海康工业相机 C# 开发示例

2024-07-16 17:31| 来源: 网络整理| 查看: 265

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：

/// /// 打开相机 /// /// 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; } } /// /// 设置触发模式 /// /// 触发模式：true；连续采集模式：false 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); } } /// /// 设置软触发 /// /// 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Line0 m_Camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_LINE0); } }

关闭相机：

/// /// 关闭相机 /// /// 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：

/// /// 开始采集 /// 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)); } } /// /// 取图前的必要配置操作 /// /// 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 Format if (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：

/// /// 停止采集 /// 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：

/// /// 拍摄图像 /// /// 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：

/// /// 设置相机曝光 /// /// 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：

/// /// 设置相机增益 /// /// 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：

/// /// 转化像素为Bit图像 /// /// /// 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); } /// /// 将帧数据转成Halcon图像 /// /// /// 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：

/// /// 获取相机列表 /// 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; else hikCameras[i].Name = gigeInfo.chManufacturerName; hikCameras[i].CameraInfo = cam; } } }

全局操作：

/// /// 打开所有相机 /// 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！"); } } /// /// 开始所有相机采集 /// 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; } /// /// 停止所有相机采集 /// 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; } /// /// 关闭所有相机 /// 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：

/// /// 取流回调函数 /// /// 数据源指针 /// 单帧图像信息源 /// 相机ID 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(); }

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海康工业相机 C# 开发示例

海康工业相机 C# 开发示例

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