使用c#连接Basler相机，halcon显示采集图像_basler相机 c#

使用c#连接Basler相机，halcon显示采集图像

开发工具：vs2022

第一步下载Basler的sdk

去官网下载Basler的sdk，安装完成后找到C:\Program Files\Basler/Basler.Pylon.dll文件，将dll放入新建解决方案bin>Debug文件夹下

第二步下载halcon

同上将halcon的dll文件放入新建解决方案bin>Debug文件夹下

以上完成后在代码中引用

引用文件如下：

当然没有上面那些dll文件的话，可以私信我
话不多说上代码

初始化相机与UI
 #region[初始化相机与UI]

 public Form1()
 {
     InitializeComponent();
     string Mes = Init();
     if (Mes != "OK")
     {
         MessageBox.Show(Mes);
         return;
     }
 }
 //初始化相机
 public string Init()
 {
     try
     {
         camera = new Camera();
         camera.StreamGrabber.ImageGrabbed -= SetReadBuffer;
         camera.StreamGrabber.ImageGrabbed += SetReadBuffer;
         return "ok";
     }
     catch (Exception ex)
     {
         return $"Init failed,{ex.Message}";
     }

 }

 //初始化构造参数
 void SetReadBuffer(object sender, ImageGrabbedEventArgs e)
 {
     try
     {
         IGrabResult grabResult = e.GrabResult;
         if (grabResult.IsValid)
         {
             if (image != null && image.IsInitialized())
             {
                 image.Dispose();
             }
             // 确保 image 对象为空
            // HOperatorSet.GenEmptyObj(out image);

             int imageWidth = grabResult.Width - 1;
                 int imageHeight = grabResult.Height - 1;
                 HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, imageHeight, imageWidth);
                 int payloadSize = imageWidth * imageHeight;

                 if (latestFrameAddress == IntPtr.Zero)
                 {
                     latestFrameAddress = Marshal.AllocHGlobal((Int32)(3 * payloadSize));
                 }
                 converter.OutputPixelFormat = PixelType.RGB8packed;
                 converter.Parameters[PLPixelDataConverter.InconvertibleEdgeHandling].SetValue("Clip");
                 converter.Convert(latestFrameAddress, 3 * payloadSize, grabResult);

                 HOperatorSet.GenImageInterleaved(out image, latestFrameAddress, "bgr",
                          (HTuple)imageWidth, (HTuple)imageHeight, -1, "byte", (HTuple)imageWidth, (HTuple)imageHeight, 0, 0, -1, 0);
         }
     }
     catch (Exception ex)
     {
         return;
     }
     finally
     {
         e.DisposeGrabResultIfClone();
     }
 }
   /// <summary>
   /// 获取最小最大曝光时间
   /// </summary>
   public void GetMinMaxExposureTime()
   {
       try
       {
           if (camera.GetSfncVersion() < Sfnc2_0_0)
           {
               var minExposureTime = camera.Parameters[PLCamera.ExposureTimeRaw].GetMinimum();
               var maxExposureTime = camera.Parameters[PLCamera.ExposureTimeRaw].GetMaximum();
           }
           else
           {
               var minExposureTime = (long)camera.Parameters[PLUsbCamera.ExposureTime].GetMinimum();
               var maxExposureTime = (long)camera.Parameters[PLUsbCamera.ExposureTime].GetMaximum();
           }
       }
       catch (Exception ex)
       {

       }
   }

   /// <summary>
   /// 获取最小最大增益
   /// </summary>
   public void GetMinMaxGain()
   {
       try
       {
           if (camera.GetSfncVersion() < Sfnc2_0_0)
           {
               var minGain = camera.Parameters[PLCamera.GainRaw].GetMinimum();
               var maxGain = camera.Parameters[PLCamera.GainRaw].GetMaximum();
           }
           else
           {
               var minGain = (long)camera.Parameters[PLUsbCamera.Gain].GetMinimum();
               var maxGain = (long)camera.Parameters[PLUsbCamera.Gain].GetMaximum();
           }
       }
       catch (Exception ex)
       {
           //NotifyG.Error(DeviceName + ex.ToString());
       }
   }
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操作相机

