知微传感Dkam系列3D相机SDK例程篇：CSharp连接相机及保存数据

序言

写在前面

本人从事机器视觉细分的3D相机行业。编写此系列文章主要目的有：
- 1、便利他人应用相机，本系列文章包含公司所出售相机的SDK的使用例程及详细注释；
- 2、促进行业发展及交流。
知微传感Dkam系列3D相机可以应用于定位分拣、焊接焊缝提取、逆向建模、检测测量等领域
DKAM系列3D相机SDK C#例程及注释

相机连接、数据采集及保存

本例程基于WIN10+VisualStudio2022+DkamSDK_1.6.83,采用C#语言
SDK的配置方法，请参考官方提供的SDK说明书
C# 复制代码
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace ConnectSave_CSharp
{
    internal class Program
    {
        static void Main(string[] args)
        {
            Console.WriteLine("Hello ZhiSENSOR");

            //**********************************************查询、连接相机****************************************************

            int camer_num = 0;
            int camera_ret = -1;

            //发现局域网内的相机
            camer_num = DkamSDK_CSharp.DiscoverCamera();
            Console.WriteLine("局域网内共有" + camer_num + "台3D相机");
            //显示局域网内相机IP
            for (int i = 0; i < camer_num; i++) {
                Console.WriteLine("局域网内相机的IP为：" + DkamSDK_CSharp.CameraIP(i));

                if (String.Compare(DkamSDK_CSharp.CameraIP(i), "192.168.40.91") == 0) { 
                    camera_ret = i;
                }
            }

            //连接相机
            SWIGTYPE_p_CAMERA_OBJECT camera = DkamSDK_CSharp.CreateCamera(camera_ret);
            int connect = DkamSDK_CSharp.CameraConnect(camera);

            //**********************************************查询、连接相机****************************************************

            if (connect == 0)
            {
                Console.WriteLine("相机连接成功！");
                //获取当前红外相机的宽和高
                SWIGTYPE_p_int width_gray = DkamSDK_CSharp.new_intArray(0);
                DkamSDK_CSharp.GetCameraWidth(camera, width_gray, 0);
                int width = DkamSDK_CSharp.intArray_getitem(width_gray, 0);

                SWIGTYPE_p_int height_gray = DkamSDK_CSharp.new_intArray(0);
                DkamSDK_CSharp.GetCameraHeight(camera, height_gray, 0);
                int height = DkamSDK_CSharp.intArray_getitem(height_gray, 0);

                Console.WriteLine("红外图宽度：" + width + "    红外图高度：" + height);

                //获取当前RGB相机的宽和高
                SWIGTYPE_p_int width_rgb = DkamSDK_CSharp.new_intArray(0);
                DkamSDK_CSharp.GetCameraWidth(camera, width_rgb, 1);
                int widthRGB = DkamSDK_CSharp.intArray_getitem(width_rgb, 0);

                SWIGTYPE_p_int height_rgb = DkamSDK_CSharp.new_intArray(0);
                DkamSDK_CSharp.GetCameraHeight(camera, height_rgb, 1);
                int heightRGB = DkamSDK_CSharp.intArray_getitem(height_rgb, 0);

                Console.WriteLine("RGB 图宽度：" + widthRGB + "    RGB 图高度：" + heightRGB);

                //定义红外数据大小
                PhotoInfoCSharp gray_data = new PhotoInfoCSharp();
                int graysize = width * height;
                byte[] gray_pixel = new byte[graysize];

                //定义点云大小
                PhotoInfoCSharp PointCloud_data = new PhotoInfoCSharp();
                int pointsize = width * height * 6;
                byte[] point_pixel = new byte[pointsize];

                //定义RGB大小
                PhotoInfoCSharp RGB_data = new PhotoInfoCSharp();
                int RGBsize = widthRGB * heightRGB * 3;
                byte[] RGB_pixel = new byte[RGBsize];

                //**********************************************打开数据通道****************************************************

                //开启数据流通道(0:红外 1:点云 2:RGB)
                //红外
                int streamgray = DkamSDK_CSharp.StreamOn(camera, 0);
                if (streamgray == 0)
                {
                    Console.WriteLine("红外图通道打开成功！");
                }
                else
                {
                    Console.WriteLine( "红外图通道打开失败！！！     错误码：" + streamgray);
                }
                //点云
                int streampoint = DkamSDK_CSharp.StreamOn(camera, 1);
                if (streampoint == 0)
                {
                    Console.WriteLine("点云通道打开成功！");
                }
                else
                {
                    Console.WriteLine("点云通道打开失败！！！     错误码：" + streampoint);
                }

                int streamRGB = DkamSDK_CSharp.StreamOn(camera, 2);
                if (streamRGB == 0)
                {
                    Console.WriteLine("RGB 图通道打开成功！");
                }
                else
                {
                    Console.WriteLine("RGB 图通道打开失败！！！     错误码：" + streamRGB);
                }

