using MVSDK_Net;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.Windows.Forms;
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namespace LB_VisionProcesses.Cameras
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{
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/// <summary>
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/// 华睿2D工业相机实现类
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/// 基于MVSDK_Net SDK封装
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/// </summary>
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public class HRCamera : BaseCamera
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{
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#region 私有字段
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private MyCamera _camera; // 华睿相机设备对象
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private Thread _grabThread; // 图像采集线程
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private bool _isGrabbing; // 采集状态标志
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private bool _threadRunning; // 线程运行标志
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private Thread _callbackThread; // 回调处理线程
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private List<IMVDefine.IMV_Frame> _frameList; // 图像缓存列表
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private readonly object _frameLock = new object(); // 帧缓存锁
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// CopyMemory API声明
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[System.Runtime.InteropServices.DllImport("kernel32.dll", EntryPoint = "RtlMoveMemory")]
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private static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);
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#endregion
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#region 构造函数和析构函数
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/// <summary>
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/// 构造函数
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/// </summary>
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public HRCamera()
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{
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_camera = new MyCamera();
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_frameList = new List<IMVDefine.IMV_Frame>();
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Brand = CameraBrand.HRCamera;
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_isGrabbing = false;
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_threadRunning = false;
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}
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/// <summary>
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/// 析构函数
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/// </summary>
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~HRCamera()
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{
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Dispose(false);
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}
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#endregion
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#region 设备管理操作
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/// <summary>
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/// 获取相机SN枚举列表
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/// </summary>
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/// <returns>相机SN列表</returns>
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public override List<string> GetListEnum()
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{
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List<string> cameraList = new List<string>();
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try
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{
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// 枚举所有设备
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IMVDefine.IMV_DeviceList deviceList = new IMVDefine.IMV_DeviceList();
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IMVDefine.IMV_EInterfaceType interfaceType = IMVDefine.IMV_EInterfaceType.interfaceTypeAll;
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int result = MyCamera.IMV_EnumDevices(ref deviceList, (uint)interfaceType);
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if (result == IMVDefine.IMV_OK && deviceList.nDevNum > 0)
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{
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for (int i = 0; i < deviceList.nDevNum; i++)
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{
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IMVDefine.IMV_DeviceInfo deviceInfo = (IMVDefine.IMV_DeviceInfo)
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Marshal.PtrToStructure(
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deviceList.pDevInfo + Marshal.SizeOf(typeof(IMVDefine.IMV_DeviceInfo)) * i,
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typeof(IMVDefine.IMV_DeviceInfo));
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string cameraInfo = $"{deviceInfo.cameraName}[{deviceInfo.serialNumber}]";
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cameraList.Add(cameraInfo);
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}
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}
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else
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{
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// 记录日志或抛出异常
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throw new Exception($"枚举设备失败，错误码：{result}");
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}
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}
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catch (Exception ex)
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{
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// 记录错误日志
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System.Diagnostics.Debug.WriteLine($"获取相机列表失败：{ex.Message}");
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throw;
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}
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return cameraList;
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}
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/// <summary>
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/// 初始化相机设备
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/// </summary>
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/// <param name="SN">相机序列号</param>
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/// <param name="Handle">窗口句柄（可选）</param>
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/// <returns>初始化是否成功</returns>
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public override bool InitDevice(string SN, object Handle = null)
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{
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try
