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xhm\HP
2025-03-07 09:06:46 +08:00
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106
DH.Do3Think/CameraBase.cs Normal file
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using System.ComponentModel;
using System.Drawing.Imaging;
using DVPCameraType;
using OpenCvSharp;
namespace DH.Devices.Camera
{
public class CameraBase
{
public volatile int SnapshotCount = 0;
[Category("采图模式")]
[Description("是否连续模式。true：连续模式采图；false：触发模式采图")]
[DisplayName("连续模式")]
public bool IsContinueMode { get; set; } = false;
[Category("采图模式")]
[Description("是否硬触发模式。true：硬触发；false：软触发")]
[DisplayName("硬触发")]
public bool IsHardwareTrigger { get; set; } = false;
public string SerialNumber { get; set; } = string.Empty;
public string CameraName { get; set; } = string.Empty;
public dvpStreamFormat dvpStreamFormat = dvpStreamFormat.S_RGB24;
[Category("采图模式")]
[Description("是否传感器直接硬触发。true：传感器硬触发，不通过软件触发；false：通过软件触发IO 的硬触发模式")]
[DisplayName("是否传感器直接硬触发")]
public bool IsDirectHardwareTrigger { get; set; } = false;
/// <summary>
/// 增益
/// </summary>
[Category("相机设置")]
[DisplayName("增益")]
[Description("Gain：增益,-1:不设置，不同型号相机的增益，请参考mvs")]
public float Gain { get; set; } = -1;
[Category("图像旋转")]
[Description("默认旋转，相机开启后默认不旋转")]
[DisplayName("默认旋转")]
public virtual float RotateImage { get; set; } = 0;
[Category("相机设置")]
[DisplayName("硬触发后的延迟")]
[Description("TriggerDelay:硬触发后的延迟,单位：us 微秒")]
public float TriggerDelay { get; set; } = 0;
/// <summary>
/// 滤波时间
/// </summary>
[Category("相机设置")]
[DisplayName("滤波时间")]
[Description("LineDebouncerTime：I/O去抖时间 单位：us")]
public int LineDebouncerTime { get; set; } = 0;
public Action<DateTime, CameraBase, Mat> OnHImageOutput { get; set; }
/// <summary>
/// 相机连接
/// </summary>
/// <returns>是否成功</returns>
public virtual bool CameraConnect() { return false; }
/// <summary>
/// 相机断开
/// </summary>
/// <returns>是否成功</returns>
public virtual bool CameraDisConnect() { return false; }
/// <summary>
/// 抓取一张图像
/// </summary>
/// <returns>图像</returns>
//internal virtual HObject GrabOneImage(string cameraName) { return null; }
/// <summary>
/// 设置曝光时间
/// </summary>
/// <param name="exposureTime">曝光时间</param>
public virtual void SetExposure(int exposureTime, string cameraName) { }
/// <summary>
/// 设置增益
/// </summary>
/// <param name="exposure">增益</param>
public virtual void SetGain(int gain, string cameraName) { }
/// <summary>
/// 设置采集模式
/// </summary>
/// <param name="mode">0=连续采集，即异步采集 1=单次采集，即同步采集</param>
internal virtual void SetAcquisitionMode(int mode) { }
/// <summary>
/// 设置采集图像的ROI
/// </summary>
internal virtual void SetAcqRegion(int offsetV, int offsetH, int imageH, int imageW, string cameraName) { }
}
}

26
DH.Do3Think/DH.Devices.Camera.csproj Normal file
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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>net8.0-windows</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
<BaseOutputPath>..\</BaseOutputPath>
<AppendTargetFrameworkToOutputPath>output</AppendTargetFrameworkToOutputPath>
<UseWindowsForms>true</UseWindowsForms>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
