海康工业相机 C# 开发示例

news/2024/12/2 14:48:11/

一.学习资料

1.官网下载安装MVS软件。

2.文件资料路径：C:\Program Files (x86)\MVS\Development\Documentations

3.引用的DLL路径：C:\Program Files (x86)\Common Files\MVS\Runtime\Win64_x64\MvCameraControl.dll（实测是这个路径，而非官方推荐的C:\Program Files (x86)\MVS\Development\DotNet\win64\MvCamCtrl.Net.dll）

4.官方示例程序：C:\Program Files (x86)\MVS\Development\Samples\C#

二、相机程序流程

1.枚举图像采集卡；【可选操作】

2.打开图像采集卡；【可选操作】

3.设置采集卡参数；【可选操作】

4.枚举相机设备；

5.判断相机可访问性；

6.创建相机句柄；

7.打开设备；

8.获取/设置参数；

9.开始采集取流；

10.触发取像：（1）注册回调函数（CallBack）获取图像数据；（2）主动式获取图像数据（获取、释放）；【两种方式只能使用一种】【相机取像在此环节循环操作】

11.停止采集取流；

12.关闭设备；

13.销毁句柄。

以上1，2，3为采集卡操作，如不涉及采集卡操作需要可忽略；10的取像方式两种只能使用其中一种，不支持复用，只要不是要关掉程序，软件即在此环节不断地循环并等待取像触发信号。

三、开发思路

1.将单个海康相机的信息和操作封装成一个类CCameraHik；

2.创建一个含有CCameraHik类的实例列表的全局用的操作类CHikVision，主要用于统一管理程序上的所有相机。

3.在主程序里创建类CHikVision的实例供程序使用。

四、代码展示

1.单个相机类CCameraHik

打开相机：

        /// <summary>/// 打开相机/// </summary>/// <returns></returns>public override bool Open(){if (m_Camera == null){m_Camera = new MyCamera();if (m_Camera == null){ShowAlarm(string.Format("创建相机{0}资源失败", m_Name));return false;}}//创建相机对象int nRet = m_Camera.MV_CC_CreateDevice_NET(ref m_CameraInfo);if (MyCamera.MV_OK != nRet){ShowAlarm(string.Format("创建相机对象{0}失败,错误代码：{1}", m_Name, nRet));return false;}//打开相机对象nRet = m_Camera.MV_CC_OpenDevice_NET();if (MyCamera.MV_OK != nRet){ShowAlarm(string.Format("打开相机{0}失败,错误代码：{1}", m_Name, nRet));return false;}else{//检测网络最佳包大小if (m_CameraInfo.nTLayerType == MyCamera.MV_GIGE_DEVICE){int nPacketSize = m_Camera.MV_CC_GetOptimalPacketSize_NET();if (nPacketSize > 0){nRet = m_Camera.MV_CC_SetIntValueEx_NET("GevSCPSPacketSize", nPacketSize);if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("设置相机{0}最佳数据包大小失败,错误代码：{1}", m_Name, nRet));}}else{ShowAlarm(string.Format("获取相机{0}最佳数据包大小失败,错误代码：{1}", m_Name, nPacketSize));}}//默认设置相机为触发模式SetTriggerMode(true);//默认设置相机为软触发SetSoftTrigger(true);//注册相机图像输出回调函数m_Camera.MV_CC_RegisterImageCallBackEx_NET(CHikVision.ImageOutputCallBack, (IntPtr)m_ID);return true;}}/// <summary>/// 设置触发模式/// </summary>/// <param name="isTrigger">触发模式：true；连续采集模式：false</param>public override void SetTriggerMode(bool isTrigger){if (isTrigger){m_Camera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_ON);}else{m_Camera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_OFF);}}/// <summary>/// 设置软触发/// </summary>/// <param name="trigBySoft"></param>public override void SetSoftTrigger(bool trigBySoft){if (trigBySoft){m_Camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);}else{//外部触发源：Line0~Line3，默认用Line0m_Camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_LINE0);}}