 /// <summary>
 /// 打开相机
 /// </summary>
 public bool Open()
 {
     try
     {
         if (camera.IsOpen) camera.Close();
         Thread.Sleep(200);
         camera.Open();
         if (camera.IsOpen)
         {
             var imageWidth = camera.Parameters[PLCamera.Width].GetValue(); // 获取图像宽 
             var imageHeight = camera.Parameters[PLCamera.Height].GetValue(); // 获取图像高
             GetMinMaxExposureTime();
             GetMinMaxGain();
             camera.Parameters[PLCamera.GammaEnable].SetValue(true);
             camera.Parameters[PLCamera.GammaSelector].SetValue(PLCamera.GammaSelector.sRGB);
         }
         else
         {
             MessageBox.Show("相机打开失败！");
             return false;
         }
     }
     catch (Exception ex)
     {
         MessageBox.Show(ex.ToString());
         return false;
     }
     return true;
 }


 /// <summary>
 /// 关闭相机,释放相关资源
 /// </summary>
 public new bool Close()
 {
     try
     {
         camera.Close();
         camera.Dispose();
         if (latestFrameAddress != null)
         {
             Marshal.FreeHGlobal(latestFrameAddress);
             latestFrameAddress = IntPtr.Zero;
         }
     }
     catch (Exception ex)
     {
         MessageBox.Show(ex.ToString());
         return false;
     }
     return true;
 }
 /// <summary>
 /// 开始连续采集
 /// </summary>
 public bool StartGrabbing()
 {
     try
     {
         if (camera.StreamGrabber.IsGrabbing)
         {
             return false;
         }
         else
         {
             camera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
             camera.StreamGrabber.Start(GrabStrategy.LatestImages, GrabLoop.ProvidedByStreamGrabber);
             return true;
         }
     }
     catch (Exception ex)
     {
         return false;
     }
 }

 /// <summary>
 /// 停止连续采集
 /// </summary>
 public bool StopGrabbing()
 {
     try
     {
         if (camera.StreamGrabber.IsGrabbing)
         {
             camera.StreamGrabber.Stop();
         }
     }
     catch (Exception ex)
     {
         MessageBox.Show("错误信息" + ex.ToString());
     }
     return true;
 }


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相机属性设置

  private void but_open_Click(object sender, EventArgs e)
  {
      if (Open())
      {
          try
          {
              double TExposure = camera.Parameters[PLCamera.ExposureTimeAbs].GetValue();
              string txposure = TExposure.ToString();
              textBox1.Text = txposure;
              string Enums = camera.Parameters[PLCamera.GammaSelector].GetValue();
              if (Enums == "sRGB")
              {
                  comboBox2.SelectedIndex = 1;
              }
              else
              {
                  comboBox2.SelectedIndex = 0;
              }
              decimal exposureTime = Convert.ToDecimal(camera.Parameters[PLCamera.ExposureTimeAbs].GetValue());
              numericUpDown2.Value = exposureTime;
              btn_grap.Enabled = true;
              btn_stop.Enabled = true;
              checkBox1.Checked = camera.Parameters[PLCamera.GammaEnable].GetValue();
          }
          catch (Exception ex)
          {
              MessageBox.Show("初始化属性失败！" + ex.Message);
              return;
          }
      }
      else
      {
          MessageBox.Show("打开失败！");
          return;
      }
  }

  private void but_close_Click(object sender, EventArgs e)
  {
      if (btn_stop.Enabled)
      {
          Close();
          but_open.Enabled = true;
          btn_BalanceWhiteAuto.Enabled = false;
          btn_GainAuto.Enabled = false;
          but_Continuous.Enabled = false;
          ExposureAuto.Enabled = false;
          ExposureAuto_Continuous.Enabled = false;
      }
      else
      {
          MessageBox.Show("打开失败！");
      }
  }

