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C# 调用海康相机SDK_海康工业相机sdk c# 根据ip连接相机

作者：我家小花儿 | 2024-07-26 23:20:26

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海康工业相机sdk c# 根据ip连接相机

一、查找相机设备

 /// <summary>
 /// 枚举相机 
 /// </summary>
 public  List<string> DeviceListAcq()
{
            var list = new List<string>();
            // ch:创建设备列表 | en:Create Device List
            System.GC.Collect();
            //cbDeviceList.Items.Clear(); 
            list.Clear();
            m_stDeviceList.nDeviceNum = 0;
            //MV_CC_EnumDevices_NET 查找设备 枚举了GigE相机的设备信息 CGigECameraInfo 、
            //U3V相机的设备信息 CUSBCameraInfo 、Camera Link相机的设备信息 CCamLCameraInfo 。
            //查找成功 返回0 没有查找成功--非0 显示ShowErrorMsg
            int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref m_stDeviceList);
            if (0 != nRet)
            {
                throw new ArgumentException("Enum Devices Fail");
                //MessageBox.Show("Enum Devices Fail");
    
            }

            // ch:在窗体列表中显示设备名 | en:Display device name in the form list
            for (int i = 0; i < m_stDeviceList.nDeviceNum; i++)
            {
                MyCamera.MV_CC_DEVICE_INFO device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_stDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                {
                    MyCamera.MV_GIGE_DEVICE_INFO gigeInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_GIGE_DEVICE_INFO));

                    if (gigeInfo.chUserDefinedName != "")
                    {
                        list.Add("GEV: " + gigeInfo.chUserDefinedName + " (" + gigeInfo.chSerialNumber + ")");
                    }
                    else
                    {
                        list.Add("GEV: " + gigeInfo.chManufacturerName + " " + gigeInfo.chModelName + " (" + gigeInfo.chSerialNumber + ")");
                    }
                }
                else if (device.nTLayerType == MyCamera.MV_USB_DEVICE)
                {
                    MyCamera.MV_USB3_DEVICE_INFO usbInfo = (MyCamera.MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stUsb3VInfo, typeof(MyCamera.MV_USB3_DEVICE_INFO));
                    if (usbInfo.chUserDefinedName != "")
                    {
                        list.Add("U3V: " + usbInfo.chUserDefinedName + " (" + usbInfo.chSerialNumber + ")");
                    }
                    else
                    {
                        list.Add("U3V: " + usbInfo.chManufacturerName + " " + usbInfo.chModelName + " (" + usbInfo.chSerialNumber + ")");
                    }
                }
            }

            // ch:选择第一项 | en:Select the first item
            //if (m_stDeviceList.nDeviceNum != 0)
            //{
            //    cbDeviceList.SelectedIndex = 0;
            //}
            return list;
}

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二、打开相机

        /// <summary>
        /// 获得相机的信息。异常:ArgumentException
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public MyCamera.MV_CC_DEVICE_INFO GetCameraInfo(int index)
        {
            if (m_stDeviceList.nDeviceNum == 0)// || cbDeviceList.SelectedIndex == -1)
            {
                throw new ArgumentException("没有可用的相机设备");

            }
            // 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_stDeviceList.pDeviceInfo[index],
                                                              typeof(MyCamera.MV_CC_DEVICE_INFO));
            return device;
        }
        /// <summary>
        /// 打开相机。异常:ArgumentException
        /// </summary>
        /// <param name="index"></param>
        public void OpenCamera(int index)
        {

            try
            {

                //获得相机信息
                var camerainfo = GetCameraInfo(index);
                //创建相机句柄
                int nRet= m_MyCamera.MV_CC_CreateDevice_NET(ref camerainfo);
                if (MyCamera.MV_OK != nRet)
                {
                    throw new ArgumentException("创建相机句柄失败!");

                }

                nRet = m_MyCamera.MV_CC_OpenDevice_NET();
                if (MyCamera.MV_OK != nRet)
                {
                    m_MyCamera.MV_CC_DestroyDevice_NET();
                    throw new ArgumentException(string.Format("打开相机失败!{0}",nRet));

