海康相机测试修改

patrick.xu

2022-07-28 45a1c9f2540754e7cea2b58cd736bc677b2d4fdc

海康相机测试修改

 LLMF/LLMF.csproj

@@ -29,7 +29,7 @@
    <ErrorReport>prompt</ErrorReport>
    <WarningLevel>4</WarningLevel>
    <PlatformTarget>AnyCPU</PlatformTarget>
    <Prefer32Bit>true</Prefer32Bit>
    <Prefer32Bit>false</Prefer32Bit>
  </PropertyGroup>
  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
    <DebugType>pdbonly</DebugType>
@@ -44,19 +44,11 @@
    <Reference Include="dog_net_windows">
      <HintPath>..\Lib\SuperDog\dog_net_windows.dll</HintPath>
    </Reference>
    <Reference Include="FlyCapture2Managed_v100, Version=2.8.3.1, Culture=neutral, PublicKeyToken=76c6583b4a4585f4, processorArchitecture=x86">
      <SpecificVersion>False</SpecificVersion>
      <HintPath>..\Lib\FlyCapture\FlyCapture2Managed_v100.dll</HintPath>
    </Reference>
    <Reference Include="halcondotnet">
      <HintPath>..\Lib\halcon\halcondotnet.dll</HintPath>
    </Reference>
    <Reference Include="hdevenginedotnet">
      <HintPath>..\Lib\halcon\hdevenginedotnet.dll</HintPath>
    </Reference>
    <Reference Include="Interop.OPCAutomation">
      <HintPath>..\Lib\Interop.OPCAutomation.dll</HintPath>
      <EmbedInteropTypes>True</EmbedInteropTypes>
    </Reference>
    <Reference Include="PresentationCore">
      <RequiredTargetFramework>3.0</RequiredTargetFramework>
@@ -181,6 +173,17 @@
      <Name>PointGreyAndHalcon</Name>
    </ProjectReference>
  </ItemGroup>
  <ItemGroup>
    <COMReference Include="OPCAutomation">
      <Guid>{28E68F91-8D75-11D1-8DC3-3C302A000000}</Guid>
      <VersionMajor>1</VersionMajor>
      <VersionMinor>0</VersionMinor>
      <Lcid>0</Lcid>
      <WrapperTool>tlbimp</WrapperTool>
      <Isolated>False</Isolated>
      <EmbedInteropTypes>True</EmbedInteropTypes>
    </COMReference>
  </ItemGroup>
  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
       Other similar extension points exist, see Microsoft.Common.targets.

 LLMF/Toolkit/ConfigStruct.cs

@@ -61,7 +61,7 @@

    public struct CamerasConfig
    {
        public uint[] SerialNumber;
        public string[] SerialNumber;
    }

    [Serializable]

 LLMF/frmMain.cs

@@ -57,6 +57,8 @@
        public frmMain()
        {
            InitializeComponent();

            //this.Load += frmMain_Load;
        }

        private void frmMain_Load(object sender, EventArgs e)
@@ -175,8 +177,8 @@
                config.opcConfig.groupProperty.updateRate = 300;
                config.title = "LLMF V1.1";
                config.cams = new CamerasConfig();
                config.cams.SerialNumber = new uint[1];
                config.cams.SerialNumber[0] = 11111111;
                config.cams.SerialNumber = new string[1];
                config.cams.SerialNumber[0] = "192.168.0.10";
                config.password = "1";
                config.minAngle = 119;
                config.maxAngle = 121;
@@ -2092,7 +2094,8 @@
            Log.WriteLog("initCam_Left Enter");

            cam_left = new PointGreyAndHalcon.PointGreyAndHalcon();
            isLeftCameraOpen = cam_left.OpenCamera(config.cams.SerialNumber[0]);
            string ipAddress = config?.cams.SerialNumber[0] ?? "";
            isLeftCameraOpen = cam_left.OpenCamera(ipAddress);
            cam_left.GrabImageDone += new GrabImageDoneDelegate(cam_left_GrabImageDone);

            Log.WriteLog("initCam_Left Leave");