  private void btn_grap_Click(object sender, EventArgs e)
  {
      if (latestFrameAddress != IntPtr.Zero)
      {
          Marshal.FreeHGlobal(latestFrameAddress);
      }
      if (!StartGrabbing()) return;
      btn_BalanceWhiteAuto.Enabled = true;
      btn_GainAuto.Enabled = true;
      but_Continuous.Enabled = true;
      ExposureAuto.Enabled = true;
      ExposureAuto_Continuous.Enabled = true;
      timer1.Interval = 100;
      timer1.Tick += new EventHandler(timer1_Tick);
      // 启动Timer
      timer1.Start();
  }

  private void timer1_Tick(object sender, EventArgs e)
  {
      if (image != null && image.IsInitialized() && hWindowControl1.HalconWindow != null)
      {
          HOperatorSet.DispObj(image, hWindowControl1.HalconWindow);
      }
  }

  private void btn_stop_Click(object sender, EventArgs e)
  {
      timer1.Stop();
  }

  private void hWindowControl1_HMouseMove(object sender, HMouseEventArgs e)
  {
      try
      {
          double x = e.X;
          double y = e.Y;
          if (image != null)
          {
              HTuple redValue;
              HImage result = new HImage(image);
              HOperatorSet.GetGrayval(image, (int)y, (int)x, out redValue);
              R_red.Text = redValue.D.ToString();
              G_gree.Text = redValue[1].D.ToString();
              B_blue.Text = redValue[2].D.ToString();
          }
      }
      catch (Exception ex)
      {
          // 处理异常
      }
  }

  private void btn_BalanceWhiteAuto_Click(object sender, EventArgs e)
  {
      camera.Parameters[PLCamera.AutoFunctionAOISelector].SetValue(PLCamera.AutoFunctionAOISelector.AOI2);
      camera.Parameters[PLCamera.AutoFunctionAOIUsageWhiteBalance].SetValue(true);
      camera.Parameters[PLCamera.BalanceWhiteAuto].SetValue(PLCamera.BalanceWhiteAuto.Once);
  }

  private void btn_GainAuto_Click(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.GainAuto].SetValue(PLCamera.GainAuto.Once);
      }
      catch (Exception)
      {

          throw;
      }
  }


  private void comboBox2_SelectedIndexChanged(object sender, EventArgs e)
  {
      if (comboBox2.SelectedIndex == 0)
      {
          camera.Parameters[PLCamera.GammaSelector].SetValue(PLCamera.GammaSelector.User);
      }
      else
      {
          camera.Parameters[PLCamera.GammaSelector].SetValue(PLCamera.GammaSelector.sRGB);
      }
  }

  private void trackBar1_Scroll(object sender, EventArgs e)
  {
      int IInteger = trackBar1.Value;
      camera.Parameters[PLCamera.DigitalShift].SetValue(IInteger);
  }

  private void but_Continuous_Click(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.GainAuto].SetValue(PLCamera.GainAuto.Continuous);
      }
      catch (Exception)
      {

          throw;
      }
  }

  private void trackBar2_Scroll(object sender, EventArgs e)
  {
      numericUpDown1.Value = trackBar2.Value;
      camera.Parameters[PLCamera.GainRaw].SetValue(trackBar2.Value);
  }

  private void numericUpDown1_ValueChanged(object sender, EventArgs e)
  {
      trackBar2.Value = (int)numericUpDown1.Value;
      int num = (int)numericUpDown1.Value;
      camera.Parameters[PLCamera.GainRaw].SetValue(num);
  }

  private void checkBox1_CheckedChanged(object sender, EventArgs e)
  {
      bool rado = checkBox1.Checked;
      camera.Parameters[PLCamera.GammaEnable].SetValue(rado);
  }

  private void checkBox2_CheckedChanged(object sender, EventArgs e)
  {
      bool X = ReverseX.Checked;
      camera.Parameters[PLCamera.ReverseY].SetValue(X);
  }

  private void checkBox3_CheckedChanged(object sender, EventArgs e)
  {
      bool Y = ReverseY.Checked;
      camera.Parameters[PLCamera.ReverseX].SetValue(Y);
  }

  private void ExposureAuto_Click(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.ExposureAuto].SetValue(PLCamera.ExposureAuto.Once);
      }
      catch (Exception ex)
      {
          MessageBox.Show("曝光设置失败！" + ex.Message);
      }