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{
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// 如果相机已打开，先关闭
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if (_camera != null && _camera.IMV_IsOpen())
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{
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CloseDevice();
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}
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// 枚举设备并匹配SN
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List<string> cameraList = GetListEnum();
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int cameraIndex = -1;
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for (int i = 0; i < cameraList.Count; i++)
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{
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if (cameraList[i].Contains(SN))
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{
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cameraIndex = i;
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break;
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}
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}
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if (cameraIndex == -1)
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{
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throw new Exception($"未找到序列号为 {SN} 的相机");
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}
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// 创建设备句柄
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int result = _camera.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByIndex, cameraIndex);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"创建设备句柄失败，错误码：{result}");
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}
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// 打开设备
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result = _camera.IMV_Open();
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"打开相机失败，错误码：{result}");
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}
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// 设置设备属性
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SN = SN;
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isGrabbing = false;
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// 设置缓存个数为8
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_camera.IMV_SetBufferCount(8);
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"初始化相机失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 关闭相机设备
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/// </summary>
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/// <returns>关闭是否成功</returns>
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public override bool CloseDevice()
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{
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try
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{
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if (_camera == null)
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return true;
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// 停止采集
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if (_camera.IMV_IsGrabbing())
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{
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StopGrabbing();
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}
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// 关闭设备
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if (_camera.IMV_IsOpen())
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{
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int result = _camera.IMV_Close();
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if (result != IMVDefine.IMV_OK)
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{
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System.Diagnostics.Debug.WriteLine($"关闭相机失败，错误码：{result}");
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}
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}
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// 释放资源
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_isGrabbing = false;
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isGrabbing = false;
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// 清理帧缓存
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lock (_frameLock)
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{
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foreach (var frame in _frameList)
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{
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var tempFrame = frame; // 创建临时变量
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_camera.IMV_ReleaseFrame(ref tempFrame);
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}
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_frameList.Clear();
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"关闭相机失败：{ex.Message}");
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return false;
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}
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}
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#endregion
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#region 图像采集操作
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/// <summary>
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/// 开始图像采集
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/// </summary>
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/// <returns>采集启动是否成功</returns>
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public override bool StartGrabbing()
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{
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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// 停止现有采集
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if (_isGrabbing)
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{
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StopGrabbing();
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}
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// 启动采集
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int result = _camera.IMV_StartGrabbing();
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"启动采集失败，错误码：{result}");
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}
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_isGrabbing = true;
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isGrabbing = true;
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// 启动采集线程
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_threadRunning = true;
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_grabThread = new Thread(GrabThreadProc);
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_grabThread.IsBackground = true;
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_grabThread.Start();
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"启动采集失败：{ex.Message}");