                }

                // ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera)
                if (camerainfo.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                {
                    int nPacketSize = m_MyCamera.MV_CC_GetOptimalPacketSize_NET();
                    if (nPacketSize > 0)
                    {
                        nRet = m_MyCamera.MV_CC_SetIntValueEx_NET("GevSCPSPacketSize", nPacketSize);
                        if (nRet != MyCamera.MV_OK)
                        {
                            throw new ArgumentException(string.Format("Set Packet Size failed!",nRet));
                        }
                    }
                    else
                    {
                        throw new ArgumentException(string.Format("Get Packet Size failed!", nPacketSize));
                    }
                }

                // ch:设置采集连续模式 | en:Set Continues Aquisition Mode
                m_MyCamera.MV_CC_SetEnumValue_NET("AcquisitionMode", (uint)MyCamera.MV_CAM_ACQUISITION_MODE.MV_ACQ_MODE_CONTINUOUS);
                m_MyCamera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_OFF);
            }
            catch(ArgumentException ex)
            {
                throw ex;
             }
        }

        public void CloseCamera()
        {
            // ch:取流标志位清零 | en:Reset flow flag bit
            if (m_bGrabbing == true)
            {
                m_bGrabbing = false;
                m_hReceiveThread.Join();
            }

            if (m_BufForDriver != IntPtr.Zero)
            {
                Marshal.Release(m_BufForDriver);
            }

            // ch:关闭设备 | en:Close Device
            m_MyCamera.MV_CC_CloseDevice_NET();
            m_MyCamera.MV_CC_DestroyDevice_NET();
        }

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三、关闭相机


        public void CloseCamera()
        {
            // ch:取流标志位清零 | en:Reset flow flag bit
            if (m_bGrabbing == true)
            {
                m_bGrabbing = false;
                m_hReceiveThread.Join();
            }

            if (m_BufForDriver != IntPtr.Zero)
            {
                Marshal.Release(m_BufForDriver);
            }

            // ch:关闭设备 | en:Close Device
            m_MyCamera.MV_CC_CloseDevice_NET();
            m_MyCamera.MV_CC_DestroyDevice_NET();
        }


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四、开始采集图像

        /// <summary>
        /// 线程
        /// </summary>
        public void ReceiveThreadProcess()
        {
            //获得
            MyCamera.MVCC_INTVALUE stParam = new MyCamera.MVCC_INTVALUE();
            int nRet = m_MyCamera.MV_CC_GetIntValue_NET("PayloadSize", ref stParam);
            if (MyCamera.MV_OK != nRet)
            {
                //ShowErrorMsg("Get PayloadSize failed", nRet);
                return;
            }

            UInt32 nPayloadSize = stParam.nCurValue;
            if (nPayloadSize > m_nBufSizeForDriver)
            {
                if (m_BufForDriver != IntPtr.Zero)
                {
                    Marshal.Release(m_BufForDriver);
                }
                m_nBufSizeForDriver = nPayloadSize;
                m_BufForDriver = Marshal.AllocHGlobal((Int32)m_nBufSizeForDriver);
            }

            if (m_BufForDriver == IntPtr.Zero)
            {
                return;
            }

            MyCamera.MV_FRAME_OUT_INFO_EX stFrameInfo = new MyCamera.MV_FRAME_OUT_INFO_EX();
            //MyCamera.MV_DISPLAY_FRAME_INFO stDisplayInfo = new MyCamera.MV_DISPLAY_FRAME_INFO();

            while (m_bGrabbing)
            {
                lock (BufForDriverLock)
                {
                    nRet = m_MyCamera.MV_CC_GetOneFrameTimeout_NET(m_BufForDriver, nPayloadSize, ref stFrameInfo, 1000);
                    if (nRet == MyCamera.MV_OK)
                    {
                        m_stFrameInfo = stFrameInfo;
                    }
                }

                if (nRet == MyCamera.MV_OK)
                {
                    
                    //显示图像

                    stDisplayInfo.hWnd = winHandle;
                    stDisplayInfo.pData = m_BufForDriver;
                    stDisplayInfo.nDataLen = stFrameInfo.nFrameLen;
                    stDisplayInfo.nWidth = stFrameInfo.nWidth;
                    stDisplayInfo.nHeight = stFrameInfo.nHeight;
                    stDisplayInfo.enPixelType = stFrameInfo.enPixelType;
                    m_MyCamera.MV_CC_DisplayOneFrame_NET(ref stDisplayInfo);
                }
                //else
                //{
                //    if (bnTriggerMode.Checked)
                //    {
                //        Thread.Sleep(5);
                //    }
                //}
            }
        }

