, a plain Linux box, a colleague's machine) — it runs +HALCON 24.11 on a headless Linux server and is reachable over the public internet. +Client needs only network + a bearer token; **no HALCON, no minio creds, no VPN/tailnet.** + +- Endpoint: `https://halcon-mcp.totoro.studio/mcp` (Streamable HTTP, Bearer auth) +- Token: server-side `/opt/halcon-mcp/.env` (`HALCON_MCP_TOKEN`); in configs reference `${HALCON_MCP_TOKEN}`, never hardcode. +- Source/ops: repo `halcon-mcp-remote/`; server `192.168.1.13:/opt/halcon-mcp` (systemd `halcon-mcp`). Full deploy facts: repo `halcon-tools.yaml` → `halcon_mcp_remote`. + +## Register the server (client side) + +```bash +# user scope (works across all projects) +claude mcp add --scope user --transport http halcon-remote \ + https://halcon-mcp.totoro.studio/mcp --header "Authorization: Bearer $HALCON_MCP_TOKEN" +claude mcp list # expect: halcon-remote ... ✔ Connected +``` +Or project `.mcp.json`: `{ "type":"http", "url":".../mcp", "headers":{"Authorization":"Bearer ${HALCON_MCP_TOKEN}"} }`. + +## Tools (full names: `mcp__halcon-remote__`) + +| Tool | Does | Key args | +|---|---|---| +| `halcon_get_env` | Self-check: version/hostid/arch | — | +| `halcon_create_upload` | Presigned PUT URL to upload one file (image or zip), no creds | `filename`, `expires_minutes` | +| `halcon_find_circles` | Subpixel find circles → list + preview | `image` or `image_b64` | +| `halcon_measure_overlay` | Bullseye overlay: Top/Bottom center deviation (µm) | `image` or `image_b64`, `apply_registration` | +| `halcon_overlay_batch` | Batch overlay over a minio prefix → CSV | `prefix`, `max_images` | +| `halcon_find_circles_zip` | Batch find circles: image zip → 4 ring-mark centers (TL/TR/BL/BR) → CSV | `zip_key`, `min/max_radius` | +| `halcon_exec_hdev` | Run an HDevelop script via hrun → stdout (destructive) | `script_text` | + +## Image I/O — how images get in and results out + +An `image` argument accepts one of: +- `file:/abs/path` — a file **on the server** (testing only; e.g. `file:/tmp/amm_test/2-zuoshang.bmp`). +- `` — a minio object key in the default bucket `halcon` (e.g. `inbox/die.png`). +- `minio:///` — explicit bucket. + +Or pass `image_b64` (inline base64, may include `data:` prefix) — best for a **single small image**, no upload step. + +Results: numeric metrics come back **inline** (structuredContent). Heavy artifacts (preview jpg, CSV) are +uploaded to minio and returned as a **key + presigned URL** on the **public** host `minio-home.totoro.studio` +(openable from anywhere). Small files (preview/CSV) — just GET the URL. + +## Three usage patterns (pick by size) + +**1. Single small image → inline (simplest).** +``` +halcon_measure_overlay(image_b64="") +→ {status:"ok", overlay_dX_um, overlay_dY_um, top/bottom centers, n_circles} +``` + +**2. Single/few images from an external client → presigned PUT (no creds).** +``` +k = halcon_create_upload(filename="die.bmp") # → {put_url, key} +curl -T die.bmp "" # public PUT, no creds +halcon_measure_overlay(image=k.key) +``` + +**3. Large batch (hundreds–thousands) → zip once, then process (recommended).** +Zip is the right move: one file = one upload = works with presigned PUT (external users too), +vs mirroring many files (needs minio creds). +``` +zip -0 -q -j batch.zip *.png # store mode (PNG already compressed) +k = halcon_create_upload(filename="batch.zip") +curl -T batch.zip "" # one PUT +halcon_find_circles_zip(zip_key=k.key) # server unzips + batch + CSV +→ {total, ok, seconds, per_image_ms, csv_key, csv_url} +# then GET csv_url +``` +CSV columns: `file,status,n_found,TL_col,TL_row,TL_r,TR_...,BL_...,BR_...