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_isGrabbing = false;
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isGrabbing = false;
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return false;
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}
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}
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/// <summary>
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/// 停止图像采集
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/// </summary>
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/// <returns>停止是否成功</returns>
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public override bool StopGrabbing()
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{
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try
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{
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if (_camera == null || !_isGrabbing)
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return true;
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// 停止线程
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_threadRunning = false;
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if (_grabThread != null && _grabThread.IsAlive)
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{
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_grabThread.Join(1000);
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_grabThread = null;
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}
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// 停止采集
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int result = _camera.IMV_StopGrabbing();
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if (result != IMVDefine.IMV_OK)
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{
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System.Diagnostics.Debug.WriteLine($"停止采集失败，错误码：{result}");
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}
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_isGrabbing = false;
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isGrabbing = false;
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// 清理缓存
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lock (_frameLock)
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{
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foreach (var frame in _frameList)
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{
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var tempFrame = frame; // 创建临时变量
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_camera.IMV_ReleaseFrame(ref tempFrame);
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}
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_frameList.Clear();
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"停止采集失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 执行软触发
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/// </summary>
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/// <returns>触发是否成功</returns>
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public override bool SoftTrigger()
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{
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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int result = _camera.IMV_ExecuteCommandFeature("TriggerSoftware");
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return result == IMVDefine.IMV_OK;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"软触发失败：{ex.Message}");
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return false;
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}
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}
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#endregion
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#region 参数设置和获取
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/// <summary>
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/// 设置触发模式
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/// </summary>
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/// <param name="mode">触发模式</param>
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/// <param name="source">触发源</param>
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/// <returns>设置是否成功</returns>
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public override bool SetTriggerMode(TriggerMode mode, TriggerSource source = TriggerSource.Line0)
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{
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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// 设置触发模式
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string triggerMode = mode == TriggerMode.On ? "On" : "Off";
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int result = _camera.IMV_SetEnumFeatureSymbol("TriggerMode", triggerMode);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"设置触发模式失败，错误码：{result}");
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}
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// 设置触发源
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if (mode == TriggerMode.On)
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{
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string triggerSource = GetTriggerSourceString(source);
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result = _camera.IMV_SetEnumFeatureSymbol("TriggerSource", triggerSource);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"设置触发源失败，错误码：{result}");
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}
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"设置触发模式失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取触发模式
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/// </summary>
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/// <param name="mode">触发模式</param>
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/// <param name="source">触发源</param>
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/// <returns>获取是否成功</returns>
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public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
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{
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mode = TriggerMode.Off;
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source = TriggerSource.Software;
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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// 获取触发模式
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IMVDefine.IMV_String triggerMode = new IMVDefine.IMV_String();
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int result = _camera.IMV_GetEnumFeatureSymbol("TriggerMode", ref triggerMode);
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if (result == IMVDefine.IMV_OK)
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{
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mode = triggerMode.str == "On" ? TriggerMode.On : TriggerMode.Off;
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}
