The reason for this topic is the pursuit of extremely fast picture taking speed.
When the machine ppm does not meet the standard, there are often abnormal requirements for the visual processing speed. In order to strive for the shortest processing time, tens of milliseconds must be strived for.
The interface of halcon is a general interface, and its speed is not as fast as that of the camera manufacturer's own camera supporting SDK.
After the following program is run, the 500w CCD takes picture taking time (excluding display time) to reach an astonishing 32 milliseconds. If you use the halcon interface, the fastest I have seen is 180 milliseconds.
using Basler.Pylon;
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace WindowsFormsApplication1
{
public partial class Form1 : Form
{
private PixelDataConverter converter = new PixelDataConverter();
/// <summary>
/// 相机ID
/// </summary>
public string UserID { get { return userID; } }
private string userID = string.Empty;
private Stopwatch sw = new Stopwatch();
private bool isOkGrab = false;
private IntPtr latestFrameAddress = IntPtr.Zero;
public HObject Image { get { return image; } }
private HObject image = null;
static Version Sfnc2_0_0 = new Version(2, 0, 0);
private Camera camera = null;
HTuple handle;
public Form1()
{
InitializeComponent();
}
private void button1_Click(object sender, EventArgs e)
{
var f1=BaslerCameraInit();
if(f1)
{
MessageBox.Show( Open().ToString());
}
}
/// <summary>
/// 实例化第一个找到的相机
/// </summary>
public bool BaslerCameraInit()
{
try
{
camera = new Camera();
camera.StreamGrabber.ImageGrabbed -= StreamGrabber_ImageGrabbed;
camera.StreamGrabber.ImageGrabbed+=StreamGrabber_ImageGrabbed;
return true;
}
catch (Exception ex)
{
return false;
//NotifyG.Error(ex.ToString());
}
}
/// <summary>
/// 根据相机UserID实例化相机
/// </summary>
/// <param name="UserID"></param>
public bool BaslerCameraInit(string userID)
{
try
{
// 枚举相机列表
List<ICameraInfo> allCameraInfos = CameraFinder.Enumerate();
foreach (ICameraInfo cameraInfo in allCameraInfos)
{
if (userID == cameraInfo[CameraInfoKey.UserDefinedName])
{
this.userID = userID;
camera = new Camera(cameraInfo);
camera.StreamGrabber.ImageGrabbed -= StreamGrabber_ImageGrabbed;
camera.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed;
}
}
if (camera == null)
{
//NotifyG.Error("未识别到UserID为“" + UserID + "”的相机！");
return false;
}
return true;
}
catch (Exception ex)
{
return false;
//NotifyG.Error(ex.ToString());
}
}
void StreamGrabber_ImageGrabbed(object sender, ImageGrabbedEventArgs e)
{
try
{
// Acquire the image from the camera. Only show the latest image. The camera may acquire images faster than the images can be displayed.
// Get the grab result.
IGrabResult grabResult = e.GrabResult;
// Check if the image can be displayed.
if (grabResult.IsValid)
{
//grabTime = sw.ElapsedMilliseconds;
//if (eventComputeGrabTime != null) eventComputeGrabTime(grabTime);
//Reduce the number of displayed images to a reasonable amount if the camera is acquiring images very fast.
