public Form1()
{
InitializeComponent();
KSJGigeVisionApi.KSJGIGEVISION_Init();
int nCount = 0;
int nAdapterIndex = KSJGigeVisionApi.KSJGIGEVISION_AdapterGetCount();
int nCameraIndex = 0;
for (int i = 0; i < nAdapterIndex; i++)
{
nCameraIndex = KSJGigeVisionApi.KSJGIGEVISION_CameraGetCount(i);
for (int j = 0; j < nCameraIndex; j++)
{
CamareIndex[nCount, 0] = i;
CamareIndex[nCount, 1] = j;
nCount++;
}
}
label1.Text = String.Format("{0} Device Found:", nCount);
for (int i = 0; i < nCount; i++)//获取每个相机的参数插入到顶部下拉框中
{
string szText = String.Format("camera{0}", i + 1);
comboBox_DEVICE_LIST.Items.Insert(i, szText);
}
m_nDeviceCurSel = -1;
exitEvent = new AutoResetEvent(false);
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
try
{
KSJGigeVisionApi.KSJGIGEVISION_UnInit();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
Application.Exit();
}
private void UpdateInterface()
{
if (m_nDeviceCurSel == -1)
{
return;
}
uint nColSize = 0;
uint nRowSize = 0;
uint nType = 0;
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
CSnumericUpDown.Value = nColSize;
RSnumericUpDown.Value = nRowSize;
TYPEnumericUpDown.Value = nType;
}
public Form1()
{
InitializeComponent();
KSJGigeVisionApi.KSJGIGEVISION_Init();
int nCount = 0;
int nAdapterIndex = KSJGigeVisionApi.KSJGIGEVISION_AdapterGetCount();
int nCameraIndex = 0;
for (int i = 0; i < nAdapterIndex; i++)
{
nCameraIndex = KSJGigeVisionApi.KSJGIGEVISION_CameraGetCount(i);
for (int j = 0; j < nCameraIndex; j++)
{
CamareIndex[nCount, 0] = i;
CamareIndex[nCount, 1] = j;
nCount++;
}
}
label1.Text = String.Format("{0} Device Found:", nCount);
if (nCount == 0)
{
return;
}
int Ip = 0;
int[] ucIp = new int[4];
for (int i = 0; i < nCount; i++)//获取每个相机的参数插入到顶部下拉框中
{
KSJGigeVisionApi.KSJGIGEVISION_CameraGetIp(CamareIndex[i, 0], CamareIndex[i, 1], ref Ip);
for (int j = 0; j < 4; j++)
{
ucIp[j] = (Ip >> (j * 8)) & 0xFF;
}
string szText = String.Format("camera {0}.{1}.{2}.{3}", ucIp[0], ucIp[1], ucIp[2], ucIp[3]);
comboBox_DEVICE_LIST.Items.Insert(i, szText);
}
m_nDeviceCurSel = 0;
comboBox_DEVICE_LIST.SelectedIndex = m_nDeviceCurSel;
exitEvent = new AutoResetEvent(false);
this.PictureBox_PREVIEWWND.MouseWheel += new MouseEventHandler(PictureBox_PREVIEWWND_MouseWheel);//控件滚轮事件
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
try
{
bool bCheck = PreviewcheckBox.Checked;
if (bCheck)
{
PreviewcheckBox.Checked = false;
}
KSJGigeVisionApi.KSJGIGEVISION_UnInit();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
Application.Exit();
}
private void GvspThread()
{
int nRet = 0;
uint uiGvspport = 0xcbbb;
uint uiGvspsize = 0;
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd00, uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspPort(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd04, ref uiGvspsize);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspSize(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspsize);
uint nColSize = 0;
uint nRowSize = 0;
uint nType = 0;
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
byte[] pImageData = new byte[nColSize * nRowSize * 8];
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 1);
decimal fProfiley;
fProfiley = YnumericUpDown.Value;
float fZmapLow = (float)(Math.Round(LownumericUpDown.Value * 100)) / 100;
float fZmapHigh = (float)(Math.Round(HighnumericUpDown.Value * 100)) / 100;
float unit = (fZmapHigh - fZmapLow) / 255;
int nWidth = (int)nColSize;
int nHeight = (int)nRowSize;
int nCount = 0;
float[] profile;
float[] profilex;
profile = new float[nColSize * nRowSize];
profilex = new float[nColSize * nRowSize];
Graphics g;
int i = 0;
Point p1 = new Point(0, 0);
Point p2 = new Point(0, 0);
int Index = 0;
