static void Main(string[] args) { int nRet = MyCamera.MV_OK; MyCamera device = new MyCamera(); do { // ch:枚举设备 | en:Enum device MyCamera.MV_CC_DEVICE_INFO_LIST stDevList = new MyCamera.MV_CC_DEVICE_INFO_LIST(); nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref stDevList); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Enum device failed:{0:x8}", nRet); break; } Console.WriteLine("Enum device count : " + Convert.ToString(stDevList.nDeviceNum)); if (0 == stDevList.nDeviceNum) { break; } MyCamera.MV_CC_DEVICE_INFO stDevInfo; // 通用设备信息 // ch:打印设备信息 en:Print device info for (Int32 i = 0; i < stDevList.nDeviceNum; i++) { stDevInfo = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDevList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO)); if (MyCamera.MV_GIGE_DEVICE == stDevInfo.nTLayerType) { MyCamera.MV_GIGE_DEVICE_INFO stGigEDeviceInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(stDevInfo.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_GIGE_DEVICE_INFO)); uint nIp1 = ((stGigEDeviceInfo.nCurrentIp & 0xff000000) >> 24); uint nIp2 = ((stGigEDeviceInfo.nCurrentIp & 0x00ff0000) >> 16); uint nIp3 = ((stGigEDeviceInfo.nCurrentIp & 0x0000ff00) >> 8); uint nIp4 = (stGigEDeviceInfo.nCurrentIp & 0x000000ff); Console.WriteLine("\n" + i.ToString() + ": [GigE] User Define Name : " + stGigEDeviceInfo.chUserDefinedName); Console.WriteLine("device IP :" + nIp1 + "." + nIp2 + "." + nIp3 + "." + nIp4); } else if (MyCamera.MV_USB_DEVICE == stDevInfo.nTLayerType) { MyCamera.MV_USB3_DEVICE_INFO stUsb3DeviceInfo = (MyCamera.MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(stDevInfo.SpecialInfo.stUsb3VInfo, typeof(MyCamera.MV_USB3_DEVICE_INFO)); Console.WriteLine("\n" + i.ToString() + ": [U3V] User Define Name : " + stUsb3DeviceInfo.chUserDefinedName); Console.WriteLine("\n Serial Number : " + stUsb3DeviceInfo.chSerialNumber); Console.WriteLine("\n Device Number : " + stUsb3DeviceInfo.nDeviceNumber); } } Int32 nDevIndex = 0; Console.Write("\nPlease input index (0 -- {0:d}) : ", stDevList.nDeviceNum - 1); try { nDevIndex = Convert.ToInt32(Console.ReadLine()); } catch { Console.Write("Invalid Input!\n"); break; } if (nDevIndex > stDevList.nDeviceNum - 1 || nDevIndex < 0) { Console.Write("Input Error!\n"); break; } stDevInfo = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDevList.pDeviceInfo[nDevIndex], typeof(MyCamera.MV_CC_DEVICE_INFO)); // ch:创建设备 | en:Create device nRet = device.MV_CC_CreateDevice_NET(ref stDevInfo); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Create device failed:{0:x8}", nRet); break; } // ch:打开设备 | en:Open device nRet = device.MV_CC_OpenDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Open device failed:{0:x8}", nRet); break; } // ch:判断设备是否是设置的3D格式 | en:Judge Whether the device is set to 3D format MyCamera.MVCC_ENUMVALUE EnumValue = new MyCamera.MVCC_ENUMVALUE(); nRet = device.MV_CC_GetEnumValue_NET("PixelFormat", ref EnumValue); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Get the Camera format fail:{0:x8}", nRet); break; } MyCamera.MvGvspPixelType ePixelFormat = (MyCamera.MvGvspPixelType)EnumValue.nCurValue; switch (ePixelFormat) { case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_ABC32: case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_ABC32f: case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AB32: case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AB32f: case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AC32: case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AC32f: { nRet = MyCamera.MV_OK; break; } default: { nRet = MyCamera.MV_E_SUPPORT; break; } } if (MyCamera.MV_OK != nRet) { Console.WriteLine("This is not a supported 3D format!"); break; } // 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 (stDevInfo.nTLayerType == MyCamera.MV_GIGE_DEVICE) { int nPacketSize = device.MV_CC_GetOptimalPacketSize_NET(); if (nPacketSize > 0) { nRet = device.MV_CC_SetIntValue_NET("GevSCPSPacketSize", Convert.ToUInt32(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:获取触发模式的访问模式 | en:Get Access mode of trigger mode MyCamera.MV_XML_AccessMode pAccessMode = MyCamera.MV_XML_AccessMode.AM_NI; if (MyCamera.MV_OK != device.MV_XML_GetNodeAccessMode_NET("TriggerMode", ref pAccessMode)) { Console.WriteLine("Get Access mode of trigger mode fail! nRet [0x%x]\n", nRet); } else { // ch:设置触发模式为off || en:set trigger mode as off if (MyCamera.MV_OK != device.MV_CC_SetEnumValue_NET("TriggerMode", 0)) { Console.WriteLine("Set TriggerMode failed!"); break; } } // ch:获取包大小 || en: Get Payload Size MyCamera.MVCC_INTVALUE stParam = new MyCamera.MVCC_INTVALUE(); nRet = device.MV_CC_GetIntValue_NET("PayloadSize", ref stParam); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Get PayloadSize failed:{0:x8}", nRet); break; } UInt32 nPayloadSize = stParam.nCurValue; // ch:开启抓图 | en:start grab nRet = device.MV_CC_StartGrabbing_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Start grabbing failed:{0:x8}", nRet); break; } uint nImageNum = 100; byte[] bSaveImageBuf = null; try { // ch:申请足够大的缓存,用于保存获取到的图像 bSaveImageBuf = new byte[nPayloadSize * nImageNum]; } catch (Exception ex) { Console.WriteLine("Malloc Save buffer fail!\n"); break; } uint nSaveImageSize = nPayloadSize * nImageNum; // ch:已获取的总图片大小 uint nSaveDataLen = 0; MyCamera.MV_FRAME_OUT stOutFrame = new MyCamera.MV_FRAME_OUT(); for (uint i = 0; i < nImageNum; i++) { nRet = device.MV_CC_GetImageBuffer_NET(ref stOutFrame, 1000); if (nRet == MyCamera.MV_OK) { Console.WriteLine("Get One Frame:" + "Width[" + Convert.ToString(stOutFrame.stFrameInfo.nWidth) + "] , Height[" + Convert.ToString(stOutFrame.stFrameInfo.nHeight) + "] , FrameNum[" + Convert.ToString(stOutFrame.stFrameInfo.nFrameNum) + "]"); if (nSaveImageSize > (nSaveDataLen + stOutFrame.stFrameInfo.nFrameLen)) { // ch:将图像拷贝到pSaveImageBuf | Copy one frame of image to the buffer named pSaveImageBuf Marshal.Copy(stOutFrame.pBufAddr, bSaveImageBuf, Convert.ToInt32(nSaveDataLen), Convert.ToInt32(stOutFrame.stFrameInfo.nFrameLen)); nSaveDataLen += stOutFrame.stFrameInfo.nFrameLen; } nRet = device.MV_CC_FreeImageBuffer_NET(ref stOutFrame); if (nRet != MyCamera.MV_OK) { Console.WriteLine("Free Image Buffer fail:{0:x8}", nRet); } } else { Console.WriteLine("No data:{0:x8}", nRet); } } MyCamera.MV_SAVE_POINT_CLOUD_PARAM stSavePoCloudPar = new MyCamera.MV_SAVE_POINT_CLOUD_PARAM(); stSavePoCloudPar.nLinePntNum = stOutFrame.stFrameInfo.nWidth; stSavePoCloudPar.nLineNum = stOutFrame.stFrameInfo.nHeight * nImageNum; byte[] bDstImageBuf = new byte[stSavePoCloudPar.nLineNum * stSavePoCloudPar.nLinePntNum * (16 * 3 + 4) + 2048]; uint nDstImageSize = stSavePoCloudPar.nLineNum * stSavePoCloudPar.nLinePntNum * (16 * 3 + 4) + 2048; stSavePoCloudPar.enPointCloudFileType = MyCamera.MV_SAVE_POINT_CLOUD_FILE_TYPE.MV_PointCloudFile_PLY; stSavePoCloudPar.enSrcPixelType = stOutFrame.stFrameInfo.enPixelType; stSavePoCloudPar.nSrcDataLen = nSaveDataLen; GCHandle hSrcData = GCHandle.Alloc(bSaveImageBuf, GCHandleType.Pinned); stSavePoCloudPar.pSrcData = hSrcData.AddrOfPinnedObject(); GCHandle hDstData = GCHandle.Alloc(bDstImageBuf, GCHandleType.Pinned); stSavePoCloudPar.pDstBuf = hDstData.AddrOfPinnedObject(); stSavePoCloudPar.nDstBufSize = nDstImageSize; //Save point cloud data nRet = device.MV_CC_SavePointCloudData_NET(ref stSavePoCloudPar); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Save point cloud data fail:{0:x8}", nRet); break; } FileStream file = new FileStream("PointCloudData.ply", FileMode.Create, FileAccess.Write); file.Write(bDstImageBuf, 0, Convert.ToInt32(stSavePoCloudPar.nDstBufLen)); file.Close(); Console.WriteLine("Save point cloud data succeed"); hSrcData.Free(); hDstData.Free(); // ch:停止抓图 | en:Stop grab image nRet = device.MV_CC_StopGrabbing_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Stop grabbing failed{0:x8}", nRet); break; } // ch:关闭设备 | en:Close device nRet = device.MV_CC_CloseDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Close device failed{0:x8}", nRet); break; } // ch:销毁设备 | en:Destroy device nRet = device.MV_CC_DestroyDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Destroy device failed:{0:x8}", nRet); break; } } while (false); if (MyCamera.MV_OK != nRet) { // ch:销毁设备 | en:Destroy device nRet = device.MV_CC_DestroyDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Destroy device failed:{0:x8}", nRet); } } Console.WriteLine("Press enter to exit"); Console.ReadKey(); }
