序言

寫在前面

• 本人從事機器視覺細分的3D相機行業。編寫此系列文章主要目的有：
  • 1、便利他人應用相機，本系列文章包含公司所出售相機的SDK的使用例程及詳細注釋；
  • 2、促進行業發展及交流。
• 知微傳感Dkam系列3D相機可以應用于定位分揀、焊接焊縫提取、逆向建模、檢測測量等領域

DKAM系列3D相機SDK C#例程及注釋

相機連接、數據采集及保存

• 本例程基于WIN10+VisualStudio2022+DkamSDK_1.6.83,采用C#語言
• SDK的配置方法，請參考官方提供的SDK說明書
• 新建C#工程時選用.NET Framework框架(暫不支持.NET框架)

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");//**********************************************查詢、連接相機****************************************************int camer_num = 0;int camera_ret = -1;//發現局域網內的相機camer_num = DkamSDK_CSharp.DiscoverCamera();Console.WriteLine("局域網內共有" + camer_num + "臺3D相機");//顯示局域網內相機IPfor (int i = 0; i < camer_num; i++) {Console.WriteLine("局域網內相機的IP為：" + DkamSDK_CSharp.CameraIP(i));if (String.Compare(DkamSDK_CSharp.CameraIP(i), "192.168.40.91") == 0) { camera_ret = i;}}//連接相機SWIGTYPE_p_CAMERA_OBJECT camera = DkamSDK_CSharp.CreateCamera(camera_ret);int connect = DkamSDK_CSharp.CameraConnect(camera);//**********************************************查詢、連接相機****************************************************if (connect == 0){Console.WriteLine("相機連接成功！");//獲取當前紅外相機的寬和高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("紅外圖寬度：" + width + "    紅外圖高度：" + height);//獲取當前RGB相機的寬和高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 圖寬度：" + widthRGB + "    RGB 圖高度：" + heightRGB);//定義紅外數據大小PhotoInfoCSharp gray_data = new PhotoInfoCSharp();int graysize = width * height;byte[] gray_pixel = new byte[graysize];//定義點云大小PhotoInfoCSharp PointCloud_data = new PhotoInfoCSharp();int pointsize = width * height * 6;byte[] point_pixel = new byte[pointsize];//定義RGB大小PhotoInfoCSharp RGB_data = new PhotoInfoCSharp();int RGBsize = widthRGB * heightRGB * 3;byte[] RGB_pixel = new byte[RGBsize];//**********************************************打開數據通道****************************************************//開啟數據流通道(0:紅外 1:點云 2:RGB)//紅外int streamgray = DkamSDK_CSharp.StreamOn(camera, 0);if (streamgray == 0){Console.WriteLine("紅外圖通道打開成功！");}else{Console.WriteLine( "紅外圖通道打開失敗！！！     錯誤碼：" + streamgray);}//點云int streampoint = DkamSDK_CSharp.StreamOn(camera, 1);if (streampoint == 0){Console.WriteLine("點云通道打開成功！");}else{Console.WriteLine("點云通道打開失敗！！！     錯誤碼：" + streampoint);}int streamRGB = DkamSDK_CSharp.StreamOn(camera, 2);if (streamRGB == 0){Console.WriteLine("RGB 圖通道打開成功！");}else{Console.WriteLine("RGB 圖通道打開失敗！！！     錯誤碼：" + streamRGB);}//開始接受數據int start = DkamSDK_CSharp.AcquisitionStart(camera);if (start == 0){Console.WriteLine("可以開始接收數據！");}else{Console.WriteLine("不能接收數據！！！     錯誤碼：" + start);}//刷新緩沖區DkamSDK_CSharp.FlushBuffer(camera, 0);DkamSDK_CSharp.FlushBuffer(camera, 1);DkamSDK_CSharp.FlushBuffer(camera, 2);Console.WriteLine("等待數據采集、傳輸。。。");//**********************************************等待相機上傳數據***************************************//獲取紅外數據int capturegray = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 0, gray_data, gray_pixel, graysize,10000000);if (capturegray == 0){Console.WriteLine("紅外數據接收成功！");}else{Console.WriteLine("紅外數據接收失敗！！！     錯誤碼：" + capturegray);}//獲取點云數據int capturepoint = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 1, PointCloud_data, point_pixel, pointsize, 10000000);if (capturepoint == 0){Console.WriteLine("點云數據接收成功！");}else{Console.WriteLine("點云數據接收失敗！！！     錯誤碼：" + capturepoint);}//獲取RGB數據int capturergb = DkamSDK_CSharp.TimeoutCaptureCSharp(camera, 2, RGB_data, RGB_pixel, RGBsize,10000000);if (capturergb == 0){Console.WriteLine("RGB數據接收成功！");}else{Console.WriteLine("RGB數據接收失敗！！！     錯誤碼：" + capturergb);}//保存紅外數據int savegray = DkamSDK_CSharp.SaveToBMPCSharp(camera, gray_data, gray_pixel, graysize, "gray.bmp");if (savegray == 0){Console.WriteLine("紅外數據保存成功！");}else{Console.WriteLine("紅外數據保存失敗敗！！！     錯誤碼：" + savegray);}//保存點云數據int savepoint = DkamSDK_CSharp.SavePointCloudToPcdCSharp(camera, PointCloud_data, point_pixel, pointsize, "pointcloud.pcd");if (savepoint == 0){Console.WriteLine("點云數據保存成功！");}else{Console.WriteLine("點云數據保存失敗！！！     錯誤碼：" + savepoint);}//保存RGB數據int saveRGB = DkamSDK_CSharp.SaveToBMPCSharp(camera, RGB_data, RGB_pixel, RGBsize, "rgb.bmp");if (saveRGB == 0){Console.WriteLine("RGB數據保存成功！");}else{Console.WriteLine("RGB數據保存失敗！！！     錯誤碼：" + saveRGB);}//**********************************************結束工作***************************************//釋放內存Array.Clear(point_pixel, 0, point_pixel.Length);Array.Clear(gray_pixel,  0, gray_pixel.Length);Array.Clear(RGB_pixel,   0, RGB_pixel.Length);//關閉數據流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);//斷開相機連接int disconnect = DkamSDK_CSharp.CameraDisconnect(camera);if (disconnect == 0){Console.WriteLine("成功斷開相機！");}else{Console.WriteLine("斷開相機失敗！！！     錯誤碼：" + disconnect);}//銷毀相機參數DkamSDK_CSharp.DestroyCamera(camera);}else{Console.WriteLine("相機連接失敗，失敗代碼：" + connect);}}}
}

• 以上代碼應用D330XS型號相機測試成功

小結

• 使用SDK或DkamView直接保存的灰度圖（紅外圖）和RGB圖是沒有經過畸變校正的，若需要，用戶可獲取相機各鏡頭的內參進行校正，獲取內、外參的例程可在本專欄的其他文章中獲取