                //开始接受数据
                int start = DkamSDK_CSharp.AcquisitionStart(camera);
                if (start == 0)
                {
                    Console.WriteLine("可以开始接收数据！");
                }
                else
                {
                    Console.WriteLine("不能接收数据！！！     错误码：" + start);
                }

                //刷新缓冲区
                DkamSDK_CSharp.FlushBuffer(camera, 0);
                DkamSDK_CSharp.FlushBuffer(camera, 1);
                DkamSDK_CSharp.FlushBuffer(camera, 2);


                Console.WriteLine("等待数据采集、传输。。。");

                //**********************************************等待相机上传数据***************************************
                //获取红外数据
                int capturegray = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 0, gray_data, gray_pixel, graysize,10000000);
                if (capturegray == 0)
                {
                    Console.WriteLine("红外数据接收成功！");
                }
                else
                {
                    Console.WriteLine("红外数据接收失败！！！     错误码：" + capturegray);
                }

                //获取点云数据
                int capturepoint = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 1, PointCloud_data, point_pixel, pointsize, 10000000);
                if (capturepoint == 0)
                {
                    Console.WriteLine("点云数据接收成功！");
                }
                else
                {
                    Console.WriteLine("点云数据接收失败！！！     错误码：" + capturepoint);
                }

                //获取RGB数据
                int capturergb = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 2, RGB_data, RGB_pixel, RGBsize,10000000);
                if (capturergb == 0)
                {
                    Console.WriteLine("RGB数据接收成功！");
                }
                else
                {
                    Console.WriteLine("RGB数据接收失败！！！     错误码：" + capturergb);
                }
                //保存红外数据
                int savegray = DkamSDK_CSharp.SaveToBMPCSharp(camera, gray_data, gray_pixel, graysize, "gray.bmp");
                if (savegray == 0)
                {
                    Console.WriteLine("红外数据保存成功！");
                }
                else
                {
                    Console.WriteLine("红外数据保存失败败！！！     错误码：" + savegray);
                }

                //保存点云数据
                int savepoint = DkamSDK_CSharp.SavePointCloudToPcdCSharp(camera, PointCloud_data, point_pixel, pointsize, "pointcloud.pcd");
                if (savepoint == 0)
                {
                    Console.WriteLine("点云数据保存成功！");
                }
                else
                {
                    Console.WriteLine("点云数据保存失败！！！     错误码：" + savepoint);
                }

                //保存RGB数据
                int saveRGB = DkamSDK_CSharp.SaveToBMPCSharp(camera, RGB_data, RGB_pixel, RGBsize, "rgb.bmp");
                if (saveRGB == 0)
                {
                    Console.WriteLine("RGB数据保存成功！");
                }
                else
                {
                    Console.WriteLine("RGB数据保存失败！！！     错误码：" + saveRGB);
                }

                //**********************************************结束工作***************************************
                //释放内存
                Array.Clear(point_pixel, 0, point_pixel.Length);
                Array.Clear(gray_pixel,  0, gray_pixel.Length);
                Array.Clear(RGB_pixel,   0, RGB_pixel.Length);

                //关闭数据流
                DkamSDK_CSharp.AcquisitionStop(camera);
                int streamoff = DkamSDK_CSharp.StreamOff(camera, 0);
                int streamoffpoint = DkamSDK_CSharp.StreamOff(camera, 1);
                int streamoffRGB = DkamSDK_CSharp.StreamOff(camera, 2);

                //断开相机连接
                int disconnect = DkamSDK_CSharp.CameraDisconnect(camera);
                if (disconnect == 0)
                {
                    Console.WriteLine("成功断开相机！");
                }
                else
                {
                    Console.WriteLine("断开相机失败！！！     错误码：" + disconnect);
                }
                //销毁相机参数
                DkamSDK_CSharp.DestroyCamera(camera);

            }
            else
            {
                Console.WriteLine("相机连接失败，失败代码：" + connect);
            }
        }
    }
}
以上代码应用D330XS型号相机测试成功
小结

使用SDK或DkamView直接保存的灰度图（红外图）和RGB图是没有经过畸变校正的，若需要，用户可获取相机各镜头的内参进行校正，获取内、外参的例程可在本专栏的其他文章中获取