` (4 ring-mark centers per image, ordered by position). + +## D2W overlay conventions (this project's domain) + +- Axes: **X = image right +, Y = image up +**; pixel size **271.048 nm/px**; overlay = **Bottom − Top**. +- Mark grouping: outer thick ring = **Top Die Mark**; inner dot + mid ring = **Bottom Die Mark**. +- `apply_registration=True` adds the +13.5/+9.6 nm offset (0627-JC 2-point calibration; drop for other tools/batches). +- Sanity values (die-2 four corners, raw dev µm): TL −0.778/+0.794 · TR −0.265/+0.391 · BL −0.171/+1.022 · BR +0.230/+0.435. + +## Performance (measured, single HALCON process, 16 threads) + +- find_circles on 5312×4608 (24MP): **~92 ms/image** (~11 img/s). 1920 images ≈ **176 s compute**. +- 90 MB zip public PUT: ~20 s. End-to-end 1920 images ≈ **3.3 min**. +- Circle-center repeatability across 1920 shots: std **0.01–0.04 px**. + +## Gotchas + +- **Sync execution.** `halcon_find_circles_zip` / `halcon_overlay_batch` run synchronously. ~1920 images (~3 min) + is near the comfortable ceiling — set a **long client timeout**. For much larger jobs, chunk or use async (not yet built). +- **License `SESSIONS=1`** → cannot multi-process; rely on HALCON's internal 16-thread parallelization (already fast). +- **Preview/CSV URLs use `minio-home.totoro.studio`** (public), not the internal `192.168.1.2:9000` — openable off-LAN. +- **Big batches:** always zip (one PUT). Per-file `create_upload` for N files is N round-trips — only for a handful. +- **`file:` paths are server-side**, not the client's filesystem — only for images already on `192.168.1.13`. +- Tool errors return `isError` + an actionable message (e.g. "先用 halcon_create_upload 传图") — read it and self-correct. diff --git a/plugins/halcon/skills/halcon/references/task-recipes.md b/plugins/halcon/skills/halcon/references/task-recipes.md new file mode 100644 index 0000000..e74ebc9 --- /dev/null +++ b/plugins/halcon/skills/halcon/references/task-recipes.md @@ -0,0 +1,197 @@ +# HALCON task recipes + +Ready-to-adapt pipelines for common vision tasks. Each recipe is a **procedure** +(a reusable method), not a one-off — read the operator names, adapt parameters, +then run via HDevEngine (`scripts/run_procedure.py`) or `hrun`. For exact +parameter semantics open the referenced pages (see `doc-map.md`); for the +authoritative operator signature, target `reference_hdevelop.pdf`. + +Conventions used below: `Image` = input, `Region`/`Roi` = ROI, `Contours` = XLD +(subpixel contours), `*Handle` = a model handle that must be `clear_*`ed. + +## Meta-pattern: procedure + Python driver (the house style) + +This is how the tested pipeline in `references/examples/` is built — copy it. + +1. Write an `.hdvp` external procedure with **control** inputs/outputs only + (paths in, numbers/tuples out). No `draw_*`, no `stop()`. Validate inside and + `throw` on unexpected results. +2. Persist any human-taught ROI once with `teach_roi.py` → `roi.hobj`; the + procedure `read_region`s it. +3. Drive from Python with HDevEngine: loop images, `set_input_control_param_by_name`, + `execute` (wrapped in `try/except HDevEngineError`), `get_output_control_param_by_name`, + aggregate, write CSV. + +Reference implementation (bundled): `references/examples/find_circles.hdvp` + +`references/examples/run_compare.py`. Skeleton procedure body: + +``` +read_image (Image, ImageFile) +read_region (Roi, RoiFile) +reduce_domain (Image, Roi, ImageReduced) * restrict processing to the ROI +* ... task-specific operators ... +if (|Result| != Expected) + throw ('unexpected count: ' + |Result|) * driver catches & skips +endif +``` + +## Blob analysis (segment by gray value, measure regions) + +Goal: find objects that differ in brightness, count/measure them. + +``` +threshold (ImageReduced, Region, MinGray, MaxGray) * or auto_threshold / binary_threshold +connection (Region, ConnectedRegions) * split into individual blobs +select_shape (ConnectedRegions, Selected, 'area', 'and', MinArea, MaxArea) +area_center (Selected, Area, Row, Col) * features per blob +``` + +Key knobs: pick the threshold from the histogram (`gray_histo`), or