Halcon/HDe信封套接字发送通用图像数据

Question

Halcon 20为不同的协议(HALCON、UDP、TCP)和send_data(Socket, Format, Data, To) procedure提供套接字，以使用通用套接字通信发送任意数据。如何使用此过程将图像从hdevelop发送到另一个已连接的套接字？

关于程序可视化的Halcon解决方案指南规定如下：

有时可能不需要应用标准的HALCON可视化操作符，而是使用自编程版本。这可以通过使用为所有数据类型提供的访问函数来实现。这些例子有get_image_pointer1、get_region_runs或get_contour_xld。这些操作符允许完全访问所有内部数据类型。此外，它们以各种形式(例如，游程编码、点或等值线)提供数据，以使进一步的处理更容易。在此基础上，可以方便地开发出一个自编程可视化系统。

下面是我认为应该如何工作的一个基本例子：

read_image (Image, 'printer_chip/printer_chip_01')

* Send image via socket
Protocol := 'TCP4'
Timeout := 5.0
* Open a socket connection
open_socket_connect ('127.0.0.1', 5000, ['protocol','timeout'], [Protocol,Timeout], Socket)
* To is only used with protocol HALCON or UDP (empty for bound TCP connections)
To := []
* The following send_data is working, the connected socket receives this message
send_data (Socket, 'z', ['Generic sockets are great!'], To)

* Make sure we have only one channel
rgb1_to_gray (Image, GrayImage)
get_image_pointer1 (GrayImage, Pointer, Type, Width, Height)

* get_image_pointer returns pointer of type 'byte' -> use a byte format specifier for socket
* c: one byte = 8 bit, signed
* Append the type specifier with a number for a repeat count, e.g. 'c5' means 'ccccc'
Format := 'c' + Width*Height
* Format := 'c'
* How to cast the raw pointer correctly to send the data it points to?
send_data (Socket, Format, [Pointer], [])

最后一行send_data (Socket, Format, [Pointer], [])抛出一个异常：

未处理程序异常：

在过程'send_data‘中调用’send_data‘时出现的HALCON操作符错误: 78。

格式规范与数据不匹配(HALCON错误代码: 5628)

显然，Pointer是指向内存中图像位置的地址，而不是指向可能导致错误的实际数据的地址。

是否有一种方法可以在HDevelop中正确地转换原始指针以通过套接字发送？或者，这只能在使用Halcon库的外部C/C++/C#应用程序中完成吗？

Halcon documentation on gen_image_pointer1只提供了这个C示例：

Hobject  Image;
char     typ[128];
Hlong     width,height;
unsigned char *ptr;

read_image(&Image,"fabrik");
get_image_pointer1(Image,(Hlong*)&ptr,typ,&width,&height);

我希望使用HDevelop的特性，而不是使用C/C++/C#中的套接字(尽管这是另一种方式)。唯一缺少的是将图像从HDevelp内部实际发送到接收套接字。

Answer 1

这是我希望能帮到你的代码。它序列化并发送数据。

* Send image via socket
Protocol := 'TCP4'
Timeout := 5.0
* Open a socket connection
open_socket_connect ('127.0.0.1', 5000, ['protocol','timeout'], [Protocol,Timeout], Socket)
get_socket_param (Socket, 'address_info', Address)
* 
* To is not evaluated for TCP and connected UDP sockets
To := []

* Make sure we have only one channel
rgb1_to_gray (Image, GrayImage)
get_image_pointer1 (GrayImage, _, _, Width, Height)    

RowIndexes := []
for j:=0 to Height-1 by 1
    tuple_gen_const (Width, j, TempIndexes)
    RowIndexes := [RowIndexes,TempIndexes]
endfor

ColIndexes := []
tuple_gen_sequence (0, Width-1, 1, Sequence)
for i:=0 to Height-1 by 1
    ColIndexes := [ColIndexes,Sequence]
endfor

* get pixel values
get_grayval (GrayImage, RowIndexes, ColIndexes, Data)

* C: one byte = 8 bit, Unsigned
Format := 'C' + Width*Height

send_data (Socket, Format, Data, To)

Edit2

可以使用以下代码优化生成RowIndexes和ColIndexes的代码部分：

tuple_gen_const (Width*Height, 0, RowIndexes)
tuple_gen_const (Width, 0, Const)
tuple_gen_sequence (0, Width-1, 1, Sequence)
for j:=1 to Height-1 by 1    
    IndexSequence:= Sequence+j*Width    
    RowIndexes[IndexSequence] := Const+j
endfor    

tuple_gen_const (Width*Height, 0, ColIndexes)
for i:=0 to Height-1 by 1
    IndexSequence:= Sequence+i*Width 
    ColIndexes[IndexSequence] := Sequence
endfor

Answer 2

我修改了上面的代码，并将其发送给Python。我得到了结果。但花了这么长时间。有办法用base64发送图像吗？

Protocol := 'TCP4'
Timeout := 1.0

# Open a socket connection
open_socket_connect ('192.168.20.155', 60000, 
['protocol','timeout'], [Protocol,Timeout], Socket)

get_socket_param (Socket, 'address_info', Address)

# To is not evaluated for TCP and connected UDP sockets
To := []

read_image (Image, 'printer_chip/printer_chip_01')
# Make sure we have only one channel

rgb1_to_gray (Image, GrayImage)
get_image_pointer1 (GrayImage, _, _, Width, Height)    

RowIndexes := []
for j:=0 to Height-1 by 1
    tuple_gen_const (Width, j, TempIndexes)
    RowIndexes := [RowIndexes,TempIndexes]
endfor

ColIndexes := []
tuple_gen_sequence (0, Width-1, 1, Sequence)
for i:=0 to Height-1 by 1
    ColIndexes := [ColIndexes,Sequence]
endfor

# get pixel values
get_grayval (GrayImage, RowIndexes, ColIndexes, Data)

# C: one byte = 8 bit, Unsigned
Format := 'C' + Width*Height

send_data (Socket, Format, Data, To)

receive_data (Socket, 'z', Answer, From)

stop ()

close_socket (Socket)