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
新建C#工程时选用.NET Framework框架(暂不支持.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IPfor (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);}}}
}