  }

  private void ExposureAuto_Continuous_Click(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.ExposureAuto].SetValue(PLCamera.ExposureAuto.Continuous);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }

  }

  private void textBox1_TextChanged(object sender, EventArgs e)
  {
      try
      {
          string comboBox = textBox1.Text;
          float ExposureAbs = Convert.ToSingle(comboBox);
          camera.Parameters[PLCamera.ExposureTimeAbs].SetValue(ExposureAbs);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }

  }

  private void trackBar3_Scroll(object sender, EventArgs e)
  {
      try
      {

          int exposureValue = trackBar3.Value;
          numericUpDown2.Value = exposureValue;
          camera.Parameters[PLCamera.ExposureTimeRaw].SetValue(exposureValue);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }
  }

  private void numericUpDown2_ValueChanged(object sender, EventArgs e)
  {

      try
      {
          camera.Parameters[PLCamera.ExposureAuto].SetValue(PLCamera.ExposureAuto.Off);
          trackBar3.Value = (int)numericUpDown2.Value;
          int numericUpDown = Convert.ToInt32(numericUpDown2.Value);
          camera.Parameters[PLCamera.ExposureTimeRaw].SetValue(numericUpDown);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }
  }

  private void Form1_FormClosing(object sender, FormClosingEventArgs e)
  {
      if (camera != null && camera.IsOpen)
      {
          StopGrabbing();
          Close();
      }
  }

  private void button1_Click(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.AutoFunctionAOISelector].SetValue(PLCamera.AutoFunctionAOISelector.AOI2);
          camera.Parameters[PLCamera.AutoFunctionAOIUsageWhiteBalance].SetValue(true);
          camera.Parameters[PLCamera.BalanceWhiteAuto].SetValue(PLCamera.BalanceWhiteAuto.Continuous);
      }
      catch (Exception ex)
      {
          MessageBox.Show("连续白平衡失败！" + ex.Message);
      }

  }

  private void comboBox4_SelectedIndexChanged(object sender, EventArgs e)
  {
      try
      {
          if (comboBox4.SelectedIndex == 0)
          {
              camera.Parameters[PLCamera.BalanceRatioSelector].SetValue(PLCamera.BalanceRatioSelector.Red);
          }
          if (comboBox4.SelectedIndex == 1)
          {
              camera.Parameters[PLCamera.BalanceRatioSelector].SetValue(PLCamera.BalanceRatioSelector.Green);
          }
          if (comboBox4.SelectedIndex == 2)
          {
              camera.Parameters[PLCamera.BalanceRatioSelector].SetValue(PLCamera.BalanceRatioSelector.Blue);
          }
      }
      catch (Exception ex)
      {
          MessageBox.Show("调整失败！" + ex.Message);
      }
  }

  private void numericUpDown3_ValueChanged(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.BalanceWhiteAuto].SetValue(PLCamera.BalanceWhiteAuto.Off);
          trackBar4.Value = (int)numericUpDown3.Value;
          int numericUpDown = Convert.ToInt32(numericUpDown3.Value);
          camera.Parameters[PLCamera.BalanceRatioRaw].SetValue(numericUpDown);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }
  }

  private void trackBar4_ValueChanged(object sender, EventArgs e)
  {
      try
      {
          camera.Parameters[PLCamera.BalanceWhiteAuto].SetValue(PLCamera.BalanceWhiteAuto.Off);
          int exposureValue = trackBar4.Value;
          numericUpDown3.Value = exposureValue;
          camera.Parameters[PLCamera.BalanceRatioRaw].SetValue(exposureValue);
      }
      catch (Exception ex)
      {
          MessageBox.Show("错误信息" + ex.Message);
      }
  }

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