 Lib/HikCamera/MvCameraControl.Net.dll

Binary files differ

 PointGreyAndHalcon/PointGreyAndHalcon/PointGreyAndHalcon.cs

@@ -6,7 +6,10 @@
using System.Drawing;
using System.Drawing.Imaging;
using HalconDotNet;
using FlyCapture2Managed;
using System.Net;
using MvCamCtrl.NET;
using System.Runtime.InteropServices;
//using FlyCapture2Managed;

namespace PointGreyAndHalcon
{
@@ -15,11 +18,7 @@
    public class PointGreyAndHalcon
    {
        #region 定义
        ManagedBusManager busMgr = new ManagedBusManager();
        //CameraInfo[] camInfos = ManagedBusManager.DiscoverGigECameras();
        int camNum;
        ManagedPGRGuid guid;
        ManagedGigECamera cam;

        public HImage image = new HImage();
        public event GrabImageDoneDelegate GrabImageDone;
@@ -27,57 +26,162 @@

        HImage tmpImage = new HImage();
        bool isCameraOpen = false;
        //bool isRightCameraOpen = false;

        static MyCamera.MV_CC_DEVICE_INFO_LIST m_pDeviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();
        readonly MyCamera device = new MyCamera();
        MyCamera.MV_CC_DEVICE_INFO stDevInfo = new MyCamera.MV_CC_DEVICE_INFO();
        int nRet = MyCamera.MV_OK;
        #endregion

        public PointGreyAndHalcon()
        {
            //camNum = camInfos.Length;
        }

        ///// <summary>
        ///// 打开相机
        ///// </summary>
        ///// <param name="index">编号</param>
        //public void OpenCamera(int index)
        //{
        //    try
        //    {
        //        guid = busMgr.GetCameraFromIndex((uint)index);
        //        cam = new ManagedGigECamera();
        //        cam.Connect(guid);
        //        cam.StartCapture();
        //        isCameraOpen = true;
        //    }
        //    catch (Exception ex)
        //    {
        //        MessageBox.Show("相机" + index.ToString() + "打开失败");

        //    }
        //}

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <param name="index">编号</param>
        public void OpenCamera(int index)
        /// <param name="serialnumber">IP地址</param>
        public bool OpenCamera(string ipAddress)
        {
            try
            {
                guid = busMgr.GetCameraFromIndex((uint)index);
                cam = new ManagedGigECamera();
                cam.Connect(guid);
                cam.StartCapture();
                isCameraOpen = true;
            }
            catch (Exception ex)
                //将IP地址转换为字节数组 
                uint intAddress = 0;
                if (!string.IsNullOrWhiteSpace(ipAddress))
            {
                MessageBox.Show("相机" + index.ToString() + "打开失败");

                    byte[] IPArr = IPAddress.Parse(ipAddress).GetAddressBytes();
                    for (int i = 0; i < IPArr.Length; i++)
                    {
                        intAddress += (uint)(IPArr[i] << (IPArr.Length - 1 - i) * 8);
            }
        }

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <param name="serialnumber">序列号</param>
        public bool OpenCamera(uint serialnumber)
                if (m_pDeviceList.pDeviceInfo == null)
        {
            try
                    int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref m_pDeviceList);
                    if (0 != nRet)
            {
                guid = busMgr.GetCameraFromSerialNumber(serialnumber);
                cam = new ManagedGigECamera();
                cam.Connect(guid);
                        throw new Exception($"Enumerate devices fail!");
                    }
                }

                cam.WriteRegister(0x610, 0x00000000);//控制相机上电
                System.Threading.Thread.Sleep(100);
                cam.WriteRegister(0x610, 0x80000000);//控制相机下电
                bool isCameraFound = false;
                for (int i = 0; i < m_pDeviceList.nDeviceNum; i++)
                {
                    MyCamera.MV_CC_DEVICE_INFO device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_pDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                    IntPtr buffer = IntPtr.Zero;

                cam.StartCapture();
                    buffer = Marshal.UnsafeAddrOfPinnedArrayElement(device.SpecialInfo.stGigEInfo, 0);
                    MyCamera.MV_GIGE_DEVICE_INFO stGigEDev = (MyCamera.MV_GIGE_DEVICE_INFO)Marshal.PtrToStructure(buffer, typeof(MyCamera.MV_GIGE_DEVICE_INFO));

                    if (stGigEDev.nCurrentIp == intAddress)
                    {
                        stDevInfo = device;
                        isCameraFound = true;
                    }
                    if (isCameraFound)
                        break;
                }

                if (!isCameraFound)
                {
                    throw new Exception($"相机{ipAddress}未能找到");
                }