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// 获取触发源
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IMVDefine.IMV_String triggerSource = new IMVDefine.IMV_String();
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result = _camera.IMV_GetEnumFeatureSymbol("TriggerSource", ref triggerSource);
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if (result == IMVDefine.IMV_OK)
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{
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source = GetTriggerSourceFromString(triggerSource.str);
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"获取触发模式失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 设置曝光时间
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/// </summary>
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/// <param name="value">曝光时间（微秒）</param>
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/// <returns>设置是否成功</returns>
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public override bool SetExpouseTime(double value)
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{
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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// 验证曝光时间范围
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double minExp = 0, maxExp = 0;
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int result = _camera.IMV_GetDoubleFeatureMin("ExposureTime", ref minExp);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"获取曝光时间最小值失败，错误码：{result}");
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}
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result = _camera.IMV_GetDoubleFeatureMax("ExposureTime", ref maxExp);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"获取曝光时间最大值失败，错误码：{result}");
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}
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if (value < minExp || value > maxExp)
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{
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throw new Exception($"曝光时间超出范围，有效范围：{minExp} - {maxExp}");
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}
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// 设置曝光时间
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result = _camera.IMV_SetDoubleFeatureValue("ExposureTime", value);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"设置曝光时间失败，错误码：{result}");
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"设置曝光时间失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取曝光时间
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/// </summary>
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/// <param name="value">曝光时间</param>
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/// <returns>获取是否成功</returns>
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public override bool GetExpouseTime(out double value)
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{
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value = 0;
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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int result = _camera.IMV_GetDoubleFeatureValue("ExposureTime", ref value);
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return result == IMVDefine.IMV_OK;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"获取曝光时间失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 设置增益
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/// </summary>
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/// <param name="gain">增益值</param>
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/// <returns>设置是否成功</returns>
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public override bool SetGain(double gain)
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{
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try
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{
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if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
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}
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// 验证增益范围
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double minGain = 0, maxGain = 0;
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int result = _camera.IMV_GetDoubleFeatureMin("GainRaw", ref minGain);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"获取增益最小值失败，错误码：{result}");
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}
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result = _camera.IMV_GetDoubleFeatureMax("GainRaw", ref maxGain);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"获取增益最大值失败，错误码：{result}");
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}
|
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if (gain < minGain || gain > maxGain)
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{
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throw new Exception($"增益值超出范围，有效范围：{minGain} - {maxGain}");
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}
|
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// 设置增益
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result = _camera.IMV_SetDoubleFeatureValue("GainRaw", gain);
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if (result != IMVDefine.IMV_OK)
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{
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throw new Exception($"设置增益失败，错误码：{result}");
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}
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return true;
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine($"设置增益失败：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取增益值
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/// </summary>
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/// <param name="gain">增益值</param>
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/// <returns>获取是否成功</returns>
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public override bool GetGain(out double gain)
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{
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gain = 0;
|
|
try
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{
|
if (_camera == null || !_camera.IMV_IsOpen())
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{
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throw new Exception("相机未打开");
|
}
|
|
int result = _camera.IMV_GetDoubleFeatureValue("GainRaw", ref gain);
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return result == IMVDefine.IMV_OK;
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}
|
catch (Exception ex)
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{
|
System.Diagnostics.Debug.WriteLine($"获取增益失败：{ex.Message}");
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return false;
|
}
|
}
|
|
// 其他参数设置方法类似，这里省略部分实现...
|
|
#endregion
|
|
#region 辅助方法
|
|
/// <summary>
|
/// 图像采集线程处理函数
|
/// </summary>
|
private void GrabThreadProc()
|
{
|
IMVDefine.IMV_Frame frame = new IMVDefine.IMV_Frame();
|
|
while (_threadRunning)