use +`dyn_threshold` against a smoothed copy for uneven lighting. Morphology +(`opening_circle`, `closing_circle`) cleans speckle before `connection`. +Guide: `solution_guide_i.pdf` ch.4 (p33). + +## Subpixel edges, contours, and shape fitting + +Goal: precise geometry (circle/line/ellipse) from contours. + +``` +edges_sub_pix (ImageReduced, Edges, 'canny', Alpha, Low, High) * Alpha≈1–3, higher=smoother +select_contours_xld (Edges, Sel, 'contour_length', MinLen, MaxLen, -0.5, 0.5) +union_adjacent_contours_xld (Sel, Union, 10, 1, 'attr_keep') * join broken arcs +sort_contours_xld (Union, Sorted, 'character', 'true', 'column') * deterministic order +fit_circle_contour_xld (Sorted, 'algebraic', -1, 0, 0, 3, 2, Row, Col, Radius, S, E, Order) +* fit_line_contour_xld / fit_ellipse_contour_xld for other shapes +``` + +Gotchas: canny thresholds and the length window are the tuning that decides how +many contours survive — if the fitted count is wrong, adjust `MinLen/MaxLen` and +the ROI tightness before anything else. Guides: `solution_guide_i.pdf` ch.7,9 +(p63, p79). + +## 2D measuring — metrology model (robust circle/line/rectangle fitting) + +Goal: high-accuracy, repeatable geometry with built-in edge measurement. This is +the metrology-model half of the tested `find_circles.hdvp`. + +``` +create_metrology_model (MetrologyHandle) +set_metrology_model_image_size (MetrologyHandle, Width, Height) +add_metrology_object_circle_measure (MetrologyHandle, Row, Col, Radius, RadiusTol, \ + MeasureLen1, MeasureLen2, MeasureSigma, [], [], Indices) +set_metrology_object_param (MetrologyHandle, Indices, 'num_instances', 1) +set_metrology_object_param (MetrologyHandle, Indices, 'measure_transition', 'positive') +set_metrology_object_param (MetrologyHandle, Indices, 'min_score', 0.3) +apply_metrology_model (Image, MetrologyHandle) +get_metrology_object_result (MetrologyHandle, Indices, 'all', 'result_type', 'all_param', Param) +* circle params come back interleaved: Row=Param[0::3], Col=Param[1::3], Radius=Param[2::3] +clear_metrology_model (MetrologyHandle) +``` + +Seed the metrology objects from a rough fit (e.g. `fit_circle_contour_xld`), then +let the model refine. Tune `min_score`, `measure_transition` +(positive/negative/all), and the radius tolerance. Guide: +`solution_guide_iii_b_2d_measuring.pdf` (Basic Tools p11, Tool Selection p27, +Examples p35). + +## 1D measuring (calipers along a line or arc) + +Goal: edge positions/widths along a profile (e.g. pin pitch, gap width). + +``` +gen_measure_rectangle2 (Row, Col, Phi, Length1, Length2, Width, Height, 'nearest_neighbor', Handle) +measure_pos (Image, Handle, Sigma, Threshold, 'all', 'all', RowEdge, ColEdge, Amp, Distance) +* gen_measure_arc + measure_pos for circular profiles +close_measure (Handle) +``` + +Use the fuzzy measure object (`fuzzy_measure_pos`) when edges are noisy/ambiguous. +Guide: `solution_guide_iii_a_1d_measuring.pdf`. + +## 2D matching (locate a known template) + +Goal: find where a trained pattern appears (with rotation/scale), get pose. + +Default = **shape-based matching** (robust to illumination, occlusion): + +``` +* --- train once, persist the model --- +create_shape_model (TemplateImageReduced, 'auto', 0, rad(360), 'auto', 'auto', \ + 'use_polarity', 'auto', 'auto', ModelID) +write_shape_model (ModelID, 'model.shm') +* --- match at runtime --- +read_shape_model ('model.shm', ModelID) +find_shape_model (Image, ModelID, 0, rad(360), 0.5, 0, 0.5, 'least_squares', 0, 0.9, \ + Row, Col, Angle, Score) +``` + +Alternatives (pick by `solution_guide_ii_b_matching.pdf` ch.3): NCC +(`create_ncc_model`) for pure translation/known illumination; component matching +for articulated parts; local-deformable/descriptor for deformation/perspective. +Guide overview: `solution_guide_i.pdf` ch.10 (p89). + +## 2D data codes (DataMatrix, QR, PDF417) and bar codes + +``` +create_data_code_2d_model ('Data Matrix ECC 200', [], [], DataCodeHandle) +find_data_code_2d (Image, SymbolXLDs, DataCodeHandle, 'stop_after_result_num', 1, \ + ResultHandles, DecodedStrings) +clear_data_code_2d_model (DataCodeHandle) +``` + +If decoding fails: raise `find_data_code_2d` search effort/timeout params, or +preprocess (contrast, `gray_range_rect`, `mean_image`) — see +`solution_guide_ii_c_2d_data_codes.pdf` ch.4 (Preprocessing p25), ch.5 (Problem +Handling p29). Bar codes: `create_bar_code_model` / `find_bar_code` +(`solution_guide_i.pdf` ch.16 p159). Print-quality grading: ch.6 (p45). + +## Camera calibration & world coordinates + +Goal: convert pixel measurements to metric units / correct lens distortion. + +``` +* grab N images of the HALCON calibration plate at varied poses +create_calib_data ('calibration_object', 1, 1, CalibHandle) +set_calib_data_cam_param (CalibHandle, 0, [], StartCamPar) +set_calib_data_calib_object (CalibHandle, 0, 'caltab.descr') +* for each image: find_calib_data_object / set_calib_data_observ_points +calibrate_cameras (CalibHandle, Error) +get_calib_data (CalibHandle, 'camera', 0, 'params', CamParam) +* then set_origin_pose / image_points_to_world_plane for metric measurement in a plane +``` + +Prefer the **Calibration Assistant** in HDevelop to generate this code +(`hdevelop_users_guide.pdf` p184). Theory + full workflow: +`solution_guide_iii_c_3d_vision.pdf` ch.2 (p13) and ch.3 (single-camera metric, +p59). + +## 3D surface-based matching (point clouds) + +Goal: find the 3D pose of an object in a point cloud / from a CAD model. + +``` +create_surface_model (ObjectModel3D, RelSamplingDist, [], [], SurfaceModelID) +find_surface_model (SurfaceModelID, SceneModel3D, RelSamplingDist, KeyPointFrac, \ + MinScore, 'true', [], [], Pose, Score, SurfaceMatchingResultID) +``` + +Data must be a real 3D point cloud with normals. If matches are poor, work +through `surface_based_matching.pdf` ch.4 (Troubleshooting p17) and ch.5 (Tips +p22); remove the dominant background plane first (ch.6, p26). + +## OCR & classification (brief) + +- **Deep OCR** (default for reading text): `create_deep_ocr` / `apply_deep_ocr` + — pretrained, no training needed. `solution_guide_i.pdf` ch.19 (p209). +- **Classic OCR**: segment characters → `do_ocr_multi_class_mlp` with a + pretrained font. ch.18 (p183). +- **Feature classification** (MLP/SVM/GMM/k-NN): train on region features, then + classify. `solution_guide_ii_d_classification.pdf` ch.5 (p31). + +## When a recipe isn't enough + +1. Read the matching chapter/pages from `doc-map.md`. +2. Confirm exact operator parameters in `reference_hdevelop.pdf` (target pages, + don't browse). +3. Prototype interactively in HDevelop (or `runScriptInGui`), then freeze the + working logic into an `.hdvp` and drive it headless — see the meta-pattern. diff --git a/plugins/halcon/skills/halcon/scripts/_common.py b/plugins/halcon/skills/halcon/scripts/_common.py new file mode 100755 index 0000000..741204b --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/_common.py @@ -0,0 +1,40 @@ +"""Shared helpers for the HALCON runner scripts.""" +import re + +_INT_RE = re.compile(r"^[+-]?\d+$") +_FLOAT_RE = re.compile(r"^[+-]?(\d+\.\d*|\.\d+|\d+)([eE][+-]?\d+)?$") + + +def coerce(value: str): + """Turn a CLI string into int/float/str, or a list for comma-separated input. + + Absolute paths (C:/..., /mnt/...) and anything non-numeric stay strings. + Use a trailing comma or commas to force a tuple, e.g. '1,2,3' -> [1,2,3]. + """ + if "," in value: + return [coerce(v) for v in value.split(",") if v != ""] + if _INT_RE.match(value): + return int(value) + if _FLOAT_RE.match(value) and not value.strip().startswith(("C:", "c:")): + return float(value) + return value + + +def jsonable(v): + """Make a HALCON output control value JSON-serializable.""" + if isinstance(v, (list, tuple)): + return [jsonable(x) for x in v] + if isinstance(v, (int, float, str, bool)) or v is None: + return v + return str(v) + + +def parse_set(pairs): + """['Name=Value', ...] -> [(name, coerced_value), ...].""" + out = [] + for p in pairs or []: + if "=" not in p: + raise SystemExit(f"--set expects Name=Value, got: {p!r}") + name, _, raw = p.partition("=") + out.append((name.strip(), coerce(raw))) + return out diff --git a/plugins/halcon/skills/halcon/scripts/check_env.py b/plugins/halcon/skills/halcon/scripts/check_env.py new file mode 100755 index 0000000..b1b19f7 --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/check_env.py @@ -0,0 +1,45 @@ +"""Smoke-test the HALCON environment on this machine. + +Verifies: the Python binding loads, the native runtime links, the license is +valid (a real operator runs), and HDevEngine imports. + +Run (from the project dir, via uv): + /mnt/c/Users/NAURA/.local/bin/uv.exe run python .claude/skills/halcon/scripts/check_env.py +""" +import sys + + +def main() -> int: + try: + import halcon as ha + except Exception as e: # binding not installed / wrong interpreter + print("FAIL: could not import 'halcon'. Are you running the project venv " + "via uv? Error:", e) + return 1 + + try: + print("HALCON library version:", ha.get_system("version")) + img = ha.gen_image_const("byte", 64, 48) # exercises the license + w = ha.get_image_size(img) + print("gen_image_const OK, size (w,h):", w) + region = ha.threshold(img, 0, 128) + area, _, _ = ha.area_center(region) + print("threshold + area_center OK, area:", area) + except Exception as e: + print("FAIL: an operator call failed. This is usually a LICENSE problem " + "(missing/expired monthly .dat in \\license\\). Error:", e) + return 2 + + try: + from halcon.hdevengine import HDevEngine # noqa: F401 + print("HDevEngine import OK") + except Exception as e: + print("WARN: HDevEngine import failed:", e) + return 3 + + print("HALCON environment OK") + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/plugins/halcon/skills/halcon/scripts/extract_toc.py b/plugins/halcon/skills/halcon/scripts/extract_toc.py new file mode 100755 index 0000000..8bd5b02 --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/extract_toc.py @@ -0,0 +1,34 @@ +"""Rebuild the bundled PDF table-of-contents index (references/pdf/_toc.json). + +Self-contained: reads every PDF bundled under the skill's references/pdf/ and +writes the multi-level TOC next to them. Run after adding/updating manuals. + + /mnt/c/Users/NAURA/.local/bin/uv.exe run --no-project --with pymupdf \ + python .claude/skills/halcon/scripts/extract_toc.py +""" +import fitz, os, glob, json + +# references/pdf/ relative to this script (scripts/ -> ../references/pdf) +HERE = os.path.dirname(os.path.abspath(__file__)) +PDF_DIR = os.path.normpath(os.path.join(HERE, "..", "references", "pdf")) +OUT = os.path.join(PDF_DIR, "_toc.json") + +out = {} +for p in sorted(glob.glob(os.path.join(PDF_DIR, "*.pdf"))): + name = os.path.basename(p) + try: + doc = fitz.open(p) + out[name] = {"pages": doc.page_count, "toc": doc.get_toc()} # [level,title,page] + doc.close() + except Exception as e: + out[name] = {"error": str(e)} + +with open(OUT, "w", encoding="utf-8") as f: + json.dump(out, f, ensure_ascii=False, indent=1) + +for name, v in out.items(): + if "error" in v: + print(f"{name}: ERROR {v['error']}") + else: + print(f"{name}: {v['pages']} pages, {len(v['toc'])} toc entries") +print("wrote", OUT) diff --git a/plugins/halcon/skills/halcon/scripts/run_procedure.py b/plugins/halcon/skills/halcon/scripts/run_procedure.py new file mode 100755 index 0000000..cdf9093 --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/run_procedure.py @@ -0,0 +1,80 @@ +"""Run one HDevelop external procedure (.hdvp) via HDevEngine and print outputs. + +This is the generic form of the tested run_compare.py driver. Pass input control +params with --set, name the outputs to read with --get; results print as a JSON +object on stdout. + +Example: + /mnt/c/Users/NAURA/.local/bin/uv.exe run python \ + .claude/skills/halcon/scripts/run_procedure.py \ + --proc-path C:/workspace/agent-studio/halcon-001 \ + --proc find_circles \ + --set ImageFile=C:/data/a.png \ + --set RoiFile=C:/workspace/agent-studio/halcon-001/roi.hobj \ + --get FitRow --get FitCol --get MetroRow --get MetroCol + +Notes: + - Always use ABSOLUTE paths for images/ROIs (HDevEngine has no cwd notion). + - Numeric --set values are auto-typed; use commas for a tuple (e.g. --set T=10,20). + - Wrap in a loop from your own Python for batch processing. +""" +import argparse +import json +import sys + +from _common import parse_set, jsonable + + +def main() -> int: + ap = argparse.ArgumentParser(description="Run a HALCON .hdvp via HDevEngine") + ap.add_argument("--proc-path", required=True, + help="Directory containing the .hdvp (set_procedure_path)") + ap.add_argument("--proc", required=True, + help="Procedure base name, no extension (e.g. find_circles)") + ap.add_argument("--set", dest="sets", action="append", default=[], + metavar="Name=Value", help="Input control param (repeatable)") + ap.add_argument("--get", dest="gets", action="append", default=[], + metavar="Name", help="Output control param to read (repeatable)") + args = ap.parse_args() + + try: + from halcon.hdevengine import ( + HDevEngine, HDevProcedure, HDevProcedureCall, HDevEngineError, + ) + except Exception as e: + print(f"ERROR: cannot import HDevEngine ({e}). Run via the project venv " + f"using uv.", file=sys.stderr) + return 1 + + eng = HDevEngine() + eng.set_procedure_path(args.proc_path) + try: + proc = HDevProcedure.load_external(args.proc) + except HDevEngineError as e: + print(f"ERROR: could not load procedure '{args.proc}' from " + f"'{args.proc_path}': {e}", file=sys.stderr) + return 2 + + call = HDevProcedureCall(proc) + call.reset() + for name, value in parse_set(args.sets): + call.set_input_control_param_by_name(name, value) + + try: + call.execute() + except HDevEngineError as e: + print(json.dumps({"ok": False, "error": str(e)}, ensure_ascii=False)) + return 3 + + out = {} + for name in args.gets: + try: + out[name] = jsonable(call.get_output_control_param_by_name(name)) + except HDevEngineError as e: + out[name] = {"error": str(e)} + print(json.dumps({"ok": True, "outputs": out}, ensure_ascii=False)) + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/plugins/halcon/skills/halcon/scripts/run_program.py b/plugins/halcon/skills/halcon/scripts/run_program.py new file mode 100755 index 0000000..caa2a36 --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/run_program.py @@ -0,0 +1,56 @@ +"""Run a whole HDevelop program (.hdev) via HDevEngine and read control vars back. + +Use when the logic lives in a program's main rather than a parameterized +procedure. Outputs print as a JSON object on stdout. + +Example: + /mnt/c/Users/NAURA/.local/bin/uv.exe run python \ + .claude/skills/halcon/scripts/run_program.py \ + --program C:/workspace/agent-studio/halcon-001/demo_prog.hdev \ + --get Total --get Area --get Message + +Notes: + - The program must be self-contained and non-interactive (no draw_*, no stop()). + - Use ABSOLUTE paths inside the program (no cwd notion under HDevEngine). +""" +import argparse +import json +import sys + +from _common import jsonable + + +def main() -> int: + ap = argparse.ArgumentParser(description="Run a HALCON .hdev via HDevEngine") + ap.add_argument("--program", required=True, help="Absolute path to the .hdev") + ap.add_argument("--get", dest="gets", action="append", default=[], + metavar="Name", help="Control variable to read (repeatable)") + args = ap.parse_args() + + try: + from halcon.hdevengine import HDevProgram, HDevProgramCall, HDevEngineError + except Exception as e: + print(f"ERROR: cannot import HDevEngine ({e}). Run via the project venv " + f"using uv.", file=sys.stderr) + return 1 + + program = HDevProgram(args.program) + call = HDevProgramCall(program) + try: + call.execute() + except HDevEngineError as e: + print(json.dumps({"ok": False, "error": str(e)}, ensure_ascii=False)) + return 3 + + out = {} + for name in args.gets: + try: + out[name] = jsonable(call.get_control_var_by_name(name)) + except HDevEngineError as e: + out[name] = {"error": str(e)} + print(json.dumps({"ok": True, "vars": out}, ensure_ascii=False)) + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/plugins/halcon/skills/halcon/scripts/teach_roi.py b/plugins/halcon/skills/halcon/scripts/teach_roi.py new file mode 100755 index 0000000..dd3930c --- /dev/null +++ b/plugins/halcon/skills/halcon/scripts/teach_roi.py @@ -0,0 +1,192 @@ +"""Teach an ROI once (human draws), persist it as a .hobj for headless reuse. + +The rectangle case (default, the common "box a Mark" flow) uses an interactive +matplotlib viewer with **pan (right-drag), zoom (scroll wheel), and box-select +(left-drag)** — smooth even on multi-megapixel images. circle/region fall back to +HALCON's native draw_* window. Downstream procedures read_region + reduce_domain +the saved .hobj, so no human is needed after teaching. + +Run (needs a visible desktop — this is the interactive seam): + /mnt/c/Users/NAURA/.local/bin/uv.exe run python \ + .claude/skills/halcon/scripts/teach_roi.py \ + --image-file "C:/data/frames/a.bmp" \ + --out C:/workspace/agent-studio/halcon-001/roi.hobj + +Controls (rectangle): left-drag = box · right-drag = pan · wheel = zoom · +Enter = save · q/Esc = cancel. + +Headless (no GUI, scripted): add --box r1,c1,r2,c2 to write a rectangle directly. + +Requires matplotlib + numpy in the venv (one-time): + /mnt/c/Users/NAURA/.local/bin/uv.exe pip install matplotlib numpy + +Tip: draw TIGHTLY around the target features. A loose ROI captures extra +contours and breaks downstream count checks (e.g. "expected 16 circles"). +""" +import argparse +import sys + + +def pick_reference_image(ha, image_dir, image_file): + if image_file: + return image_file + files = ha.list_files(image_dir, "files") + imgs = sorted(ha.tuple_regexp_select(files, r"\.(png|bmp|jpg|jpeg|tif|tiff)$")) + if not imgs: + raise SystemExit(f"No images found in {image_dir}") + return imgs[0] + + +def load_gray(ha, image_file): + # HALCON 默认 clip_region=true 会把区域裁到 128x128,全分辨率坐标建的 region + # 会被裁空 -> 写盘回读 bbox=0,0,0,0。建/读区域前务必关掉。 + ha.set_system("clip_region", "false") + img = ha.read_image(image_file) + if ha.count_channels(img)[0] >= 3: + img = ha.rgb1_to_gray(img) + w, h = ha.get_image_size(img) + return ha.himage_as_numpy_array(img), int(h[0]), int(w[0]) + + +def pick_rectangle_interactive(arr, max_disp): + """matplotlib pan/zoom/box-select; returns (r1,c1,r2,c2) in image coords or None.""" + import matplotlib.pyplot as plt + from matplotlib.widgets import RectangleSelector + + plt.rcParams["font.sans-serif"] = ["Microsoft YaHei", "SimHei", "DejaVu Sans"] + plt.rcParams["axes.unicode_minus"] = False + + # Downsample for display (fast redraws), map coords back to full res via extent. + H, W = arr.shape + step = max(1, round(max(H, W) / max_disp)) + disp = arr[::step, ::step] + + fig, ax = plt.subplots() + ax.imshow(disp, cmap="gray", origin="upper", extent=(0, W, H, 0), + interpolation="nearest", aspect="equal") + ax.set_xlim(0, W); ax.set_ylim(H, 0) + ax.set_title("left=box right-drag=pan wheel=zoom Enter=save q=cancel") + + box, pan = {}, {} + + def on_select(p, r): + box.update(r1=p.ydata, c1=p.xdata, r2=r.ydata, c2=r.xdata) + + # keep the reference or RectangleSelector is GC'd and box-select stops working + ax._roi_selector = RectangleSelector( + ax, on_select, useblit=True, button=[1], minspanx=3, minspany=3, + interactive=True) + + def on_scroll(ev): + if