                // ch:创建设备 | en: Create device
                nRet = device.MV_CC_CreateDevice_NET(ref stDevInfo);

                if (MyCamera.MV_OK != nRet)
                {
                    throw new Exception($"Create device failed:{nRet:x8}");
                }

                // ch:打开设备 | en:Open device
                nRet = device.MV_CC_OpenDevice_NET();
                if (MyCamera.MV_OK != nRet)
                {
                    throw new Exception($"Open device failed:{nRet:x8}");
                }

                // 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)
                int nPacketSize = device.MV_CC_GetOptimalPacketSize_NET();
                if (nPacketSize > 0)
                {
                    nRet = device.MV_CC_SetIntValue_NET("GevSCPSPacketSize", (uint)nPacketSize);
                    if (nRet != MyCamera.MV_OK)
                    {
                        Console.WriteLine("Warning: Set Packet Size failed {0:x8}", nRet);
                    }
                }
                else
                {
                    Console.WriteLine("Warning: Get Packet Size failed {0:x8}", nPacketSize);
                }

                //// ch:注册回调函数 | en:Register image callback
                //ImageCallback = new MyCamera.cbOutputExdelegate(ImageCallbackFunc);
                //nRet = device.MV_CC_RegisterImageCallBackEx_NET(ImageCallback, IntPtr.Zero);
                //if (MyCamera.MV_OK != nRet)
                //{
                //    throw new Exception("Register image callback failed!");
                //}

                // ch:设置采集连续模式 | en:Set Continues Aquisition Mode
                device.MV_CC_SetEnumValue_NET("AcquisitionMode", 2);// ch:工作在连续模式 | en:Acquisition On Continuous Mode

                // ch:设置触发模式为On || en:set trigger mode as on
                nRet = device.MV_CC_SetEnumValue_NET("TriggerMode", 1);
                if (MyCamera.MV_OK != nRet)
                {
                    throw new Exception("Set TriggerMode failed!");
                }

                //7 设置软件触发
                nRet = device.MV_CC_SetEnumValue_NET("TriggerSource", (uint)7);
                if (MyCamera.MV_OK != nRet)
                {
                    throw new Exception($"Set Software Trigger failed!");
                }

                ////设置取图缓存节点
                //device.MV_CC_SetImageNodeNum_NET((uint)IIConfig.ImageNodeNum);

                // ch:开启抓图 || en: start grab image
                nRet = device.MV_CC_StartGrabbing_NET();
                if (MyCamera.MV_OK != nRet)
                {
                    throw new Exception($"Start grabbing failed:{nRet:x8}");
                }

                //取消自动曝光
                device.MV_CC_SetEnumValue_NET("ExposureAuto", 0);

                return true;
            }
            catch (Exception ex)
            {
                MessageBox.Show("相机" + serialnumber.ToString() + "打开失败");
                MessageBox.Show($"相机{ipAddress}打开失败\r\n{ex.Message}");
                return false;
            }
        }
@@ -101,57 +205,76 @@
        //    }
        //}

        private void Test(ManagedImage image)
        {
            lock (GetMutexLock())
            {
                SerialNo = "";
                try
                {
                    //ManagedImage rawImage = new ManagedImage();
        //private void Test(ManagedImage image)
        //{
        //    lock (GetMutexLock())
        //    {
        //        SerialNo = "";
        //        try
        //        {
        //            //ManagedImage rawImage = new ManagedImage();

                    // Retrieve an image
                    //cam.RetrieveBuffer(rawImage);
        //            // Retrieve an image
        //            //cam.RetrieveBuffer(rawImage);