static void Main(string[] args) { int nRet = MyCamera.MV_OK; MyCamera device = new MyCamera(); do { // ch:枚举设备 | en:Enum deivce MyCamera.MV_CC_DEVICE_INFO_LIST stDevList = new MyCamera.MV_CC_DEVICE_INFO_LIST(); nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref stDevList); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Enum device failed:{0:x8}", nRet); break; } Console.WriteLine("Enum device count : " + Convert.ToString(stDevList.nDeviceNum)); if (0 == stDevList.nDeviceNum) { break; } MyCamera.MV_CC_DEVICE_INFO stDevInfo; // ch:打印设备信息 en:Print device info for (Int32 i = 0; i < stDevList.nDeviceNum; i++) { stDevInfo = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDevList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO)); if (MyCamera.MV_GIGE_DEVICE == stDevInfo.nTLayerType) { MyCamera.MV_GIGE_DEVICE_INFO stGigEDeviceInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(stDevInfo.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_GIGE_DEVICE_INFO)); uint nIp1 = ((stGigEDeviceInfo.nCurrentIp & 0xff000000) >> 24); uint nIp2 = ((stGigEDeviceInfo.nCurrentIp & 0x00ff0000) >> 16); uint nIp3 = ((stGigEDeviceInfo.nCurrentIp & 0x0000ff00) >> 8); uint nIp4 = (stGigEDeviceInfo.nCurrentIp & 0x000000ff); Console.WriteLine("\n" + i.ToString() + ": [GigE] User Define Name : " + stGigEDeviceInfo.chUserDefinedName); Console.WriteLine("device IP :" + nIp1 + "." + nIp2 + "." + nIp3 + "." + nIp4); } else if (MyCamera.MV_USB_DEVICE == stDevInfo.nTLayerType) { MyCamera.MV_USB3_DEVICE_INFO stUsb3DeviceInfo = (MyCamera.MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(stDevInfo.SpecialInfo.stUsb3VInfo, typeof(MyCamera.MV_USB3_DEVICE_INFO)); Console.WriteLine("\n" + i.ToString() + ": [U3V] User Define Name : " + stUsb3DeviceInfo.chUserDefinedName); Console.WriteLine("\n Serial Number : " + stUsb3DeviceInfo.chSerialNumber); Console.WriteLine("\n Device Number : " + stUsb3DeviceInfo.nDeviceNumber); } } Int32 nDevIndex = 0; Console.Write("\nPlease input index (0 -- {0:d}) : ", stDevList.nDeviceNum - 1); try { nDevIndex = Convert.ToInt32(Console.ReadLine()); } catch { Console.Write("Invalid Input!\n"); break; } if (nDevIndex > stDevList.nDeviceNum - 1 || nDevIndex < 0) { Console.Write("Input Error!\n"); break; } stDevInfo = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDevList.pDeviceInfo[nDevIndex], typeof(MyCamera.MV_CC_DEVICE_INFO)); // ch:创建设备 | en: Create device nRet = device.MV_CC_CreateDevice_NET(ref stDevInfo); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Create device failed:{0:x8}", nRet); break; } // ch:打开设备 | en:Open device nRet = device.MV_CC_OpenDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Open device failed:{0:x8}", nRet); break; } // 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 (stDevInfo.nTLayerType == MyCamera.MV_GIGE_DEVICE) { 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:获取触发模式的访问模式 | en:Get Access mode of trigger mode MyCamera.MV_XML_AccessMode pAccessMode = MyCamera.MV_XML_AccessMode.AM_NI; nRet = device.MV_XML_GetNodeAccessMode_NET("TriggerMode", ref pAccessMode); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Get Access mode of trigger mode fail! nRet [0x%x]\n", nRet); } else { // ch:设置触发模式为off || en:set trigger mode as off nRet = device.MV_CC_SetEnumValue_NET("TriggerMode", 0); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Set TriggerMode failed!"); break; } } // ch:开启抓图 || en: start grab image nRet = device.MV_CC_StartGrabbing_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Start grabbing failed:{0:x8}", nRet); break; } // ch:获取包大小 || en: Get Payload Size MyCamera.MVCC_INTVALUE