c# 调用basler 相机

一联合halcon：

二 c# 原生

一联合halcon：

===============环境配置==================

下载安装pylon软件

下载安装halcon

创建 winform项目 test_basler

添加引用

打开pylon可以连接相机

可以看到我的相机id为23970642

=============================

（
c#联合halcon的基础教程（案例：亮度计算、角度计算和缺陷检测）（含halcon代码）_halcon.dll,halcondotnet.dll 下载-CSDN博客
）

c#添加几个控件（button、 textbox 和hwindowcontrol）

basler使用

allCameras = CameraFinder.Enumerate();//获取所有相机设备

camera = new Camera(id);//指定的序列号

camera.Open();//打开相机

使用

image.GenImage1("byte", grabResult.Width, grabResult.Height, p);

抓图。

完整代码如下：

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Basler.Pylon;
using HalconDotNet;namespace test_basler
{public partial class Form1 : Form{List<ICameraInfo> allCameras = null;HImage image = null;Camera camera = null;public Form1(){InitializeComponent();string str_connectcamera = connectCamera("23970642");textBox1.AppendText(str_connectcamera + "\r\n");}public string connectCamera(string id){allCameras = CameraFinder.Enumerate();//获取所有相机设备for (int i = 0; i < allCameras.Count; i++){try{textBox1.AppendText("已搜索相机：");textBox1.AppendText(allCameras[i][CameraInfoKey.SerialNumber]+"\r\n");if (allCameras[i][CameraInfoKey.SerialNumber] == id){//如果当前相机信息中序列号是指定的序列号，则实例化相机类camera = new Camera(allCameras[i]);camera.Open();//打开相机return "成功连接相机";}continue;}catch{return "未找到";}}return "未找到";}private Boolean IsMonoData(IGrabResult iGrabResult)//判断图像是否为黑白格式{switch (iGrabResult.PixelTypeValue){case PixelType.Mono1packed:case PixelType.Mono2packed:case PixelType.Mono4packed:case PixelType.Mono8:case PixelType.Mono8signed:case PixelType.Mono10:case PixelType.Mono10p:case PixelType.Mono10packed:case PixelType.Mono12:case PixelType.Mono12p:case PixelType.Mono12packed:case PixelType.Mono16:return true;default:return false;}}private void OneShot(){try{// 配置参数camera.Parameters[PLCamera.PixelFormat].TrySetValue(PLCamera.PixelFormat.Mono8);camera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.SingleFrame);camera.StreamGrabber.Start();// 检索结果IGrabResult grabResult = camera.StreamGrabber.RetrieveResult(4000, TimeoutHandling.ThrowException);image = new HImage();using (grabResult){if (grabResult.GrabSucceeded){if (IsMonoData(grabResult)){byte[] buffer = grabResult.PixelData as byte[];IntPtr p = Marshal.UnsafeAddrOfPinnedArrayElement(buffer, 0);image.GenImage1("byte", grabResult.Width, grabResult.Height, p);}else{if (grabResult.PixelTypeValue != PixelType.RGB8packed){byte[] buffer_rgb = new byte[grabResult.Width * grabResult.Height * 3];Basler.Pylon.PixelDataConverter convert = new PixelDataConverter();convert.OutputPixelFormat = PixelType.RGB8packed;convert.Convert(buffer_rgb, grabResult);IntPtr p = Marshal.UnsafeAddrOfPinnedArrayElement(buffer_rgb, 0);image.GenImageInterleaved(p, "rgb", grabResult.Width, grabResult.Height, 0, "byte", grabResult.Width, grabResult.Height, 0, 0, -1, 0);}}}else{textBox1.AppendText("抓取图像失败: " + grabResult.ErrorDescription + "\r\n");}}}catch (Exception ex){textBox1.AppendText("拍照过程中发生错误: " + ex.Message + "\r\n");}finally{// 确保流抓取器停止if (camera != null && camera.StreamGrabber.IsGrabbing){camera.StreamGrabber.Stop();}}}private void show_img(HObject Image){// 检查图像对象是否有效if (Image == null || !Image.IsInitialized()){MessageBox.Show("图像对象无效或未初始化");return;}// 获取窗口句柄HWindow hwnd = hWindowControl1.HalconWindow;// 清除窗口内容hwnd.ClearWindow();try{// 获取图片大小HTuple width, height;HOperatorSet.GetImageSize(Image, out width, out height);// 设置窗口显示部分为整个图像HOperatorSet.SetPart(hwnd, 0, 0, height - 1, width - 1);// 将图片投射到窗体上HOperatorSet.DispObj(Image, hwnd);}catch (HalconException ex){MessageBox.Show($"处理图像时发生错误: {ex.Message}");}}private void button1_Click(object sender, EventArgs e){OneShot();show_img(image);}}
}