                    // Create a converted image
                    ManagedImage convertedImage = new ManagedImage();
        //            // Create a converted image
        //            ManagedImage convertedImage = new ManagedImage();

                    // Convert the raw image
                    image.Convert(FlyCapture2Managed.PixelFormat.PixelFormatMono8, convertedImage);
        //            // Convert the raw image
        //            image.Convert(FlyCapture2Managed.PixelFormat.PixelFormatMono8, convertedImage);

                    //converterImage to HImage
                    Bitmap tmpBmp = convertedImage.bitmap;
                    BitmapData tmpBitmapData = tmpBmp.LockBits(new Rectangle(0, 0, tmpBmp.Width, tmpBmp.Height), ImageLockMode.ReadOnly,
                        System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
        //            //converterImage to HImage
        //            Bitmap tmpBmp = convertedImage.bitmap;
        //            BitmapData tmpBitmapData = tmpBmp.LockBits(new Rectangle(0, 0, tmpBmp.Width, tmpBmp.Height), ImageLockMode.ReadOnly,
        //                System.Drawing.Imaging.PixelFormat.Format8bppIndexed);

                    tmpImage.GenImage1("byte", tmpBmp.Width, tmpBmp.Height, tmpBitmapData.Scan0);
        //            tmpImage.GenImage1("byte", tmpBmp.Width, tmpBmp.Height, tmpBitmapData.Scan0);

                    if (GrabImageDone != null)
                    {
                        GrabImageDone("GrabSuccess", tmpImage);
                    }
        //            if (GrabImageDone != null)
        //            {
        //                GrabImageDone("GrabSuccess", tmpImage);
        //            }

                    tmpBmp.UnlockBits(tmpBitmapData);
                    image.Dispose();
                    convertedImage.Dispose();
                    tmpBmp.Dispose();
                }
                catch (Exception ex)
                {
                    if (GrabImageDone != null)
                    {
                        GrabImageDone("GrabFail", tmpImage);
                    }
                }
            }
        }
        //            tmpBmp.UnlockBits(tmpBitmapData);
        //            image.Dispose();
        //            convertedImage.Dispose();
        //            tmpBmp.Dispose();
        //        }
        //        catch (Exception ex)
        //        {
        //            if (GrabImageDone != null)
        //            {
        //                GrabImageDone("GrabFail", tmpImage);
        //            }
        //        }
        //    }
        //}

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseCamera()
        {
            cam.StopCapture();
            // ch:停止抓图 | en:Stop grab image
            nRet = device.MV_CC_StopGrabbing_NET();
            if (MyCamera.MV_OK != nRet)
            {
                throw new Exception($"Stop grabbing failed{nRet:x8}");
            }

            // ch:关闭设备 | en:Close device
            nRet = device.MV_CC_CloseDevice_NET();
            if (MyCamera.MV_OK != nRet)
            {
                throw new Exception($"Close device failed{nRet:x8}");
            }

            // ch:销毁设备 | en:Destroy device
            nRet = device.MV_CC_DestroyDevice_NET();
            if (MyCamera.MV_OK != nRet)
            {
                throw new Exception($"Destroy device failed:{nRet:x8}");
            }
        }

        /// <summary>
@@ -164,23 +287,29 @@
                SerialNo = sn;
                try
                {
                    ManagedImage rawImage = new ManagedImage();
                    nRet = device.MV_CC_SetCommandValue_NET("TriggerSoftware");
                    if (MyCamera.MV_OK != nRet)
                    {
                        throw new Exception($"相机拍照触发失败:{nRet}");
                    }

                    // Retrieve an image
                    cam.RetrieveBuffer(rawImage);
                    MyCamera.MV_FRAME_OUT frameInfo = new MyCamera.MV_FRAME_OUT();
                    nRet = device.MV_CC_GetImageBuffer_NET(ref frameInfo, 1000);

                    // Create a converted image
                    ManagedImage convertedImage = new ManagedImage();
                    // ch:获取一帧图像 | en:Get one image
                    if (MyCamera.MV_OK == nRet)
                    {
                        int width = frameInfo.stFrameInfo.nWidth;
                        int height = frameInfo.stFrameInfo.nHeight;
                        if (frameInfo.pBufAddr != IntPtr.Zero)
                        {
                            HImage temp = new HImage();
                            temp.GenImage1("byte", width, height, frameInfo.pBufAddr);