stParam = new MyCamera.MVCC_INTVALUE(); nRet = device.MV_CC_GetIntValue_NET("PayloadSize", ref stParam); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Get PayloadSize failed:{0:x8}", nRet); break; } UInt32 nPayloadSize = stParam.nCurValue; byte[] BufForDriver = new byte[nPayloadSize]; IntPtr pData = Marshal.UnsafeAddrOfPinnedArrayElement(BufForDriver, 0); MyCamera.MV_FRAME_OUT_INFO_EX stFrameInfo = new MyCamera.MV_FRAME_OUT_INFO_EX(); HTuple hObjectModel3D = null; HTuple hv_X = new HTuple(); HTuple hv_Y = new HTuple(); HTuple hv_Z = new HTuple(); Int32 j = 0; nRet = device.MV_CC_GetOneFrameTimeout_NET(pData, nPayloadSize, ref stFrameInfo, 1000); // 获取一帧图像 if (MyCamera.MV_OK == nRet) { Console.WriteLine("Get One Frame:" + "Width[" + Convert.ToString(stFrameInfo.nWidth) + "] , Height[" + Convert.ToString(stFrameInfo.nHeight) + "] , FrameNum[" + Convert.ToString(stFrameInfo.nFrameNum) + "]"); switch (stFrameInfo.enPixelType) { case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_ABC32f: { float[] ConvertData = new float[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 3]; hv_Y[j] = ConvertData[j * 3 + 1]; hv_Z[j] = ConvertData[j * 3 + 2]; } } break; case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_ABC32: { Int32[] ConvertData = new Int32[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 3]; hv_Y[j] = ConvertData[j * 3 + 1]; hv_Z[j] = ConvertData[j * 3 + 2]; } } break; case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AB32f: { float[] ConvertData = new float[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 2]; hv_Y[j] = ConvertData[j * 2 + 1]; hv_Z[j] = 0.0; } } break; case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AB32: { Int32[] ConvertData = new Int32[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 2]; hv_Y[j] = ConvertData[j * 2 + 1]; hv_Z[j] = 0; } } break; case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AC32f: { float[] ConvertData = new float[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 2]; hv_Y[j] = 0.0; hv_Z[j] = ConvertData[j * 2 + 1]; } } break; case MyCamera.MvGvspPixelType.PixelType_Gvsp_Coord3D_AC32: { Int32[] ConvertData = new Int32[nPayloadSize]; Marshal.Copy(pData, ConvertData, 0, (int)stFrameInfo.nFrameLen); for (j = 0; j < stFrameInfo.nWidth; j++) { hv_X[j] = ConvertData[j * 2]; hv_Y[j] = 0; hv_Z[j] = ConvertData[j * 2 + 1]; } } break; default: break; } } else { Console.WriteLine("No data{0:x8}", nRet); } // ch:停止抓图 | en:Stop grabbing nRet = device.MV_CC_StopGrabbing_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Stop grabbing failed{0:x8}", nRet); break; } // ch:关闭设备 | en:Close device nRet = device.MV_CC_CloseDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Close device failed{0:x8}", nRet); break; } // ch:销毁设备 | en:Destroy device nRet = device.MV_CC_DestroyDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Destroy device failed:{0:x8}", nRet); break; } if (j == 0) { Console.Write("Probably not a 3D device!\n"); break; } Console.Write("*********************************************************************\n"); Console.Write("* 0.ply; 1.obj; *\n"); Console.Write("*********************************************************************\n"); Int32 nFileType = 0; Console.Write("Select FileType: "); try { nFileType = Convert.ToInt32(Console.ReadLine()); } catch { Console.Write("Invalid Input!\n"); break; } HOperatorSet.GenObjectModel3dFromPoints(hv_X, hv_Y, hv_Z, out hObjectModel3D); switch (nFileType) { case 0: { HOperatorSet.WriteObjectModel3d(hObjectModel3D, "ply", "./3DFile.ply", "invert_normals", "false"); } break; case 1: { HOperatorSet.WriteObjectModel3d(hObjectModel3D, "obj", "./3DFile.obj", "invert_normals", "false"); } break; default: Console.Write("Input error!\n"); break; } } while (false); if (MyCamera.MV_OK != nRet) { // ch:销毁设备 | en:Destroy device nRet = device.MV_CC_DestroyDevice_NET(); if (MyCamera.MV_OK != nRet) { Console.WriteLine("Destroy device failed:{0:x8}", nRet); } } Console.WriteLine("Press enter to exit"); Console.ReadKey(); }