        /// <summary>
        /// 开始采集。异常:ArgumentException
        /// </summary>
        public void StartGrab()
        {
            // ch:标志位置位true | en:Set position bit true
            m_bGrabbing = true;
            m_hReceiveThread = new Thread(ReceiveThreadProcess);
            m_hReceiveThread.Start();
            m_stFrameInfo.nFrameLen = 0;//取流之前先清除帧长度
            m_stFrameInfo.enPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;
            // ch:开始采集 | en:Start Grabbing
            int nRet = m_MyCamera.MV_CC_StartGrabbing_NET();
            if (MyCamera.MV_OK != nRet)
            {
                m_bGrabbing = false;
                m_hReceiveThread.Join();
                throw new ArgumentException(string.Format("Start Grabbing Fail!{0}", nRet));            
            }
       }

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五、停止采集图像

        /// <summary>
        /// 停止采集。 异常:ArgumentException
        /// </summary>
        public void StopGrab()
        {
            // ch:标志位设为false | en:Set flag bit false
            m_bGrabbing = false;
            m_hReceiveThread.Join();

            // ch:停止采集 | en:Stop Grabbing
            //MV_CC_StopGrabbing_NET  停止采集图像。  成功，返回MyCamera.MV_OK（0）；失败，返回错误码
            int nRet = m_MyCamera.MV_CC_StopGrabbing_NET();
            if (nRet != MyCamera.MV_OK)
            {
                throw new ArgumentException(string.Format("Stop Grabbing Fail!{0}", nRet));
            } 
        }

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六、保持采集的图像

       
        /// <summary>
        /// 判断是不是黑白数据
        /// </summary>
        /// <param name="enGvspPixelType"></param>
        /// <returns></returns>
        private Boolean IsMonoData(MyCamera.MvGvspPixelType enGvspPixelType)
        {
            switch (enGvspPixelType)
            {
                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;
            }
        }
        
        
        
        /// <summary>
        /// 判断是否是彩色图像数据 
        /// </summary>
        /// <param name="enGvspPixelType"></param>
        /// <returns></returns>  成功，返回0；错误，返回-1 
        private Boolean IsColorData(MyCamera.MvGvspPixelType enGvspPixelType)
        {
            switch (enGvspPixelType)
            {
                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_BayerGR10:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG10:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB10:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG10:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR12:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG12:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB12:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG12:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR10_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG10_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB10_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG10_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGR12_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerRG12_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerGB12_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_BayerBG12_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_YUV422_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_YUV422_YUYV_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_YCBCR411_8_CBYYCRYY:
                    return true;

                default:
                    return false;
            }
        }


        /// <summary>
        ///将图片保存为BMP格式 异常:ArgumentException
        /// </summary>
        /// <param name="fname"></param>
        public void ImageSaveBMP(string fname)
        {
            if (false == m_bGrabbing)
            {
                throw new ArgumentException(string.Format("没有开始采集不能保存图像！0"));      
            }
    
            IntPtr pTemp = IntPtr.Zero;
            MyCamera.MvGvspPixelType enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Undefined;
            //先判断相机类型 是Mono8黑白还是BGR8彩色
            if (m_stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8 || 
                m_stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed)
            {
                pTemp = m_BufForDriver;
                enDstPixelType = m_stFrameInfo.enPixelType;
            }
            else
            {
                UInt32 nSaveImageNeedSize = 0;
                MyCamera.MV_PIXEL_CONVERT_PARAM stConverPixelParam = new MyCamera.MV_PIXEL_CONVERT_PARAM();

                lock (BufForDriverLock)
                {
                    if (m_stFrameInfo.nFrameLen == 0)
                    {
                        throw new ArgumentException(string.Format("Save Bmp Fail! 0"));
                    }