<Platforms>AnyCPU;x64</Platforms>
</PropertyGroup>
<ItemGroup>
<PackageReference Include="OpenCvSharp4" Version="4.10.0.20241108" />
<PackageReference Include="OpenCvSharp4.runtime.win" Version="4.10.0.20241108" />
<PackageReference Include="System.Drawing.Common" Version="9.0.2" />
</ItemGroup>
<ItemGroup>
<Reference Include="DVPCameraCS64">
<HintPath>..\..\pudemo\DHControlVision\libs\DVPCameraCS_Net6.0\x64\DVPCameraCS64.dll</HintPath>
</Reference>
</ItemGroup>
</Project>

398
DH.Do3Think/Do3ThinkCamera.cs Normal file
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using System.Diagnostics;
using System.Reflection.Metadata;
using System.Xml.Linq;
using DVPCameraType;
using OpenCvSharp;
using static System.Net.Mime.MediaTypeNames;
namespace DH.Devices.Camera
{
public class Do3ThinkCamera : CameraBase
{
private dvpCameraInfo stDevInfo = new dvpCameraInfo();
private dvpStatus nRet = dvpStatus.DVP_STATUS_OK;
private DVPCamera.dvpEventCallback pCallBackFunc;
private uint m_handle;
public int m_n_dev_count = 0;
private DVPCamera.dvpStreamCallback ImageCallback;
public int m_CamCount = 0;
public Double m_dfDisplayCount = 0;
public Do3ThinkCamera()
{
}
public bool IsValidHandle(uint handle)
{
bool bValidHandle = false;
dvpStatus status = DVPCamera.dvpIsValid(handle, ref bValidHandle);
if (status == dvpStatus.DVP_STATUS_OK)
{
return bValidHandle;
}
return false;
}
public override bool CameraConnect()
{
try
{
nRet = DVPCamera.dvpOpenByUserId(CameraName,
dvpOpenMode.OPEN_NORMAL,
ref m_handle);
// ch:打开设备 | en:Open device
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception($"Create device failed:{nRet:x8}");
}
nRet = DVPCamera.dvpSetTargetFormat(m_handle, dvpStreamFormat);
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception($"Set image format failed:{nRet:x8}");
}
dvpCameraInfo camerainfo = new dvpCameraInfo();
nRet = DVPCamera.dvpGetCameraInfo(m_handle, ref camerainfo);
SerialNumber= camerainfo.SerialNumber;
// ch:注册异常回调函数 | en:Register Exception Callback
//nRet = DVPCamera.dvpRegisterEventCallback(m_handle, pCallBackFunc, dvpEvent.EVENT_DISCONNECTED, IntPtr.Zero);
//if (nRet != dvpStatus.DVP_STATUS_OK)
//{
// throw new Exception($"Register expection callback failed:{nRet}");
//}
//GC.KeepAlive(pCallBackFunc);
//// ch:设置采集连续模式 | en:Set Continues Aquisition Mode
//if (IIConfig.IsContinueMode)
//{
// // ch:设置触发模式为off || en:set trigger mode as off
// nRet = DVPCamera.dvpSetTriggerState(m_handle, false);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception("Set TriggerMode failed!");
// }
//}
//else
//{
// ch:设置触发模式为on || en:set trigger mode as on
nRet = DVPCamera.dvpSetTriggerState(m_handle, true);
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception("Set TriggerMode failed!");
}
// 硬触发
//if (IIConfig.IsHardwareTrigger)
//{
// ch:触发源选择:1 - Line1; | en:Trigger source select:1 - Line1;
nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_LINE1);
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception("Set Line1 Trigger failed!");
}
// ch:注册回调函数 | en:Register image callback
ImageCallback = new DVPCamera.dvpStreamCallback(ImageCallbackFunc);