                    // Convert the raw image
                    rawImage.Convert(FlyCapture2Managed.PixelFormat.PixelFormatMono8, convertedImage);
                            tmpImage.Dispose();
                            tmpImage = null;

                    //converterImage to HImage
                    Bitmap tmpBmp = convertedImage.bitmap;
                    BitmapData tmpBitmapData = tmpBmp.LockBits(new Rectangle(0, 0, tmpBmp.Width, tmpBmp.Height), ImageLockMode.ReadOnly,
                        System.Drawing.Imaging.PixelFormat.Format8bppIndexed);

                    tmpImage.GenImage1("byte", tmpBmp.Width, tmpBmp.Height, tmpBitmapData.Scan0);
                            tmpImage = temp.CopyImage();
                    image.Dispose();
                    image = tmpImage.CopyImage();
                    if (GrabImageDone != null)
@@ -188,10 +317,13 @@
                        GrabImageDone("GrabSuccess", tmpImage);
                    }

                    tmpBmp.UnlockBits(tmpBitmapData);
                    rawImage.Dispose();
                    convertedImage.Dispose();
                    tmpBmp.Dispose();
                            nRet = device.MV_CC_FreeImageBuffer_NET(ref frameInfo);
                            if (nRet != MyCamera.MV_OK)
                            {
                                Console.WriteLine("Free Image Buffer fail:{0:x8}", nRet);
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
@@ -203,100 +335,100 @@
            }
        }

        /// <summary>
        /// 采彩色图
        /// </summary>
        public void GrabColorImage(string sn)
        {
            SerialNo = sn;
            try
            {
                ManagedImage rawImage = new ManagedImage();
        ///// <summary>
        ///// 采彩色图
        ///// </summary>
        //public void GrabColorImage(string sn)
        //{
        //    SerialNo = sn;
        //    try
        //    {
        //        ManagedImage rawImage = new ManagedImage();

                // Retrieve an image
                cam.RetrieveBuffer(rawImage);
        //        // Retrieve an image
        //        cam.RetrieveBuffer(rawImage);

                // Create a converted image
                ManagedImage convertedImage = new ManagedImage();
        //        // Create a converted image
        //        ManagedImage convertedImage = new ManagedImage();

                // Convert the raw image
                rawImage.Convert(FlyCapture2Managed.PixelFormat.PixelFormatBgr, convertedImage);
        //        // Convert the raw image
        //        rawImage.Convert(FlyCapture2Managed.PixelFormat.PixelFormatBgr, convertedImage);

                //converterImage to HImage
                Bitmap tmpBmp = convertedImage.bitmap;
                Rectangle rect = new Rectangle(0, 0, tmpBmp.Width, tmpBmp.Height);
                BitmapData tmpBitmapData = tmpBmp.LockBits(rect, ImageLockMode.ReadOnly,
                    System.Drawing.Imaging.PixelFormat.Format24bppRgb);
        //        //converterImage to HImage
        //        Bitmap tmpBmp = convertedImage.bitmap;
        //        Rectangle rect = new Rectangle(0, 0, tmpBmp.Width, tmpBmp.Height);
        //        BitmapData tmpBitmapData = tmpBmp.LockBits(rect, ImageLockMode.ReadOnly,
        //            System.Drawing.Imaging.PixelFormat.Format24bppRgb);