namespace test_basler
{partial class Form1{/// <summary>/// 必需的设计器变量。/// </summary>private System.ComponentModel.IContainer components = null;/// <summary>/// 清理所有正在使用的资源。/// </summary>/// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>protected override void Dispose(bool disposing){if (disposing && (components != null)){components.Dispose();}base.Dispose(disposing);}#region Windows 窗体设计器生成的代码/// <summary>/// 设计器支持所需的方法 - 不要修改/// 使用代码编辑器修改此方法的内容。/// </summary>private void InitializeComponent(){this.button1 = new System.Windows.Forms.Button();this.textBox1 = new System.Windows.Forms.TextBox();this.hWindowControl1 = new HalconDotNet.HWindowControl();this.SuspendLayout();// // button1// this.button1.Location = new System.Drawing.Point(328, 721);this.button1.Name = "button1";this.button1.Size = new System.Drawing.Size(312, 86);this.button1.TabIndex = 1;this.button1.Text = "拍照";this.button1.UseVisualStyleBackColor = true;this.button1.Click += new System.EventHandler(this.button1_Click);// // textBox1// this.textBox1.Location = new System.Drawing.Point(981, 82);this.textBox1.Multiline = true;this.textBox1.Name = "textBox1";this.textBox1.Size = new System.Drawing.Size(337, 538);this.textBox1.TabIndex = 2;// // hWindowControl1// this.hWindowControl1.BackColor = System.Drawing.Color.Black;this.hWindowControl1.BorderColor = System.Drawing.Color.Black;this.hWindowControl1.ImagePart = new System.Drawing.Rectangle(0, 0, 640, 480);this.hWindowControl1.Location = new System.Drawing.Point(123, 70);this.hWindowControl1.Name = "hWindowControl1";this.hWindowControl1.Size = new System.Drawing.Size(779, 611);this.hWindowControl1.TabIndex = 3;this.hWindowControl1.WindowSize = new System.Drawing.Size(779, 611);// // Form1// this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 18F);this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;this.ClientSize = new System.Drawing.Size(1425, 915);this.Controls.Add(this.hWindowControl1);this.Controls.Add(this.textBox1);this.Controls.Add(this.button1);this.Name = "Form1";this.Text = "Form1";this.ResumeLayout(false);this.PerformLayout();}#endregionprivate System.Windows.Forms.Button button1;private System.Windows.Forms.TextBox textBox1;private HalconDotNet.HWindowControl hWindowControl1;}
}