nRet = DVPCamera.dvpRegisterStreamCallback(m_handle, ImageCallback, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception("Register image callback failed!");
}
//}
//else // 软触发
//{
// nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_SOFTWARE);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception("Set Software Trigger failed!");
// }
//}
// ch:开启抓图 || en: start grab image
nRet = DVPCamera.dvpStart(m_handle);
if (dvpStatus.DVP_STATUS_OK != nRet)
{
throw new Exception($"Start grabbing failed:{nRet:x8}");
}
//// 曝光
//if (IIConfig.DefaultExposure != 0)
//{
// SetExposure(IIConfig.DefaultExposure);
//}
//// 增益
//if (IIConfig.Gain >= 0)
//{
// SetGain(IIConfig.Gain);
//}
//SetPictureRoi(IIConfig.VelocityPara.A_Pic_X, IIConfig.VelocityPara.A_Pic_Y, IIConfig.VelocityPara.Width, IIConfig.VelocityPara.Hight);
//// 设置 触发延迟
//if (IIConfig.TriggerDelay > 0)
//{
// nRet = DVPCamera.dvpSetTriggerDelay(m_handle, IIConfig.TriggerDelay);
// if (nRet != dvpStatus.DVP_STATUS_OK)
// {
// throw new Exception("Set TriggerDelay failed!");
// }
//}
//// 信号消抖
//if (IIConfig.LineDebouncerTime > 0)
//{
// nRet = DVPCamera.dvpSetTriggerJitterFilter(m_handle, IIConfig.LineDebouncerTime);
// if (nRet != dvpStatus.DVP_STATUS_OK)
// {
// throw new Exception($"LineDebouncerTime set failed:{nRet}");
// }
//}
//IIConfig.PropertyChanged -= IIConfig_PropertyChanged;
//IIConfig.PropertyChanged += IIConfig_PropertyChanged;
return true;
}
catch
{
return false;
}
}
private void IIConfig_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
{
//if (e.PropertyName == "IsHardwareTrigger" && !IIConfig.IsContinueMode)
//{
// // ch:停止抓图 | en:Stop grab image
// nRet = DVPCamera.dvpStop(m_handle);
// if (nRet != dvpStatus.DVP_STATUS_OK)
// {
// throw new Exception($"Stop grabbing failed{nRet:x8}");
// }
// // 硬触发
// if (IIConfig.IsHardwareTrigger)
// {
// // ch:触发源选择:1 - Line1; | en:Trigger source select:1 - Line1;
// nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_LINE1);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception("Set Line1 Trigger failed!");
// }
// // ch:注册回调函数 | en:Register image callback
// ImageCallback = new DVPCamera.dvpStreamCallback(ImageCallbackFunc);
// nRet = DVPCamera.dvpRegisterStreamCallback(m_handle, ImageCallback, dvpStreamEvent.STREAM_EVENT_PROCESSED, IntPtr.Zero);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception("Register image callback failed!");
// }
// }
// else // 软触发
// {
// nRet = DVPCamera.dvpSetTriggerSource(m_handle, dvpTriggerSource.TRIGGER_SOURCE_SOFTWARE);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception("Set Software Trigger failed!");
// }
// }
// // ch:开启抓图 || en: start grab image
// nRet = DVPCamera.dvpStart(m_handle);
// if (dvpStatus.DVP_STATUS_OK != nRet)
// {
// throw new Exception($"Start grabbing failed:{nRet:x8}");
// }
// // 曝光
// if (IIConfig.DefaultExposure != 0)
// {
// SetExposure(IIConfig.DefaultExposure);
// }
// // 增益
// if (IIConfig.Gain >= 0)
// {
// SetGain(IIConfig.Gain);
// }
// // 设置 触发延迟
// if (IIConfig.TriggerDelay > 0)
// {
// nRet = DVPCamera.dvpSetTriggerDelay(m_handle, IIConfig.TriggerDelay);
// if (nRet != dvpStatus.DVP_STATUS_OK)