                #region 将RGB分离开来
                //创建新的彩色的bitmap
                Bitmap redBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
                Bitmap greenBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
                Bitmap blueBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
                //创建新的彩色的数据容器
                BitmapData redBmData = redBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
                BitmapData greenBmData = greenBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
                BitmapData blueBmData = blueBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
                //将Bitmap对象的信息存放到byte数组中
                int tmp_bytes = tmpBitmapData.Stride * tmpBmp.Height;
                int red_bytes = redBmData.Stride * tmpBmp.Height;
                int green_bytes = greenBmData.Stride * tmpBmp.Height;
                int blue_bytes = blueBmData.Stride * tmpBmp.Height;
                byte[] tmpValues = new byte[tmp_bytes];
                byte[] redValues = new byte[red_bytes];
                byte[] greenValues = new byte[green_bytes];
                byte[] blueValues = new byte[blue_bytes];
                //复制GRB信息到byte数组
                System.Runtime.InteropServices.Marshal.Copy(tmpBitmapData.Scan0, tmpValues, 0, tmp_bytes);
                System.Runtime.InteropServices.Marshal.Copy(redBmData.Scan0, redValues, 0, red_bytes);
                System.Runtime.InteropServices.Marshal.Copy(greenBmData.Scan0, greenValues, 0, green_bytes);
                System.Runtime.InteropServices.Marshal.Copy(blueBmData.Scan0, blueValues, 0, blue_bytes);
        //        #region 将RGB分离开来
        //        //创建新的彩色的bitmap
        //        Bitmap redBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
        //        Bitmap greenBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
        //        Bitmap blueBitmap = new Bitmap(tmpBmp.Width, tmpBmp.Height);
        //        //创建新的彩色的数据容器
        //        BitmapData redBmData = redBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
        //        BitmapData greenBmData = greenBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
        //        BitmapData blueBmData = blueBitmap.LockBits(rect, ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
        //        //将Bitmap对象的信息存放到byte数组中
        //        int tmp_bytes = tmpBitmapData.Stride * tmpBmp.Height;
        //        int red_bytes = redBmData.Stride * tmpBmp.Height;
        //        int green_bytes = greenBmData.Stride * tmpBmp.Height;
        //        int blue_bytes = blueBmData.Stride * tmpBmp.Height;
        //        byte[] tmpValues = new byte[tmp_bytes];
        //        byte[] redValues = new byte[red_bytes];
        //        byte[] greenValues = new byte[green_bytes];
        //        byte[] blueValues = new byte[blue_bytes];
        //        //复制GRB信息到byte数组
        //        System.Runtime.InteropServices.Marshal.Copy(tmpBitmapData.Scan0, tmpValues, 0, tmp_bytes);
        //        System.Runtime.InteropServices.Marshal.Copy(redBmData.Scan0, redValues, 0, red_bytes);
        //        System.Runtime.InteropServices.Marshal.Copy(greenBmData.Scan0, greenValues, 0, green_bytes);
        //        System.Runtime.InteropServices.Marshal.Copy(blueBmData.Scan0, blueValues, 0, blue_bytes);

                //将彩色信息分别存储到RGB数组中
                for (int i = 0; i < tmpBmp.Height; i++)
                {
                    for (int j = 0; j < tmpBmp.Width; j++)
                    {
                        int k = 3 * j;
                        redValues[i * redBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k + 2];
                        greenValues[i * blueBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k + 1];
                        blueValues[i * greenBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k];
                    }
                }
        //        //将彩色信息分别存储到RGB数组中
        //        for (int i = 0; i < tmpBmp.Height; i++)
        //        {
        //            for (int j = 0; j < tmpBmp.Width; j++)
        //            {
        //                int k = 3 * j;
        //                redValues[i * redBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k + 2];
        //                greenValues[i * blueBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k + 1];
        //                blueValues[i * greenBmData.Stride + j] = tmpValues[i * tmpBitmapData.Stride + k];
        //            }
        //        }

                //再将数组信息复制到RGB
                System.Runtime.InteropServices.Marshal.Copy(redValues, 0, redBmData.Scan0, red_bytes);
                System.Runtime.InteropServices.Marshal.Copy(greenValues, 0, greenBmData.Scan0, green_bytes);
                System.Runtime.InteropServices.Marshal.Copy(blueValues, 0, blueBmData.Scan0, blue_bytes);
        //        //再将数组信息复制到RGB
        //        System.Runtime.InteropServices.Marshal.Copy(redValues, 0, redBmData.Scan0, red_bytes);
        //        System.Runtime.InteropServices.Marshal.Copy(greenValues, 0, greenBmData.Scan0, green_bytes);
        //        System.Runtime.InteropServices.Marshal.Copy(blueValues, 0, blueBmData.Scan0, blue_bytes);