                    //判断是否是黑白数据函数
                    if (IsMonoData(m_stFrameInfo.enPixelType))
                    {
                        enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8;
                        nSaveImageNeedSize = (uint)m_stFrameInfo.nWidth * m_stFrameInfo.nHeight;
                    }
                    else if (IsColorData(m_stFrameInfo.enPixelType))
                    {
                        enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed;
                        nSaveImageNeedSize = (uint)m_stFrameInfo.nWidth * m_stFrameInfo.nHeight * 3;
                    }
                    else
                    {
                        throw new ArgumentException(string.Format("No such pixel type! 0"));
                       
                    }

                    if (m_nBufSizeForSaveImage < nSaveImageNeedSize)
                    {
                        if (m_BufForSaveImage != IntPtr.Zero)
                        {
                            Marshal.Release(m_BufForSaveImage);
                        }
                        m_nBufSizeForSaveImage = nSaveImageNeedSize;
                        m_BufForSaveImage = Marshal.AllocHGlobal((Int32)m_nBufSizeForSaveImage);
                    }

                    stConverPixelParam.nWidth = m_stFrameInfo.nWidth;
                    stConverPixelParam.nHeight = m_stFrameInfo.nHeight;
                    stConverPixelParam.pSrcData = m_BufForDriver;
                    stConverPixelParam.nSrcDataLen = m_stFrameInfo.nFrameLen;
                    stConverPixelParam.enSrcPixelType = m_stFrameInfo.enPixelType;
                    stConverPixelParam.enDstPixelType = enDstPixelType;
                    stConverPixelParam.pDstBuffer = m_BufForSaveImage;
                    stConverPixelParam.nDstBufferSize = m_nBufSizeForSaveImage;
                    int nRet = m_MyCamera.MV_CC_ConvertPixelType_NET(ref stConverPixelParam);
                    if (MyCamera.MV_OK != nRet)
                    {
                        throw new ArgumentException(string.Format("Convert Pixel Type Fail! 0"));
                        
                    }
                    pTemp = m_BufForSaveImage;
                }
            }

            lock (BufForDriverLock)
            {
                if (enDstPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
                {
                    //************************Mono8 转 Bitmap*******************************
                    Bitmap bmp = new Bitmap(m_stFrameInfo.nWidth, m_stFrameInfo.nHeight, m_stFrameInfo.nWidth * 1, PixelFormat.Format8bppIndexed, pTemp);

                    ColorPalette cp = bmp.Palette;
                    // init palette
                    for (int i = 0; i < 256; i++)
                    {
                        cp.Entries[i] = Color.FromArgb(i, i, i);
                    }
                    // set palette back
                    bmp.Palette = cp;
                    bmp.Save(fname, ImageFormat.Bmp);
                }
                else
                {
                    //*********************BGR8 转 Bitmap**************************
                    try
                    {
                        Bitmap bmp = new Bitmap(m_stFrameInfo.nWidth, m_stFrameInfo.nHeight, m_stFrameInfo.nWidth * 3, PixelFormat.Format24bppRgb, pTemp);
                        bmp.Save("image.bmp", ImageFormat.Bmp);
                    }
                    catch
                    {
                        throw new ArgumentException(string.Format("Write File Fail! 0"));
                      
                    }
                }
            }
            //throw new ArgumentException(string.Format("Save Succeed! 0"));        
        }

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七、设置相机参数

        /// <summary>
        /// 设置相机参数。异常:ArgumentException
        /// </summary>
        /// <param name="date"></param>
        public void WriteCCDConfig(Tuple<string, string, string> date)
        {

            m_MyCamera.MV_CC_SetEnumValue_NET("ExposureAuto", 0);
            int nRet = m_MyCamera.MV_CC_SetFloatValue_NET("ExposureTime", float.Parse(date.Item1));
            if (nRet != MyCamera.MV_OK)
            {
                throw new ArgumentException(string.Format("Set Exposure Time Fail! {0}", nRet));
            }

            m_MyCamera.MV_CC_SetEnumValue_NET("GainAuto", 0);
            nRet = m_MyCamera.MV_CC_SetFloatValue_NET("Gain", float.Parse(date.Item2));
            if (nRet != MyCamera.MV_OK)
            {
                throw new ArgumentException(string.Format("Set Gain Fail! {0}", nRet));
                