byte[] idata = new byte[nColSize * nRowSize];
Bitmap bitmap;
while (true)
{
if (exitEvent.WaitOne(0))
{
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 0);
break;
}
nRet = KSJGigeVisionApi.KSJGIGEVISION_CameraGet3DGvspData(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)nType, pImageData, ref nWidth, ref nHeight); //采集相机一帧
if (nRet == 1) //采集成功
{
if (nType == 0) //gray
{
bitmap = ToGrayBitmap(pImageData, nWidth, nHeight);
this.PictureBox_PREVIEWWND.Image = bitmap;
}
else if (nType == 1)//profile
{
for (i = 0; i < nWidth; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nWidth; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nWidth) * 4);
}
bitmap = new Bitmap(nWidth, 256);
g = Graphics.FromImage(bitmap);
g.Clear(Color.Black);
for (i = 1; i < nWidth; ++i)//绘制图片
{
if (profile[i - 1] != -1000 && profile[i] != -1000 && profilex[i - 1] > 0 && profilex[i] > 0)
{
p1.X = (int)(profilex[i - 1] * 1280 / 50);
p1.Y = (int)(256 - profile[i - 1] * 256 / 10);
p2.X = (int)(profilex[i] * 1280 / 50);
p2.Y = (int)(256 - profile[i] * 256 / 10);
g.DrawLine(new Pen(Color.White, 1), p1, p2);
}
}
this.PictureBox_PREVIEWWND.Image = bitmap;
g.Dispose();
}
else if (nType == 2)//3d
{
nCount = nWidth * nHeight;
for (i = 0; i < nCount; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nCount; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nCount) * 4);
}
Index = 0;
for (i = 0; i < nHeight; ++i)
{
for (int j = 0; j < nWidth; ++j)
{
if (profile[Index] <= fZmapHigh && profile[Index] >= fZmapLow)
{
idata[Index] = (byte)((profile[Index] - fZmapLow) / unit + 0.5);
}
else
{
idata[Index] = 0;
}
++Index;
}
}
bitmap = ToGrayBitmap(idata, nWidth, nHeight);
this.PictureBox_PREVIEWWND.Image = bitmap;
bool bCheck = SavecheckBox.Checked;
if (bCheck)
{
FileStream fs = new FileStream("test.pcd", FileMode.Create);
string temp = "# .PCD v0.7 - Point Cloud Data file format\n";
byte[] data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VERSION 0.7\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "FIELDS x y z\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "SIZE 4 4 4\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "TYPE F F F\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "COUNT 1 1 1\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("WIDTH {0}\n", nColSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("HEIGHT {0}\n", nRowSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VIEWPOINT 0 0 0 1 0 0 0\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("POINTS {0}\n", nCount);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "DATA ascii\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
for (i = 0; i < nCount; i++)
{
if (i != nCount - 1)
{
if (profilex[i] == -1000)
{
temp = "nan nan nan\n";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}\n", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
else
{
if (profilex[i] == -1000)
{
temp = "nan nan nan";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
}
//清空缓冲区、关闭流
fs.Flush();
fs.Close();
}
}
}
}
}
private void GvspThread()
{
int nRet = 0;
uint uiGvspport = 0xcbbb;
uint uiGvspsize = 0;
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd00, uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspPort(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd04, ref uiGvspsize);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspSize(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspsize);
uint nColSize = 0;
uint nRowSize = 0;
uint nType = 0;
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
byte[] pImageData = new byte[nColSize * nRowSize * 8];
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 1);
decimal fProfiley;
fProfiley = YnumericUpDown.Value;