关闭相机：

        /// <summary>/// 关闭相机/// </summary>/// <returns></returns>public override bool Close(){int nRet = m_Camera.MV_CC_CloseDevice_NET();if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("关闭相机{0}失败,错误代码：{1}", m_Name, nRet));return false;}nRet = m_Camera.MV_CC_DestroyDevice_NET();if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("销毁相机对象{0}失败,错误代码：{1}", m_Name, nRet));return false;}return true;}

 开始采集取流：

        /// <summary>/// 开始采集/// </summary>public override void StartGrabbing(){int nRet;//开始采集前配置相机nRet = OperateBeforeGrab();if (MyCamera.MV_OK != nRet){ShowAlarm(string.Format("相机{0}配置失败,错误代码：{1}", m_Name, nRet));return;}//取流之前先清除帧长度nFrames = 0;m_FrameInfo.nFrameLen = 0;m_FrameInfo.enPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;nRet = m_Camera.MV_CC_StartGrabbing_NET();if (MyCamera.MV_OK != nRet){ShowAlarm(string.Format("相机{0}开始采集失败,错误代码：{1}", m_Name, nRet));}}/// <summary>/// 取图前的必要配置操作/// </summary>/// <returns></returns>private Int32 OperateBeforeGrab(){//取图像宽MyCamera.MVCC_INTVALUE_EX stWidth = new MyCamera.MVCC_INTVALUE_EX();int nRet = m_Camera.MV_CC_GetIntValueEx_NET("Width", ref stWidth);if (MyCamera.MV_OK != nRet){//获取图像宽度失败return nRet;}//取图像高MyCamera.MVCC_INTVALUE_EX stHeight = new MyCamera.MVCC_INTVALUE_EX();nRet = m_Camera.MV_CC_GetIntValueEx_NET("Height", ref stHeight);if (MyCamera.MV_OK != nRet){//获取图像高度失败return nRet;}//取像素格式MyCamera.MVCC_ENUMVALUE stPixelFormat = new MyCamera.MVCC_ENUMVALUE();nRet = m_Camera.MV_CC_GetEnumValue_NET("PixelFormat", ref stPixelFormat);if (MyCamera.MV_OK != nRet){//获取像素格式失败return nRet;}//设置bitmap像素格式，申请相应大小内存if ((Int32)MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined == stPixelFormat.nCurValue){//未知错误return MyCamera.MV_E_UNKNOW;}else if (IsMono(stPixelFormat.nCurValue)){m_BitmapPixelFormat = PixelFormat.Format8bppIndexed;if (IntPtr.Zero != m_pConvertDstBuf){Marshal.Release(m_pConvertDstBuf);m_pConvertDstBuf = IntPtr.Zero;}// Mono8为单通道m_nConvertDstBufLen = (UInt32)(stWidth.nCurValue * stHeight.nCurValue);m_pConvertDstBuf = Marshal.AllocHGlobal((Int32)m_nConvertDstBufLen);if (IntPtr.Zero == m_pConvertDstBuf){//创建图像资源失败return MyCamera.MV_E_RESOURCE;}}else{m_BitmapPixelFormat = PixelFormat.Format24bppRgb;if (IntPtr.Zero != m_pConvertDstBuf){Marshal.FreeHGlobal(m_pConvertDstBuf);m_pConvertDstBuf = IntPtr.Zero;}// RGB为三通道m_nConvertDstBufLen = (UInt32)(3 * stWidth.nCurValue * stHeight.nCurValue);m_pConvertDstBuf = Marshal.AllocHGlobal((Int32)m_nConvertDstBufLen);if (IntPtr.Zero == m_pConvertDstBuf){//创建资源失败return MyCamera.MV_E_RESOURCE;}}// 确保释放保存了旧图像数据的bitmap实例，用新图像宽高等信息new一个新的bitmap实例if (null != m_Bitmap){m_Bitmap.Dispose();m_Bitmap = null;}m_Bitmap = new Bitmap((Int32)stWidth.nCurValue, (Int32)stHeight.nCurValue, m_BitmapPixelFormat);// ch:Mono8格式，设置为标准调色板 | en:Set Standard Palette in Mono8 Formatif (PixelFormat.Format8bppIndexed == m_BitmapPixelFormat){ColorPalette palette = m_Bitmap.Palette;for (int i = 0; i < palette.Entries.Length; i++){palette.Entries[i] = Color.FromArgb(i, i, i);}m_Bitmap.Palette = palette;}return MyCamera.MV_OK;}

