C# 与 Halcon 联合编程连接海康威视相机
以下内容来自海康威视SDK：
#region 海康威视 全局
MyCamera.MV_CC_DEVICE_INFO_LIST m_pDeviceList;
private MyCamera m_pMyCamera;
bool m_bGrabbing;
byte[] m_pBufForSaveImage = new byte[50 * 1024 * 1024];
HWindow m_Window;
MyCamera.cbOutputExdelegate ImageCallback;
#endregion
#region 初始化
public Camera2()
{
InitializeComponent();
}
#endregion
#region 海康威视
private void DisplayWindowsInitial()
{
// ch: 定义显示的起点和宽高 || en: Definition the width and height of the display window
HTuple hWindowRow, hWindowColumn, hWindowWidth, hWindowHeight;
// ch: 设置显示窗口的起点和宽高 || en: Set the width and height of the display window
hWindowRow = 0;
hWindowColumn = 0;
hWindowWidth = hWindowControl1.Width;
hWindowHeight = hWindowControl1.Height;
try
{
HTuple hWindowID = (HTuple)hWindowControl1.HalconWindow;
m_Window.OpenWindow(hWindowRow, hWindowColumn, hWindowWidth, hWindowHeight, hWindowID, "visible", "");
}
catch (System.Exception ex)
{
MessageBox.Show(ex.ToString());
return;
}
}
private void DeviceListAcq()
{
int nRet;
// ch:创建设备列表 || en: Create device list
System.GC.Collect();
cbDeviceList.Items.Clear();
nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref m_pDeviceList);
if (0 != nRet)
{
MessageBox.Show("Enum Devices Fail");
return;
}
// ch:在窗体列表中显示设备名 || Display the device'name on window's list
for (int i = 0; i < m_pDeviceList.nDeviceNum; i++)
{
MyCamera.MV_CC_DEVICE_INFO device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_pDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
{
IntPtr buffer = Marshal.UnsafeAddrOfPinnedArrayElement(device.SpecialInfo.stGigEInfo, 0);
MyCamera.MV_GIGE_DEVICE_INFO gigeInfo = (MyCamera.MV_GIGE_DEVICE_INFO)Marshal.PtrToStructure(buffer, typeof(MyCamera.MV_GIGE_DEVICE_INFO));
if (gigeInfo.chUserDefinedName != "")
{
cbDeviceList.Items.Add("GigE: " + gigeInfo.chUserDefinedName + " (" + gigeInfo.chSerialNumber + ")");
}
else
{
cbDeviceList.Items.Add("GigE: " + gigeInfo.chManufacturerName + " " + gigeInfo.chModelName + " (" + gigeInfo.chSerialNumber + ")");
}
}
else if (device.nTLayerType == MyCamera.MV_USB_DEVICE)
{
IntPtr buffer = Marshal.UnsafeAddrOfPinnedArrayElement(device.SpecialInfo.stUsb3VInfo, 0);
MyCamera.MV_USB3_DEVICE_INFO usbInfo = (MyCamera.MV_USB3_DEVICE_INFO)Marshal.PtrToStructure(buffer, typeof(MyCamera.MV_USB3_DEVICE_INFO));
if (usbInfo.chUserDefinedName != "")
{
cbDeviceList.Items.Add("USB: " + usbInfo.chUserDefinedName + " (" + usbInfo.chSerialNumber + ")");
}
else
{
cbDeviceList.Items.Add("USB: " + usbInfo.chManufacturerName + " " + usbInfo.chModelName + " (" + usbInfo.chSerialNumber + ")");
}
}
}
//.ch: 选择第一项 || en: Select the first item
if (m_pDeviceList.nDeviceNum != 0)
{
cbDeviceList.SelectedIndex = 0;
}
}
private void GrabImage(IntPtr pData, ref MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser)
{
if (pData != null)
{
uint nWidth = pFrameInfo.nWidth;
uint nHeight = pFrameInfo.nHeight;
Marshal.Copy(pData, m_pBufForSaveImage, 0, (int)nWidth * (int)nHeight * 3);
HObject Hobj = new HObject();
UInt32 nSupWidth = (pFrameInfo.nWidth + (UInt32)3) & 0xfffffffc;
Int32 nLength = (Int32)pFrameInfo.nWidth * (Int32)pFrameInfo.nHeight;
byte[] m_pDataForRed = new byte[(int)nWidth * (int)nHeight];
byte[] m_pDataForGreen = new byte[(int)nWidth * (int)nHeight];
byte[] m_pDataForBlue = new byte[(int)nWidth * (int)nHeight];
for (int nRow = 0; nRow < pFrameInfo.nHeight; nRow++)
{
for (int col = 0; col < pFrameInfo.nWidth; col++)
{
m_pDataForRed[nRow * nSupWidth + col] = m_pBufForSaveImage[nRow * pFrameInfo.nWidth * 3 + (3 * col)];
m_pDataForGreen[nRow * nSupWidth + col] = m_pBufForSaveImage[nRow * pFrameInfo.nWidth * 3 + (3 * col + 1)];
m_pDataForBlue[nRow * nSupWidth + col] = m_pBufForSaveImage[nRow * pFrameInfo.nWidth * 3 + (3 * col + 2)];
}
}
IntPtr RedPtr = BytesToIntptr(m_pDataForRed);
IntPtr GreenPtr = BytesToIntptr(m_pDataForGreen);