float fZmapLow = (float)(Math.Round(LownumericUpDown.Value * 100)) / 100;
float fZmapHigh = (float)(Math.Round(HighnumericUpDown.Value * 100)) / 100;
float unit = (fZmapHigh - fZmapLow) / 255;
int nWidth = (int)nColSize;
int nHeight = (int)nRowSize;
int nCount = 0;
float[] profile;
float[] profilex;
Graphics g;
int i = 0;
Point p1 = new Point(0, 0);
Point p2 = new Point(0, 0);
int Index = 0;
byte[] idata = new byte[nColSize * nRowSize];
//Bitmap bitmap;
while (true)
{
if (exitEvent.WaitOne(0))
{
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 0);
break;
}
nRet = KSJGigeVisionApi.KSJGIGEVISION_CameraGet3DGvspData(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)nType, pImageData, ref nWidth, ref nHeight); //采集相机一帧
if (nRet == 1) //采集成功
{
if (nType == 0) //gray
{
bitmap = ToGrayBitmap(pImageData, nWidth, nHeight);
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
}
else if (nType == 1)//profile
{
profile = new float[nColSize * nHeight];
profilex = new float[nColSize * nHeight];
for (i = 0; i < nWidth; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nWidth; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nWidth) * 4);
}
bitmap = new Bitmap(nWidth, 256);
g = Graphics.FromImage(bitmap);
g.Clear(Color.Black);
for (i = 1; i < nWidth; ++i)//绘制图片
{
if (profile[i - 1] != -1000 && profile[i] != -1000 && profilex[i - 1] > 0 && profilex[i] > 0)
{
p1.X = (int)(profilex[i - 1] * 1280 / 50);
p1.Y = (int)(256 - profile[i - 1] * 256 / 10);
p2.X = (int)(profilex[i] * 1280 / 50);
p2.Y = (int)(256 - profile[i] * 256 / 10);
g.DrawLine(new Pen(Color.White, 1), p1, p2);
}
}
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
//this.PictureBox_PREVIEWWND.Image = bitmap;
g.Dispose();
}
else if (nType == 2)//3d
{
nCount = nWidth * nHeight;
profile = new float[nCount];
profilex = new float[nCount];
for (i = 0; i < nCount; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nCount; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nCount) * 4);
}
Index = 0;
for (i = 0; i < nHeight; ++i)
{
for (int j = 0; j < nWidth; ++j)
{
if (profile[Index] <= fZmapHigh && profile[Index] >= fZmapLow)
{
idata[Index] = (byte)((profile[Index] - fZmapLow) / unit + 0.5);
}
else
{
idata[Index] = 0;
}
++Index;
}
}
bitmap = ToGrayBitmap(idata, nWidth, nHeight);
//this.PictureBox_PREVIEWWND.Image = bitmap;
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
bool bCheck = SavecheckBox.Checked;
if (bCheck)
{
#if halcon12//使用halcon保存om3文件
string t1, filename;
t1 = DateTime.Now.ToString("yyyy-MM-dd");
System.Diagnostics.Debug.WriteLine("开始保存");
filename = t1 + "-" + DateTime.Now.Hour.ToString() + DateTime.Now.Minute.ToString() + DateTime.Now.Second.ToString() + ".om3";
HTuple hv_PointCoordX = new HTuple();
HTuple hv_PointCoordY = new HTuple();
HTuple hv_PointCoordZ = new HTuple();
for (i = 0; i < nCount; i++)
{
hv_PointCoordX[i] = profilex[i];
hv_PointCoordY[i] = (float)fProfiley * (i / 1280);
hv_PointCoordZ[i] = profile[i];
}
HTuple hv_ObjectModel3D;
HOperatorSet.GenObjectModel3dFromPoints(hv_PointCoordX, hv_PointCoordY, hv_PointCoordZ, out hv_ObjectModel3D);
HOperatorSet.WriteObjectModel3d(hv_ObjectModel3D, "om3", filename, "invert_normals", "false");
System.Diagnostics.Debug.WriteLine("保存完毕");
#else//不使用halcon保存pcd文件
FileStream fs = new FileStream("test.pcd", FileMode.Create);
string temp = "# .PCD v0.7 - Point Cloud Data file format\n";