停止采集取流：

        /// <summary>/// 停止采集/// </summary>public override void StopGrabbing(){int nRet = m_Camera.MV_CC_StopGrabbing_NET();if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("相机{0}结束采集失败,错误代码：{1}", m_Name, nRet));}}

软件触发取像：

        /// <summary>/// 拍摄图像/// </summary>/// <returns></returns>public override GrabImage(){lock (this){grabSuccess = false;int nRet = m_Camera.MV_CC_SetCommandValue_NET("TriggerSoftware");if (MyCamera.MV_OK != nRet){ShowAlarm(string.Format("相机{0}获取图像失败,错误代码：{1}", m_Name, nRet));}}}

设置曝光值：

        /// <summary>/// 设置相机曝光/// </summary>/// <param name="value"></param>public override void SetExposure(float value){m_Camera.MV_CC_SetEnumValue_NET("ExposureAuto", 0);int nRet = m_Camera.MV_CC_SetFloatValue_NET("ExposureTime", value);if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("相机{0}设置曝光值失败,错误代码：{1}", m_Name, nRet));}}

设置增益值：

        /// <summary>/// 设置相机增益/// </summary>/// <param name="value"></param>public override void SetGainValue(float value){m_Camera.MV_CC_SetEnumValue_NET("GainAuto", 0);int nRet = m_Camera.MV_CC_SetFloatValue_NET("Gain", value);if (nRet != MyCamera.MV_OK){ShowAlarm(string.Format("相机{0}设置增益值失败,错误代码：{1}", m_Name, nRet));}}

源海康帧数据转换成.NET的bitmap和Halcon的HImage：

        /// <summary>/// 转化像素为Bit图像/// </summary>/// <param name="pData"></param>/// <param name="pFrameInfo"></param>public void ConvertToBitmap(){//创建转换变量MyCamera.MV_PIXEL_CONVERT_PARAM stConvertInfo = new MyCamera.MV_PIXEL_CONVERT_PARAM();//设置图像宽度、高度stConvertInfo.nWidth = m_FrameInfo.nWidth;stConvertInfo.nHeight = m_FrameInfo.nHeight;//源数据地址、数据包大小、像素类型stConvertInfo.pSrcData = pSaveImageBuf;stConvertInfo.nSrcDataLen = nSaveImageBufSize;stConvertInfo.enSrcPixelType = m_FrameInfo.enPixelType;//转换后的数据地址、数据包大小、像素类型stConvertInfo.pDstBuffer = m_pConvertDstBuf;stConvertInfo.nDstBufferSize = m_nConvertDstBufLen;if (m_Bitmap.PixelFormat == PixelFormat.Format8bppIndexed){stConvertInfo.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8;m_Camera.MV_CC_ConvertPixelType_NET(ref stConvertInfo);}else{stConvertInfo.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed;m_Camera.MV_CC_ConvertPixelType_NET(ref stConvertInfo);}//保存Bitmap数据BitmapData bitmapData = m_Bitmap.LockBits(new Rectangle(0, 0, stConvertInfo.nWidth, stConvertInfo.nHeight), ImageLockMode.ReadWrite, m_Bitmap.PixelFormat);CopyMemory(bitmapData.Scan0, stConvertInfo.pDstBuffer, (UInt32)(bitmapData.Stride * m_Bitmap.Height));m_Bitmap.UnlockBits(bitmapData);}/// <summary>/// 将帧数据转成Halcon图像/// </summary>/// <param name="pData"></param>/// <param name="pFrameInfo"></param>public HImage ConvertToHImage(){HImage hImage = new HImage();//创建转换变量MyCamera.MV_PIXEL_CONVERT_PARAM stConvertInfo = new MyCamera.MV_PIXEL_CONVERT_PARAM();//设置图像宽度、高度stConvertInfo.nWidth = m_FrameInfo.nWidth;stConvertInfo.nHeight = m_FrameInfo.nHeight;//源数据地址、数据包大小、像素类型stConvertInfo.pSrcData = pSaveImageBuf;stConvertInfo.nSrcDataLen = nSaveImageBufSize;stConvertInfo.enSrcPixelType = m_FrameInfo.enPixelType;//转换后的数据地址、数据包大小、像素类型stConvertInfo.pDstBuffer = m_pConvertDstBuf;stConvertInfo.nDstBufferSize = m_nConvertDstBufLen;if (m_Bitmap.PixelFormat == PixelFormat.Format8bppIndexed){stConvertInfo.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8;m_Camera.MV_CC_ConvertPixelType_NET(ref stConvertInfo);}else{stConvertInfo.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed;m_Camera.MV_CC_ConvertPixelType_NET(ref stConvertInfo);}//彩色图像转换if (IsColorPixelFormat(stConvertInfo.enDstPixelType)){try{hImage.GenImageInterleaved((HTuple)stConvertInfo.pDstBuffer, (HTuple)"rgb", (HTuple)stConvertInfo.nWidth, (HTuple)stConvertInfo.nHeight, -1, "byte", 0, 0, 0, 0, -1, 0);}catch (Exception ex){SDKKernal.ShowAlarm("4100", string.Format("相机{0}帧数据转彩色图像失败:{1}", m_Name, ex.Message));return null;}}//黑白图像转换else if (IsMonoPixelFormat(stConvertInfo.enDstPixelType)){try{hImage.GenImage1Extern("byte", stConvertInfo.nWidth , stConvertInfo.nHeight, stConvertInfo.pDstBuffer, IntPtr.Zero);}catch (Exception ex){SDKKernal.ShowAlarm("4100", string.Format("相机{0}帧数据转黑白图像失败:{1}", m_Name, ex.Message));return null;}}return hImage;}private bool IsMonoPixelFormat(MyCamera.MvGvspPixelType enType){switch (enType){case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8:case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10:case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12:case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12_Packed:return true;default:return false;}}private bool IsColorPixelFormat(MyCamera.MvGvspPixelType enType){switch (enType){case MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_RGBA8_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BGRA8_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_YUV422_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_YUV422_YUYV_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR8:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG8:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB8:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG8:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB10:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB10_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG10:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG10_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG10:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG10_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR10:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR10_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB12:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB12_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG12:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG12_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG12:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG12_Packed:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR12:case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR12_Packed:return true;default:return false;}}