                #endregion
        //        #endregion

                tmpImage.GenImage3("byte", tmpBmp.Width, tmpBmp.Height, redBmData.Scan0, greenBmData.Scan0, blueBmData.Scan0);
        //        tmpImage.GenImage3("byte", tmpBmp.Width, tmpBmp.Height, redBmData.Scan0, greenBmData.Scan0, blueBmData.Scan0);

                if (GrabImageDone != null)
                {
                    GrabImageDone("GrabSuccess", tmpImage);
                }
        //        if (GrabImageDone != null)
        //        {
        //            GrabImageDone("GrabSuccess", tmpImage);
        //        }

                tmpBmp.UnlockBits(tmpBitmapData);
                redBitmap.UnlockBits(redBmData);
                greenBitmap.UnlockBits(greenBmData);
                blueBitmap.UnlockBits(blueBmData);
                rawImage.Dispose();
                convertedImage.Dispose();
                tmpBmp.Dispose();
                redBitmap.Dispose();
                greenBitmap.Dispose();
                blueBitmap.Dispose();
            }
            catch (Exception ex)
            {
                if (GrabImageDone != null)
                {
                    GrabImageDone("GrabFail", tmpImage);
                }
            }
        }
        //        tmpBmp.UnlockBits(tmpBitmapData);
        //        redBitmap.UnlockBits(redBmData);
        //        greenBitmap.UnlockBits(greenBmData);
        //        blueBitmap.UnlockBits(blueBmData);
        //        rawImage.Dispose();
        //        convertedImage.Dispose();
        //        tmpBmp.Dispose();
        //        redBitmap.Dispose();
        //        greenBitmap.Dispose();
        //        blueBitmap.Dispose();
        //    }
        //    catch (Exception ex)
        //    {
        //        if (GrabImageDone != null)
        //        {
        //            GrabImageDone("GrabFail", tmpImage);
        //        }
        //    }
        //}

        /// <summary>
        /// 将图片显示到图相框中
@@ -326,10 +458,12 @@

        public void SetExposure(float exposure)
        {
            CameraProperty cp = cam.GetProperty(PropertyType.Shutter);
            cp.absValue = exposure;
            cp.autoManualMode = false;
            cam.SetProperty(cp);
            device.MV_CC_SetEnumValue_NET("ExposureAuto", 0);
            nRet = device.MV_CC_SetFloatValue_NET("ExposureTime", exposure);
            if (nRet != MyCamera.MV_OK)
            {
                throw new Exception($"Exposure set failed:{nRet}");
            }
        }

        private static System.Threading.Mutex _mutex;

 PointGreyAndHalcon/PointGreyAndHalcon/PointGreyAndHalcon.csproj

@@ -39,14 +39,13 @@
    <Prefer32Bit>false</Prefer32Bit>
  </PropertyGroup>
  <ItemGroup>
    <Reference Include="FlyCapture2Managed_v100, Version=2.8.3.1, Culture=neutral, PublicKeyToken=76c6583b4a4585f4, processorArchitecture=x86">
      <SpecificVersion>False</SpecificVersion>
      <HintPath>..\..\Lib\FlyCapture\FlyCapture2Managed_v100.dll</HintPath>
    </Reference>
    <Reference Include="halcondotnet, Version=11.0.1.0, Culture=neutral, PublicKeyToken=4973bed59ddbf2b8, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
      <HintPath>..\..\Lib\halcon\halcondotnet.dll</HintPath>
    </Reference>
    <Reference Include="MvCameraControl.Net">
      <HintPath>..\..\Lib\HikCamera\MvCameraControl.Net.dll</HintPath>
    </Reference>
    <Reference Include="System" />
    <Reference Include="System.Core">
      <RequiredTargetFramework>3.5</RequiredTargetFramework>

 README.md

@@ -5,3 +5,9 @@

灰点相机驱动和halcon都安装32bit系统


20220728
相机驱动更换为Hik相机
因为kepware原因，所有系统只能使用32位dll。
halcon安装32位环境
hik的dll注意使用win32的