|
{
|
try
|
{
|
// 获取图像帧
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int result = _camera.IMV_GetFrame(ref frame, 100);
|
|
if (result == IMVDefine.IMV_OK)
|
{
|
// 处理图像帧
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ProcessFrame(frame);
|
}
|
else if (result != 0x80000001) // 超时错误代码（常见值）
|
{
|
// 非超时错误
|
System.Diagnostics.Debug.WriteLine($"获取图像帧失败，错误码：{result}");
|
}
|
}
|
catch (Exception ex)
|
{
|
System.Diagnostics.Debug.WriteLine($"采集线程异常：{ex.Message}");
|
}
|
|
Thread.Sleep(1);
|
}
|
}
|
|
/// <summary>
|
/// 处理图像帧
|
/// </summary>
|
/// <param name="frame">图像帧</param>
|
private void ProcessFrame(IMVDefine.IMV_Frame frame)
|
{
|
try
|
{
|
// 将图像数据转换为Bitmap
|
Bitmap bitmap = ConvertFrameToBitmap(frame);
|
|
if (bitmap != null)
|
{
|
// 触发图像采集事件
|
CameraEventArgs args = new CameraEventArgs(SN, bitmap);
|
ImageGrabbed?.Invoke(this, args);
|
|
// 更新回调图像
|
CallBackImg = bitmap;
|
}
|
|
// 释放帧
|
_camera.IMV_ReleaseFrame(ref frame);
|
}
|
catch (Exception ex)
|
{
|
System.Diagnostics.Debug.WriteLine($"处理图像帧失败：{ex.Message}");
|
}
|
}
|
|
/// <summary>
|
/// 将图像帧转换为Bitmap
|
/// </summary>
|
/// <param name="frame">图像帧</param>
|
/// <returns>Bitmap对象</returns>
|
private Bitmap ConvertFrameToBitmap(IMVDefine.IMV_Frame frame)
|
{
|
try
|
{
|
Bitmap bitmap = null;
|
|
switch (frame.frameInfo.pixelFormat)
|
{
|
case IMVDefine.IMV_EPixelType.gvspPixelMono8:
|
bitmap = CreateMono8Bitmap(frame);
|
break;
|
case IMVDefine.IMV_EPixelType.gvspPixelBGR8:
|
bitmap = CreateBgr8Bitmap(frame);
|
break;
|
default:
|
// 其他格式需要转换
|
bitmap = ConvertToBGR8(frame);
|
break;
|
}
|
|
return bitmap;
|
}
|
catch (Exception ex)
|
{
|
System.Diagnostics.Debug.WriteLine($"图像格式转换失败：{ex.Message}");
|
return null;
|
}
|
}
|
|
/// <summary>
|
/// 创建Mono8格式Bitmap
|
/// </summary>
|
private Bitmap CreateMono8Bitmap(IMVDefine.IMV_Frame frame)
|
{
|
Bitmap bitmap = new Bitmap((int)frame.frameInfo.width, (int)frame.frameInfo.height, PixelFormat.Format8bppIndexed);
|
|
// 设置灰度调色板
|
ColorPalette palette = bitmap.Palette;
|
for (int i = 0; i < 256; i++)
|
{
|
palette.Entries[i] = Color.FromArgb(i, i, i);
|
}
|
bitmap.Palette = palette;
|
|
// 复制图像数据
|
BitmapData bmpData = bitmap.LockBits(
|
new Rectangle(0, 0, bitmap.Width, bitmap.Height),
|
ImageLockMode.WriteOnly,
|
bitmap.PixelFormat);
|
|
// 使用CopyMemory API进行内存复制
|
CopyMemory(bmpData.Scan0, frame.pData, (uint)Math.Min(frame.frameInfo.size, (uint)(bmpData.Stride * bitmap.Height)));
|
|
bitmap.UnlockBits(bmpData);
|
return bitmap;
|
}
|
|
/// <summary>
|
/// 创建BGR8格式Bitmap
|
/// </summary>
|
private Bitmap CreateBgr8Bitmap(IMVDefine.IMV_Frame frame)
|
{
|
Bitmap bitmap = new Bitmap((int)frame.frameInfo.width, (int)frame.frameInfo.height, PixelFormat.Format24bppRgb);
|
|
BitmapData bmpData = bitmap.LockBits(
|
new Rectangle(0, 0, bitmap.Width, bitmap.Height),
|
ImageLockMode.WriteOnly,
|
bitmap.PixelFormat);
|
|
// 使用CopyMemory API进行内存复制
|
CopyMemory(bmpData.Scan0, frame.pData, (uint)Math.Min(frame.frameInfo.size, (uint)(bmpData.Stride * bitmap.Height)));
|
|
bitmap.UnlockBits(bmpData);
|
return bitmap;
|
}
|
|
/// <summary>
|
/// 转换为BGR8格式
|
/// </summary>
|
private Bitmap ConvertToBGR8(IMVDefine.IMV_Frame frame)
|
{
|
IMVDefine.IMV_PixelConvertParam convertParam = new IMVDefine.IMV_PixelConvertParam
|
{
|
nWidth = frame.frameInfo.width,
|
nHeight = frame.frameInfo.height,
|
ePixelFormat = frame.frameInfo.pixelFormat,
|
pSrcData = frame.pData,
|
nSrcDataLen = frame.frameInfo.size,
|
nPaddingX = frame.frameInfo.paddingX,
|
nPaddingY = frame.frameInfo.paddingY,
|
eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicBilinear,
|
eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelBGR8,
|
nDstBufSize = frame.frameInfo.width * frame.frameInfo.height * 3
|
};
|
|
IntPtr dstBuffer = Marshal.AllocHGlobal((int)convertParam.nDstBufSize);
|
convertParam.pDstBuf = dstBuffer;
|
|
try
|
{
|
int result = _camera.IMV_PixelConvert(ref convertParam);
|
if (result == IMVDefine.IMV_OK)
|
{
|
return CreateBgr8BitmapFromBuffer(dstBuffer, frame.frameInfo.width, frame.frameInfo.height);
|
}
|
return null;
|
}
|
finally
|
{
|
Marshal.FreeHGlobal(dstBuffer);
|
}
|
}
|
|
/// <summary>
|
/// 从缓冲区创建BGR8 Bitmap
|
/// </summary>
|
private Bitmap CreateBgr8BitmapFromBuffer(IntPtr buffer, uint width, uint height)
|
{
|
Bitmap bitmap = new Bitmap((int)width, (int)height, PixelFormat.Format24bppRgb);
|
|
BitmapData bmpData = bitmap.LockBits(
|
new Rectangle(0, 0, bitmap.Width, bitmap.Height),
|
ImageLockMode.WriteOnly,
|
bitmap.PixelFormat);
|
|
// 使用CopyMemory API进行安全的内存复制
|
CopyMemory(bmpData.Scan0, buffer, (uint)(width * height * 3));
|
|
bitmap.UnlockBits(bmpData);
|
return bitmap;
|
}
|
|
/// <summary>
|
/// 将触发源枚举转换为字符串
|
/// </summary>
|
private string GetTriggerSourceString(TriggerSource source)
|
{
|
return source switch
|
{
|
TriggerSource.Software => "Software",
|
TriggerSource.Line0 => "Line0",
|
TriggerSource.Line1 => "Line1",
|
TriggerSource.Line2 => "Line2",
|
TriggerSource.Line3 => "Line3",
|
TriggerSource.Line4 => "Line4",
|
TriggerSource.Line5 => "Line5",
|
_ => "Software"
|
};
|
}
|
|
/// <summary>
|
/// 将字符串转换为触发源枚举
|
/// </summary>
|
private TriggerSource GetTriggerSourceFromString(string source)
|
{
|
return source switch
|
{
|
"Software" => TriggerSource.Software,
|
"Line0" => TriggerSource.Line0,
|
"Line1" => TriggerSource.Line1,
|
"Line2" => TriggerSource.Line2,
|
"Line3" => TriggerSource.Line3,
|
"Line4" => TriggerSource.Line4,
|
"Line5" => TriggerSource.Line5,
|
_ => TriggerSource.Software
|
};
|
}
|
|
#endregion
|
|
#region 未实现的抽象方法（简化版实现）
|
|
public override bool SetTriggerPolarity(TriggerPolarity polarity)
|
{
|
// 华睿相机可能不支持该功能，返回成功
|
return true;
|
}
|
|
public override bool GetTriggerPolarity(out TriggerPolarity polarity)
|
{
|
polarity = TriggerPolarity.RisingEdge;
|
return true;
|
}
|
|
public override bool SetTriggerFliter(double flitertime)
|
{
|
// 暂不支持
|
return true;
|
}
|
|
public override bool GetTriggerFliter(out double flitertime)
|
{
|
flitertime = 0;
|
return true;
|
}
|
|
public override bool SetTriggerDelay(double delay)
|
{
|
// 暂不支持
|
return true;
|
}
|
|
public override bool GetTriggerDelay(out double delay)
|
{
|
delay = 0;
|
return true;
|
}
|
|
public override bool SetLineMode(IOLines line, LineMode mode)
|
{
|
// 暂不支持
|
return true;
|
}
|
|
public override bool SetLineStatus(IOLines line, LineStatus linestatus)
|
{
|
// 暂不支持
|
return true;
|
}
|
|
public override bool GetLineStatus(IOLines line, out LineStatus lineStatus)
|
{
|
lineStatus = LineStatus.Low;
|
return true;
|
}
|
|
public override bool AutoBalanceWhite()
|
{
|
// 暂不支持自动白平衡
|
return true;
|
}
|
|
#endregion
|
|
#region IDisposable实现
|
|
private bool _disposed = false;
|
|
protected virtual void Dispose(bool disposing)
|
{
|
if (!_disposed)
|
{
|
if (disposing)
|
{
|
// 释放托管资源
|
}
|
|
// 释放非托管资源
|
CloseDevice();
|
|
_disposed = true;
|
}
|
}
|
|
public override void Dispose()
|
{
|
Dispose(true);
|
GC.SuppressFinalize(this);
|
}
|
|
#endregion
|
}
|
}
|