2.全局操作类HikVision

获取相机列表：

        /// <summary>/// 获取相机列表/// </summary>public AcquireCameraList(){//强制回收即时垃圾GC.Collect();//枚举相机设备m_CamList.nDeviceNum = 0;int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE, ref m_CamList);//获取失败则退出程序if (nRet != 0){ShowAlarm("获取海康相机列表失败！");return;}hikCameras = new CCameraHik[m_CamList.nDeviceNum];strCameraName = new string[m_CamList.nDeviceNum];//创建相机列表for (int i = 0; i < m_CamList.nDeviceNum; i++){MyCamera.MV_CC_DEVICE_INFO cam = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_CamList.pDeviceInfo[i],typeof(MyCamera.MV_CC_DEVICE_INFO));if (cam.nTLayerType == MyCamera.MV_GIGE_DEVICE){MyCamera.MV_GIGE_DEVICE_INFO gigeInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(cam.SpecialInfo.stGigEInfo,typeof(MyCamera.MV_GIGE_DEVICE_INFO));hikCameras[i] = new CCameraHik();hikCameras[i].ID = i;hikCameras[i].SerialNumber = gigeInfo.chSerialNumber;if (gigeInfo.chUserDefinedName != "")hikCameras[i].Name = gigeInfo.chUserDefinedName;elsehikCameras[i].Name = gigeInfo.chManufacturerName;hikCameras[i].CameraInfo = cam;}}}