IntPtr BluePtr = BytesToIntptr(m_pDataForBlue);
try
{
HOperatorSet.GenImage3(out Hobj, (HTuple)"byte", pFrameInfo.nWidth, pFrameInfo.nHeight,
(new HTuple(RedPtr)), (new HTuple(GreenPtr)), (new HTuple(BluePtr)));
}
catch (System.Exception ex)
{
MessageBox.Show(ex.ToString());
}
// ch: 显示 || display
HTuple hImageWidth = 0;
HTuple hImageHeight = 0;
HTuple point = null;
HTuple type = null;
try
{
HOperatorSet.GetImagePointer1(Hobj, out point, out type, out hImageWidth, out hImageHeight);//.ch: 得到图像的宽高和指针 || en: Get the width and height of the image
}
catch (System.Exception ex)
{
MessageBox.Show(ex.ToString());
return;
}
try
{
HOperatorSet.SetPart(m_Window, 0, 0, hImageHeight, hImageWidth);// ch: 使图像显示适应窗口大小 || en: Make the image adapt the window size
}
catch (System.Exception ex)
{
MessageBox.Show(ex.ToString());
return;
}
if (m_bGrabbing)
{
if (m_Window == null)
{
return;
}
try
{
HOperatorSet.DispObj(Hobj, m_Window);// ch 显示 || en: display
Marshal.FreeHGlobal(RedPtr);// ch 释放空间 || en: release space
Marshal.FreeHGlobal(GreenPtr);// ch 释放空间 || en: release space
Marshal.FreeHGlobal(BluePtr);// ch 释放空间 || en: release space
}
catch (System.Exception ex)
{
MessageBox.Show(ex.ToString());
return;
}
}
}
return;
}
private void SetCtrlWhenOpen()
{
bnOpen.Enabled = false;
bnClose.Enabled = true;
bnStartGrab.Enabled = true;
bnStopGrab.Enabled = false;
bnContinuesMode.Enabled = true;
bnContinuesMode.Checked = true;
bnTriggerMode.Enabled = true;
cbSoftTrigger.Enabled = false;
bnTriggerExec.Enabled = false;
}
private void SetCtrlWhenStopGrab()
{
bnStartGrab.Enabled = true;
bnStopGrab.Enabled = false;
bnTriggerExec.Enabled = false;
}
private void SetCtrlWhenClose()
{
bnOpen.Enabled = true;
bnClose.Enabled = false;
bnStartGrab.Enabled = false;
bnStopGrab.Enabled = false;
bnContinuesMode.Enabled = false;
bnTriggerMode.Enabled = false;
cbSoftTrigger.Enabled = false;
bnTriggerExec.Enabled = false;
}
public static IntPtr BytesToIntptr(byte[] bytes)
{
int size = bytes.Length;
IntPtr buffer = Marshal.AllocHGlobal(size);
Marshal.Copy(bytes, 0, buffer, size);
return buffer;
}
private void SetCtrlWhenStartGrab()
{
bnStartGrab.Enabled = false;
bnStopGrab.Enabled = true;
if (bnTriggerMode.Checked && cbSoftTrigger.Checked)
{
bnTriggerExec.Enabled = true;
}
}
#endregion
#region 采集
//采集
private void bnStartGrab_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
int nRet;
// ch:开启抓图 | en:start grab
nRet = m_pMyCamera.MV_CC_StartGrabbing_NET();
if (MyCamera.MV_OK != nRet)
{
MessageBox.Show("Start Grabbing Fail");
return;
}
// ch: 控件操作 || en: Control operation
SetCtrlWhenStartGrab();
m_bGrabbing = true;
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 停止采集
//停止采集
private void bnStopGrab_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
int nRet = -1;
// ch:停止抓图 || en:Stop grab image
nRet = m_pMyCamera.MV_CC_StopGrabbing_NET();
if (nRet != MyCamera.MV_OK)
{
MessageBox.Show("Stop Grabbing Fail");
}
m_bGrabbing = false;
// ch: 控件操作 || en: Control operation
SetCtrlWhenStopGrab();
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 软触发一次
//软触发一次
private void bnTriggerExec_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
int nRet;
// ch: 触发命令 || en: Trigger command
nRet = m_pMyCamera.MV_CC_SetCommandValue_NET("TriggerSoftware");
if (MyCamera.MV_OK != nRet)
{
MessageBox.Show("Trigger Fail");
}
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 选择相机
//选择相机
private void radioButton3_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
m_pDeviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();
m_pMyCamera = new MyCamera();
m_bGrabbing = false;
m_Window = new HWindow();
DisplayWindowsInitial();
DeviceListAcq();
}
else if (radioButton2.Checked == true)//大华
{
/* 设备搜索 */
List li = Enumerator.EnumerateDevices();
if (li.Count > 0)
{
for (int i = 0; i < li.Count; i++)
{
cbDeviceList.Items.Add(li[i].Key);
}