// {
// throw new Exception("Set TriggerDelay failed!");
// }
// }
// // 信号消抖
// if (IIConfig.LineDebouncerTime > 0)
// {
// nRet = DVPCamera.dvpSetTriggerJitterFilter(m_handle, IIConfig.LineDebouncerTime);
// if (nRet != dvpStatus.DVP_STATUS_OK)
// {
// throw new Exception($"LineDebouncerTime set failed:{nRet}");
// }
// }
//}
}
/// <summary>
/// 设置曝光值
/// </summary>
/// <param name="exposure">曝光值</param>
/// <exception cref="Exception"></exception>
private void SetExposure(double exposure)
{
// 关闭自动曝光
nRet = DVPCamera.dvpSetAeOperation(m_handle, dvpAeOperation.AE_OP_OFF);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Exposure set failed:{nRet}");
}
// 设置曝光值
nRet = DVPCamera.dvpSetExposure(m_handle, exposure);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Exposure set failed:{nRet}");
}
}
/// <summary>
/// 设置增益
/// </summary>
/// <param name="gain"></param>
/// <exception cref="Exception"></exception>
private void SetGain(float gain)
{
// 设置增益
nRet = DVPCamera.dvpSetAnalogGain(m_handle, gain);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Gain set failed:{nRet}");
}
}
private void SetPictureRoi(int x, int y, int W, int H)
{
dvpRegion dvpR = new dvpRegion();
dvpR.X = x;
dvpR.Y = y;
dvpR.W = W;
dvpR.H = H;
// 设置增益
nRet = DVPCamera.dvpSetRoi(m_handle, dvpR);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"SetRoi set failed:{nRet}");
}
}
public int ImageCallbackFunc(uint handle, dvpStreamEvent _event, IntPtr pContext, ref dvpFrame refFrame, IntPtr pBuffer)
{
try
{
Interlocked.Increment(ref SnapshotCount);
int nWidth = refFrame.iWidth;
int nHeight = refFrame.iHeight;
Mat cvImage = new Mat();
// 根据图像格式创建Mat
switch (refFrame.format)
{
case dvpImageFormat.FORMAT_RGB24:
cvImage = Mat.FromPixelData(nHeight, nWidth, MatType.CV_8UC3, pBuffer);
Cv2.CvtColor(cvImage, cvImage, ColorConversionCodes.RGB2BGR);
break;
case dvpImageFormat.FORMAT_BGR24:
cvImage = Mat.FromPixelData(nHeight, nWidth, MatType.CV_8UC3, pBuffer);
break;
case dvpImageFormat.FORMAT_MONO:
cvImage = Mat.FromPixelData(nHeight, nWidth, MatType.CV_8UC1, pBuffer);
break;
default:
throw new NotSupportedException($"Unsupported format: {refFrame.format}");
}
OnHImageOutput?.Invoke(DateTime.Now, this, cvImage);
}
catch (Exception ex)
{
}
return 0;
}
public override bool CameraDisConnect()
{
try
{
dvpStreamState StreamState = new dvpStreamState();
nRet = DVPCamera.dvpGetStreamState(m_handle, ref StreamState);
Debug.Assert(nRet == dvpStatus.DVP_STATUS_OK);
if (StreamState == dvpStreamState.STATE_STARTED)
{
// stop camera
nRet = DVPCamera.dvpStop(m_handle);
Debug.Assert(nRet == dvpStatus.DVP_STATUS_OK);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Stop grabbing failed{nRet:x8}");
}
}
nRet = DVPCamera.dvpUnregisterEventCallback(m_handle, pCallBackFunc, dvpEvent.EVENT_DISCONNECTED, IntPtr.Zero);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Unregister expection callback failed:{nRet}");
}
// ch:关闭设备 | en:Close device
nRet = DVPCamera.dvpClose(m_handle);
if (nRet != dvpStatus.DVP_STATUS_OK)
{
throw new Exception($"Close device failed{nRet:x8}");
}
m_handle = 0;
return true;
}
catch
{
return false;
}
}
}
}