全局操作：

        /// <summary>/// 打开所有相机/// </summary>public void OpenAllCamera(){if (m_CamList.nDeviceNum == 0){ShowAlarm( "相机列表为空，打开相机失败！");}//遍历所有相机for (int i = 0; i < m_CamList.nDeviceNum; i++){if (hikCameras[i].Open())m_ConnectedCamNum++;}//判断连接相机是否与设备设计相等if (m_ConnectedCamNum != m_CamCount){ShowAlarm("已连接的相机数量与设备预设数量不同！");}}/// <summary>/// 开始所有相机采集/// </summary>public void StartAllGrabbing(){//开始采集for (int i = 0; i < m_ConnectedCamNum; i++){hikCameras[i].StartGrabbing();}//打开帧数监控标志位bFrameTimerFlag = true;//开始采集标志位m_bGrabbing = true;}/// <summary>/// 停止所有相机采集/// </summary>public void StopAllGrabbing(){for (int i = 0; i < m_ConnectedCamNum; ++i){hikCameras[i].StopGrabbing();}//停止采集标志位m_bGrabbing = false;//关闭帧数监控标志位bFrameTimerFlag = false;}/// <summary>/// 关闭所有相机/// </summary>public void CloseAllCamera(){for (int i = 0; i < m_ConnectedCamNum; ++i){hikCameras[i].Close();}//停止采集标志位m_bGrabbing = false;//重置成员变量Initialize();}

相机取像回调函数：

        /// <summary>/// 取流回调函数/// </summary>/// <param name="pData">数据源指针</param>/// <param name="pFrameInfo">单帧图像信息源</param>/// <param name="pUser">相机ID</param>public void ImageCallBack(IntPtr pData, ref MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser){int nIndex = (int)pUser;//抓取的帧数++hikCameras[nIndex].nFrames;//按指针操作驱动数据时，进行锁保护lock (hikCameras[nIndex].objForSaveImageLock){//修改相机的图像缓存地址和尺寸if (hikCameras[nIndex].pSaveImageBuf == IntPtr.Zero || pFrameInfo.nFrameLen > hikCameras[nIndex].nSaveImageBufSize){if (hikCameras[nIndex].pSaveImageBuf != IntPtr.Zero){Marshal.Release(hikCameras[nIndex].pSaveImageBuf);hikCameras[nIndex].pSaveImageBuf = IntPtr.Zero;}hikCameras[nIndex].pSaveImageBuf = Marshal.AllocHGlobal((Int32)pFrameInfo.nFrameLen);if (hikCameras[nIndex].pSaveImageBuf == IntPtr.Zero){return;}hikCameras[nIndex].nSaveImageBufSize = pFrameInfo.nFrameLen;}//复制缓存图像hikCameras[nIndex].FrameInfo = pFrameInfo;CopyMemory(hikCameras[nIndex].pSaveImageBuf, pData, pFrameInfo.nFrameLen);hikCameras[nIndex].grabSuccess = true;}}

五、使用示例

        private void btnFindCameras_Click(object sender, EventArgs e){cameraList = hikVision.AcquireCameraList();if (cameraList != null){this.textCamName.Text = cameraList[0];}else{ShowAlarm("未找到相机");}}private void btnOpenCamera_Click(object sender, EventArgs e){hikVision.OpenAllCamera();}private void btnCloseCamera_Click(object sender, EventArgs e){hikVision.CloseAllCamera();}private void btnStartGrab_Click(object sender, EventArgs e){hikVision.StartAllGrabbing();}private void btnStopGrab_Click(object sender, EventArgs e){hikVision.StopAllGrabbing();}private void btnTrigger_Click(object sender, EventArgs e){hikVision.hikCameras[0].GrabImage();}

相互学习，共同富裕。


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[读论文]Referring Camouflaged Object Detection

[读论文]Referring Camouflaged Object Detection

摘要 In this paper, we consider the problem of referring camouflaged object detection (Ref-COD), a new task that aims to segment specified camouflaged objects based on some form of reference, e.g. , image, text. We first assemble a large-scale dataset, ca…
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编程示例： 计算CRC校验码

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经典文献阅读之--A Review of Motion Planning（轨迹规划回顾）

经典文献阅读之--A Review of Motion Planning（轨迹规划回顾）

0. 简介 对于自动驾驶以及机器人而言&#xff0c;除了SLAM以外&#xff0c;另一个比较重要的部分就是轨迹规划了。而最近作者看到了几篇比较好的文章&#xff0c;分别为《A Review of Motion Planning Techniques for Automated Vehicle》、《A review of motion planning alg…
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