cbDeviceList.Text = li[0].Key;
bnOpen.Enabled = true;
}
}
else if (radioButton2.Checked == true)//basler
{
//UpdateDeviceList();
}
}
#endregion
#region 其他事件
private void bnContinuesMode_CheckedChanged(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
if (bnContinuesMode.Checked)
{
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerMode", 0);
cbSoftTrigger.Enabled = false;
bnTriggerExec.Enabled = false;
}
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
private void bnTriggerMode_CheckedChanged(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
if (bnTriggerMode.Checked)
{
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerMode", 1);
if (cbSoftTrigger.Checked)
{
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerSource", 7);
if (m_bGrabbing)
{
bnTriggerExec.Enabled = true;
}
}
else
{
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerSource", 0);
}
cbSoftTrigger.Enabled = true;
}
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
private void cbSoftTrigger_CheckedChanged(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
if (cbSoftTrigger.Checked)
{
// ch: 触发源设为软触发 || en: set trigger mode as Software
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerSource", 7);
if (m_bGrabbing)
{
bnTriggerExec.Enabled = true;
}
}
else
{
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerSource", 0);
bnTriggerExec.Enabled = false;
}
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 关闭
//关闭
private void bnClose_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
if (m_bGrabbing)
{
m_bGrabbing = false;
// ch:停止抓图 || en:Stop grab image
m_pMyCamera.MV_CC_StopGrabbing_NET();
// ch: 控件操作 || en: Control operation
SetCtrlWhenStopGrab();
}
// ch:关闭设备 || en: Close device
m_pMyCamera.MV_CC_CloseDevice_NET();
// ch: 控件操作 || en: Control operation
SetCtrlWhenClose();
m_bGrabbing = false;
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 打开
//打开
private void bnOpen_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
if (m_pDeviceList.nDeviceNum == 0 || cbDeviceList.SelectedIndex == -1)
{
MessageBox.Show("No device,please select");
return;
}
int nRet = -1;
//ch:获取选择的设备信息 | en:Get selected device information
MyCamera.MV_CC_DEVICE_INFO device =
(MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_pDeviceList.pDeviceInfo[cbDeviceList.SelectedIndex],
typeof(MyCamera.MV_CC_DEVICE_INFO));
nRet = m_pMyCamera.MV_CC_CreateDevice_NET(ref device);
if (MyCamera.MV_OK != nRet)
{
return;
}
// ch:打开设备 | en:Open device
nRet = m_pMyCamera.MV_CC_OpenDevice_NET();
if (MyCamera.MV_OK != nRet)
{
MessageBox.Show("Open Device Fail");
return;
}
// ch:设置触发模式为off || en:set trigger mode as off
m_pMyCamera.MV_CC_SetEnumValue_NET("AcquisitionMode", 2);
m_pMyCamera.MV_CC_SetEnumValue_NET("TriggerMode", 0);
/**********************************************************************************************************/
// ch:注册回调函数 | en:Register image callback
ImageCallback = new MyCamera.cbOutputExdelegate(GrabImage);
nRet = m_pMyCamera.MV_CC_RegisterImageCallBackForRGB_NET(ImageCallback, IntPtr.Zero);
if (MyCamera.MV_OK != nRet)
{
MessageBox.Show("Register Image CallBack Fail");
}
/**********************************************************************************************************/
SetCtrlWhenOpen();
}
else if (radioButton2.Checked == true)//大华
{
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 设备
//设备
private void bnEnum_Click(object sender, EventArgs e)
{
if (radioButton1.Checked == true)//海康威视
{
DeviceListAcq();
}
else if (radioButton2.Checked == true)//大华
{
equipment();
}
else if (radioButton2.Checked == true)//basler
{
}
}
#endregion
#region 大华
private void equipment()
{
List li = Enumerator.EnumerateDevices();
if (li.Count > 0)
{
for (int i = 0; i < li.Count; i++)
{
cbDeviceList.Items.Add(li[i].Key);
}
cbDeviceList.Text = li[0].Key;
bnOpen.Enabled = true;
}
}
#endregion