byte[] data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VERSION 0.7\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "FIELDS x y z\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "SIZE 4 4 4\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "TYPE F F F\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "COUNT 1 1 1\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("WIDTH {0}\n", nColSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("HEIGHT {0}\n", nRowSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VIEWPOINT 0 0 0 1 0 0 0\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("POINTS {0}\n", nCount);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "DATA ascii\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
for (i = 0; i < nCount; i++)
{
if (i != nCount - 1)
{
if (profilex[i] == -1000)
{
temp = "nan nan nan\n";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}\n", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
else
{
if (profilex[i] == -1000)
{
temp = "nan nan nan";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
}
//清空缓冲区、关闭流
fs.Flush();
fs.Close();
#endif
}
}
}
}
}
private unsafe void GvspThread()
{
int nRet = 0;
uint uiGvspport = 0xcbbb;
uint uiGvspsize = 0;
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd00, uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspPort(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd04, ref uiGvspsize);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspSize(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspsize);
uint nColSize = 0;
uint nRowSize = 0;
uint nType = 0;
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
byte[] pImageData = new byte[nColSize * nRowSize * 8];
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 1);
decimal fProfiley;
fProfiley = YnumericUpDown.Value;
float fZmapLow = (float)(Math.Round(LownumericUpDown.Value * 100)) / 100;
float fZmapHigh = (float)(Math.Round(HighnumericUpDown.Value * 100)) / 100;
float unit = (fZmapHigh - fZmapLow) / 255;
int nWidth = (int)nColSize;
int nHeight = (int)nRowSize;
int nCount = 0;
float[] profile;
float[] profilex;
profile = new float[nColSize * nRowSize];
profilex = new float[nColSize * nRowSize];
Graphics g;
int i = 0, j;
Point p1 = new Point(0, 0);
Point p2 = new Point(0, 0);
int Index = 0;
byte[] idata = new byte[nColSize * nRowSize];
Bitmap bitmap;
float fy = (float)(Math.Round(YnumericUpDown.Value * 100)) / 100;
float[] hPx = new float[nColSize * nHeight];
float[] hPy = new float[nColSize * nHeight];
float[] hPz = new float[nColSize * nHeight];
HObject Hobjx = null, Hobjy = null, Hobjz = null;
HTuple ObjectModel3DID = null;
IntPtr ptrdata = Marshal.AllocHGlobal(nWidth * nHeight * 4);
HTuple camParam = 0;
//CamParam := [0.01,0,7e-6,7e-6,352,288,710,576]
camParam[0] = 0.01;
camParam[1] = 0;
camParam[2] = 7e-6;
camParam[3] = 7e-6;
camParam[4] = 352;
camParam[5] = 288;
camParam[6] = 710;
camParam[7] = 576;
HTuple Pose = 0;
HOperatorSet.CreatePose(-14.1079, -27.3273, 207.606, 175.064, 1.5805, 269.28, "Rp+T", "gba", "point", out Pose);
HTuple GenParamName = 0;
//GenParamName := ['color','disp_pose','alpha','intensity']
GenParamName[0] = "color";
GenParamName[1] = "disp_pose";
GenParamName[2] = "alpha";
GenParamName[3] = "intensity";
HTuple GenParamValue = 0;
//GenParamValue := ['green','false',0.8,'none']
GenParamValue[0] = "green";
GenParamValue[1] = "false";
GenParamValue[2] = 0.8;
GenParamValue[3] = "none";
while (true)
{
if (exitEvent.WaitOne(0))
{
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 0);
break;
}
nRet = KSJGigeVisionApi.KSJGIGEVISION_CameraGet3DGvspData(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)nType, pImageData, ref nWidth, ref nHeight); //采集相机一帧
if (nRet == 1) //采集成功
{
if (nType == 0) //gray
{
bitmap = ToGrayBitmap(pImageData, nWidth, nHeight);
this.PictureBox_PREVIEWWND.Image = bitmap;
}
else if (nType == 1)//profile
{
for (i = 0; i < nWidth; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nWidth; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nWidth) * 4);