            }

            nRet = m_MyCamera.MV_CC_SetFloatValue_NET("AcquisitionFrameRate", float.Parse(date.Item3));
            if (nRet != MyCamera.MV_OK)
            {
                throw new ArgumentException(string.Format("Set Frame Rate Fail! {0}", nRet));           
            }
        }

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八、读取相机参数

        /// <summary>
        /// 读取参数信息。异常:ArgumentException
        /// </summary>
        /// <returns></returns>
        public Tuple<string,string,string> ReadCCDConfig()
        {
            MyCamera.MVCC_FLOATVALUE stParam = new MyCamera.MVCC_FLOATVALUE();
            int nRet = m_MyCamera.MV_CC_GetFloatValue_NET("ExposureTime", ref stParam);
            string s1 = "0", s2 = "0", s3 = "0";
            //获得曝光
            if (MyCamera.MV_OK == nRet)
            {
                s1 = stParam.fCurValue.ToString("F1");//F1为一种格式
            }
            //获得增益
            nRet = m_MyCamera.MV_CC_GetFloatValue_NET("Gain", ref stParam);
            if (MyCamera.MV_OK == nRet)
            {
               s2 = stParam.fCurValue.ToString("F1");
            }
            //获得帧率
            nRet = m_MyCamera.MV_CC_GetFloatValue_NET("ResultingFrameRate", ref stParam);
            if (MyCamera.MV_OK == nRet)
            {
               s3= stParam.fCurValue.ToString("F1");
            }
            return new Tuple<string, string, string>(s1, s2, s3);
        }

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九、界面设计

在这里插入图片描述

界面程序：

namespace HaiKangCameraSDKDemo
{
    public partial class Form1 : Form
    {
        hkccdSDK hkccd = new hkccdSDK();

        public Form1()
        {
            InitializeComponent();
           
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            hkccd.winHandle = pictureBox1.Handle;
            cbxCCDList.Items.Clear();
            cbxCCDList.Items.AddRange(hkccd.DeviceListAcq().ToArray());
        }

        private void btnOpenDevice_Click(object sender, EventArgs e)
        {
            var index = cbxCCDList.SelectedIndex;
            if (index < 0) return;
            try
            {
                hkccd.OpenCamera(index);
                MessageBox.Show("设备打开成功");
            }
            catch(ArgumentException ex)
            {
                MessageBox.Show(ex.Message);
            }             
        }

        private void btnCloseDevice_Click(object sender, EventArgs e)
        {
            hkccd.CloseCamera();
            MessageBox.Show("设备关闭成功");
        }

        private void btnStartGrab_Click(object sender, EventArgs e)
        {
            try
            {
                hkccd.StartGrab();
                MessageBox.Show("已经开始采集");
            }
            catch (ArgumentException ex)
            {
                MessageBox.Show(ex.Message);
            }

        }

        private void btnStopGrab_Click(object sender, EventArgs e)
        {
            try
            {
                hkccd.StopGrab();
            }
            catch(ArgumentException ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnSaveBMP_Click(object sender, EventArgs e)
        {
            try
            {
                hkccd.ImageSaveBMP("D:\\b1.bmp");
            }
            catch(ArgumentException ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnReadConfig_Click(object sender, EventArgs e)
        {
            var data=  hkccd.ReadCCDConfig();
            txtExposure.Text = data.Item1;
            txtGain.Text = data.Item2;
            txtFrame.Text = data.Item3;
        }

        private void btnSaveConfig_Click(object sender, EventArgs e)
        {
            float v1 = 0, v2 = 0,v3 = 0;
            if(!float.TryParse(txtExposure.Text, out v1)||
            !float.TryParse(txtGain.Text, out v2)||
            !float.TryParse(txtFrame.Text, out v3) )
            {
                MessageBox.Show("参数格式不正确！");
                return;
            }
            try
            {
                hkccd.WriteCCDConfig(new Tuple<string, string, string>(v1.ToString("F1"), v2.ToString("F1"), v3.ToString("F1")));
                MessageBox.Show("参数写入成功");
            }
            catch (ArgumentException ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
    }
}

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