ev.inaxes is not ax: + return + s = 0.8 if ev.button == "up" else 1.25 + x0, x1 = ax.get_xlim(); y0, y1 = ax.get_ylim() + ax.set_xlim(ev.xdata - (ev.xdata - x0) * s, ev.xdata + (x1 - ev.xdata) * s) + ax.set_ylim(ev.ydata - (ev.ydata - y0) * s, ev.ydata + (y1 - ev.ydata) * s) + fig.canvas.draw_idle() + + def on_press(ev): + if ev.button == 3 and ev.inaxes is ax: + pan["p"] = (ev.xdata, ev.ydata) + + def on_motion(ev): + if "p" in pan and ev.xdata is not None and ev.inaxes is ax: + dx, dy = ev.xdata - pan["p"][0], ev.ydata - pan["p"][1] + x0, x1 = ax.get_xlim(); y0, y1 = ax.get_ylim() + ax.set_xlim(x0 - dx, x1 - dx); ax.set_ylim(y0 - dy, y1 - dy) + fig.canvas.draw_idle() + + def on_release(ev): + if ev.button == 3: + pan.pop("p", None) + + def on_key(ev): + if ev.key == "enter" and box: + plt.close(fig) + elif ev.key in ("q", "escape"): + box.clear(); plt.close(fig) + + for name, fn in [("scroll_event", on_scroll), ("button_press_event", on_press), + ("motion_notify_event", on_motion), + ("button_release_event", on_release), ("key_press_event", on_key)]: + fig.canvas.mpl_connect(name, fn) + plt.show() + if not box: + return None + return box["r1"], box["c1"], box["r2"], box["c2"] + + +def save_rectangle(ha, out, r1, c1, r2, c2, H, W): + r1, r2 = sorted((max(0, round(r1)), min(H - 1, round(r2)))) + c1, c2 = sorted((max(0, round(c1)), min(W - 1, round(c2)))) + ha.write_region(ha.gen_rectangle1(r1, c1, r2, c2), out) + print(f"ROI saved: {out}") + print(f"Rectangle Row1={r1} Col1={c1} Row2={r2} Col2={c2}") + + +def draw_native(ha, ref, shape, out): + """circle / region via HALCON's own draw window (no pan/zoom).""" + img = ha.read_image(ref) + width, height = ha.get_image_size(img) + width, height = width[0], height[0] + win = ha.open_window(0, 0, 1024, 768, 0, "visible", "") + ha.set_part(win, 0, 0, height - 1, width - 1) + ha.disp_obj(img, win) + ha.set_color(win, "green") + print(f"Draw a {shape} with the left mouse button, release to finish ...", flush=True) + if shape == "circle": + row, col, radius = ha.draw_circle(win) + region = ha.gen_circle(row, col, radius) + print(f"Circle Row={row:.1f} Col={col:.1f} Radius={radius:.1f}") + else: # freehand region + region = ha.draw_region(win) + ha.write_region(region, out) + ha.close_window(win) + print(f"ROI saved: {out}") + + +def main() -> int: + ap = argparse.ArgumentParser(description="Teach an ROI and write it to disk") + src = ap.add_mutually_exclusive_group(required=True) + src.add_argument("--image-dir", help="Directory; first sorted image is shown") + src.add_argument("--image-file", help="Explicit reference image to display") + ap.add_argument("--out", required=True, help="Output region file, e.g. .../roi.hobj") + ap.add_argument("--shape", choices=["rectangle", "circle", "region"], + default="rectangle", + help="rectangle = interactive pan/zoom picker; circle/region = HALCON draw") + ap.add_argument("--disp", type=int, default=1000, + help="rectangle picker: display long-side px cap (smaller=faster/blurrier)") + ap.add_argument("--box", help="rectangle headless (no GUI): r1,c1,r2,c2 image coords") + args = ap.parse_args() + + try: + import halcon as ha + except Exception as e: + print("ERROR: cannot import 'halcon'. Run via the project venv using uv.", + e, file=sys.stderr) + return 1 + + ref = pick_reference_image(ha, args.image_dir, args.image_file) + print(f"Reference image: {ref}") + + if args.shape != "rectangle": + draw_native(ha, ref, args.shape, args.out) + return 0 + + arr, H, W = load_gray(ha, ref) + if args.box: + r1, c1, r2, c2 = (float(v) for v in args.box.split(",")) + save_rectangle(ha, args.out, r1, c1, r2, c2, H, W) + return 0 + + rect = pick_rectangle_interactive(arr, args.disp) + if rect is None: + print("cancelled, nothing saved") + return 0 + save_rectangle(ha, args.out, *rect, H, W) + return 0 + + +if __name__ == "__main__": + sys.exit(main())