}
bitmap = new Bitmap(nWidth, 256);
g = Graphics.FromImage(bitmap);
g.Clear(Color.Black);
for (i = 1; i < nWidth; ++i)//绘制图片
{
if (profile[i - 1] != -1000 && profile[i] != -1000 && profilex[i - 1] > 0 && profilex[i] > 0)
{
p1.X = (int)(profilex[i - 1] * 1280 / 50);
p1.Y = (int)(256 - profile[i - 1] * 256 / 10);
p2.X = (int)(profilex[i] * 1280 / 50);
p2.Y = (int)(256 - profile[i] * 256 / 10);
g.DrawLine(new Pen(Color.White, 1), p1, p2);
}
}
this.PictureBox_PREVIEWWND.Image = bitmap;
g.Dispose();
}
else if (nType == 2)//3d
{
nCount = nWidth * nHeight;
for (i = 0; i < nCount; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nCount; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nCount) * 4);
}
Index = 0;
for (i = 0; i < nHeight; ++i)
{
for (j = 0; j < nWidth; ++j)
{
if (profile[Index] <= fZmapHigh && profile[Index] >= fZmapLow)
{
idata[Index] = (byte)((profile[Index] - fZmapLow) / unit + 0.5);
}
else
{
idata[Index] = 0;
}
++Index;
}
}
bitmap = ToGrayBitmap(idata, nWidth, nHeight);
this.PictureBox_PREVIEWWND.Image = bitmap;
for (i = 0; i < nHeight; ++i)
{
for (j = 0; j < nWidth; ++j)
{
if (profilex[i * nWidth + j] == -1000)
{
profilex[i * nWidth + j] = 0.04f * j;
profile[i * nWidth + j] = 0;
}
hPx[i * nWidth + j] = profilex[i * nWidth + j];
hPz[i * nWidth + j] = profile[i * nWidth + j];
hPy[i * nWidth + j] = fy * i;
}
}
bool bCheck1 = checksavefile.Checked;
if (bCheck1)
{
int len = nHeight * nWidth;
WriteFile("X", hPx, len);
WriteFile("Y", hPy, len);
WriteFile("Z", hPz, len);
checksavefile.Checked = false;
}
Marshal.Copy(hPx, 0, ptrdata, nWidth * nHeight);
HOperatorSet.GenImage1(out Hobjx, "real", nWidth, nHeight, ptrdata);
Marshal.Copy(hPy, 0, ptrdata, nWidth * nHeight);
HOperatorSet.GenImage1(out Hobjy, "real", nWidth, nHeight, ptrdata);
Marshal.Copy(hPz, 0, ptrdata, nWidth * nHeight);
HOperatorSet.GenImage1(out Hobjz, "real", nWidth, nHeight, ptrdata);
HOperatorSet.XyzToObjectModel3d(Hobjx, Hobjy, Hobjz, out ObjectModel3DID);
HOperatorSet.PrepareObjectModel3d(ObjectModel3DID, "segmentation", "true", "distance_to", "auto");
//HOperatorSet.DispObjectModel3d(this.hWindowControl1.HalconWindow, ObjectModel3DID, camParam, Pose, GenParamName, GenParamValue);
Hobjx.Dispose();
Hobjy.Dispose();
Hobjz.Dispose();
HOperatorSet.ClearObjectModel3d(ObjectModel3DID);
bool bCheck = SavecheckBox.Checked;
if (bCheck)
{
FileStream fs = new FileStream("test.pcd", FileMode.Create);
string temp = "# .PCD v0.7 - Point Cloud Data file format\n";
byte[] data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VERSION 0.7\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "FIELDS x y z\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "SIZE 4 4 4\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "TYPE F F F\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "COUNT 1 1 1\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("WIDTH {0}\n", nColSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("HEIGHT {0}\n", nRowSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VIEWPOINT 0 0 0 1 0 0 0\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("POINTS {0}\n", nCount);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "DATA ascii\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
for (i = 0; i < nCount; i++)
{
if (i != nCount - 1)
{
if (profilex[i] == -1000)
{
temp = "nan nan nan\n";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}\n", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
else
{
if (profilex[i] == -1000)
{
temp = "nan nan nan";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
}
//清空缓冲区、关闭流
fs.Flush();
fs.Close();
}
}
}
}
}