运行后：

二 c# 原生

用picturebox 来显示图像。

Basler Pylon SDK用于控制相机，提供相机发现、连接、参数设置和图像抓取的功能。

图像数据以字节数组形式获取，根据像素格式（如Mono8）处理为灰度图像。

Bitmap的创建需要正确设置调色板（灰度）和像素格式（Format8bppIndexed）。

锁定位图进行直接内存操作（LockBits），将数据从原始字节数组复制到位图的缓冲区，考虑步幅（每行字节数可能不等于宽度乘以每像素字节数，需要填充）。

代码如下：

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Basler.Pylon;namespace test_basler
{public partial class Form1 : Form{List<ICameraInfo> allCameras = null;Camera camera = null;public Form1(){InitializeComponent();string str_connectcamera = connectCamera("23970642");textBox1.AppendText(str_connectcamera + "\r\n");}public string connectCamera(string id){allCameras = CameraFinder.Enumerate();//获取所有相机设备for (int i = 0; i < allCameras.Count; i++){try{textBox1.AppendText("已搜索相机：");textBox1.AppendText(allCameras[i][CameraInfoKey.SerialNumber]+"\r\n");if (allCameras[i][CameraInfoKey.SerialNumber] == id){//如果当前相机信息中序列号是指定的序列号，则实例化相机类camera = new Camera(allCameras[i]);camera.Open();//打开相机return "成功连接相机";}continue;}catch{return "未找到";}}return "未找到";}private Boolean IsMonoData(IGrabResult iGrabResult)//判断图像是否为黑白格式{switch (iGrabResult.PixelTypeValue){case PixelType.Mono1packed:case PixelType.Mono2packed:case PixelType.Mono4packed:case PixelType.Mono8:case PixelType.Mono8signed:case PixelType.Mono10:case PixelType.Mono10p:case PixelType.Mono10packed:case PixelType.Mono12:case PixelType.Mono12p:case PixelType.Mono12packed:case PixelType.Mono16:return true;default:return false;}}public Bitmap OneShot(){try{// 配置参数camera.Parameters[PLCamera.PixelFormat].TrySetValue(PLCamera.PixelFormat.Mono8);camera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.SingleFrame);camera.StreamGrabber.Start();// 抓取图像IGrabResult grabResult = camera.StreamGrabber.RetrieveResult(4000, TimeoutHandling.ThrowException);if (!grabResult.GrabSucceeded)throw new Exception($"抓图失败: {grabResult.ErrorDescription}");// 直接处理原始字节数据byte[] pixelData = grabResult.PixelData as byte[];if (pixelData == null)throw new InvalidOperationException("无像素数据");// 创建Bitmap（无需Halcon）return CreateBitmapFromPixelData(pixelData, grabResult.Width, grabResult.Height, grabResult.PixelTypeValue);}catch (Exception ex){textBox1.AppendText($"拍照错误: {ex.Message}\r\n");return null;}finally{if (camera?.StreamGrabber.IsGrabbing == true)camera.StreamGrabber.Stop();}}private void show_img(){}private Bitmap CreateBitmapFromPixelData(byte[] data, int width, int height, PixelType pixelType){Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);// 设置灰度调色板ColorPalette palette = bmp.Palette;for (int i = 0; i < 256; i++)palette.Entries[i] = Color.FromArgb(i, i, i);bmp.Palette = palette;// 锁定位图进行直接内存操作BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height),ImageLockMode.WriteOnly,bmp.PixelFormat);// 复制像素数据（支持多种像素格式）int stride = bmpData.Stride;int bufferSize = stride * height;byte[] buffer = new byte[bufferSize];// 填充空白区域（当实际数据宽度与Bitmap步幅不一致时）int bytesPerPixel = 1; // 灰度图int srcStride = width * bytesPerPixel;for (int y = 0; y < height; y++){int srcOffset = y * srcStride;int dstOffset = y * stride;Buffer.BlockCopy(data, srcOffset, buffer, dstOffset, srcStride);}// 复制到BitmapMarshal.Copy(buffer, 0, bmpData.Scan0, bufferSize);bmp.UnlockBits(bmpData);return bmp;}private void button1_Click(object sender, EventArgs e){Bitmap image = OneShot();if (image != null){// 使用PictureBox显示pictureBox1.Image = image;pictureBox1.SizeMode = PictureBoxSizeMode.Zoom; // 自动缩放}}}
}

流程：

初始化窗体时自动连接相机。

用户点击按钮时触发图像采集。

配置相机参数，启动采集，抓取图像。

处理图像数据，创建Bitmap，显示在UI上。

CameraFinder.Enumerate()：枚举所有连接的相机。

Camera.Open()：打开相机连接。

设置相机参数（如PixelFormat、AcquisitionMode）。

StreamGrabber.Start()和Stop()：控制图像采集。

RetrieveResult：获取抓取结果。

CreateBitmapFromPixelData：将原始字节数据转换为Bitmap，处理步幅（stride）和像素格式。

使用PictureBox显示图像。