// **** 降低显示帧率，减少CPU占用率 **** //
//if (!stopWatch.IsRunning || stopWatch.ElapsedMilliseconds > 33)
{
//stopWatch.Restart();
// 判断是否是黑白图片格式
if (grabResult.PixelTypeValue == PixelType.Mono8)
{
//allocate the m_stream_size amount of bytes in non-managed environment
if (latestFrameAddress == IntPtr.Zero)
{
latestFrameAddress = Marshal.AllocHGlobal((Int32)grabResult.PayloadSize);
}
converter.OutputPixelFormat = PixelType.Mono8;
converter.Convert(latestFrameAddress, grabResult.PayloadSize, grabResult);
HOperatorSet.GenEmptyObj(out image);
image.Dispose();
// 转换为Halcon图像显示
HOperatorSet.GenImage1(out image, "byte", grabResult.Width, grabResult.Height, latestFrameAddress);
HOperatorSet.SetPart(handle, 0, 0, grabResult.Height - 1, grabResult.Width - 1);
}
else if (grabResult.PixelTypeValue == PixelType.BayerBG8 || grabResult.PixelTypeValue == PixelType.BayerGB8
|| grabResult.PixelTypeValue == PixelType.BayerRG8 || grabResult.PixelTypeValue == PixelType.YUV422packed)
{
int imageWidth = grabResult.Width - 1;
int imageHeight = grabResult.Height - 1;
HOperatorSet.SetPart(handle, 0, 0, imageHeight, imageWidth);
int payloadSize = imageWidth * imageHeight;
//allocate the m_stream_size amount of bytes in non-managed environment
if (latestFrameAddress == IntPtr.Zero)
{
latestFrameAddress = Marshal.AllocHGlobal((Int32)(3 * payloadSize));
}
converter.OutputPixelFormat = PixelType.RGB8packed; // 根据下面halcon转换的色彩格式bgr
converter.Parameters[PLPixelDataConverter.InconvertibleEdgeHandling].SetValue("Clip");
converter.Convert(latestFrameAddress, 3 * payloadSize, grabResult);
HOperatorSet.GenImageInterleaved(out image, latestFrameAddress, "bgr",
(HTuple)imageWidth, (HTuple)imageHeight, -1, "byte", (HTuple)imageWidth, (HTuple)imageHeight, 0, 0, -1, 0);
}
else
{
//NotifyG.Error(DeviceName + "拍照失败,相机图像格式设置");
return;
}
isOkGrab = true;
//MessageBox.Show(isOkGrab.ToString());
// 抛出图像处理事件
//if (EventGrab != null) EventGrab(this, new CameraGrabEventArgs(image));
}
}
}
catch (Exception ex)
{
//MessageBox.Show(ex.ToString());
return;
}
finally
{
// Dispose the grab result if needed for returning it to the grab loop.
e.DisposeGrabResultIfClone();
}
}
/// <summary>
/// 打开相机
/// </summary>
public bool Open()
{
try
{
if (camera.IsOpen) camera.Close();
Thread.Sleep(200);
camera.Open();
var imageWidth = camera.Parameters[PLCamera.Width].GetValue(); // 获取图像宽
var imageHeight = camera.Parameters[PLCamera.Height].GetValue(); // 获取图像高
GetMinMaxExposureTime();
GetMinMaxGain();
camera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.SingleFrame);
//NotifyG.Debug(DeviceName + "打开相机成功:" + userID);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
return false;
}
return true;
}
/// <summary>
/// 关闭相机,释放相关资源
/// </summary>
public new bool Close()
{
try
{
camera.Close();
camera.Dispose();
if (Image != null)
{
Image.Dispose();
}
if (latestFrameAddress != null)
{
Marshal.FreeHGlobal(latestFrameAddress);
latestFrameAddress = IntPtr.Zero;
}
//NotifyG.Debug(DeviceName + "关闭相机成功:" + userID);
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
return false;
}
return true;
}
/// <summary>
/// 单张采集
/// </summary>
public bool GrabImage()
{
try
{
isOkGrab = false;
sw.Restart();
if (camera.StreamGrabber.IsGrabbing)
{
//NotifyG.Error("相机当前正处于采集状态！");
return false;
}
else
{
camera.StreamGrabber.Start(1, GrabStrategy.LatestImages, GrabLoop.ProvidedByStreamGrabber);
//while (!isOkGrab)
//{
// if (sw.ElapsedMilliseconds > 2000) { isOkGrab = false; return false; }
// Thread.Sleep(1);
//}
//NotifyG.Debug(DeviceName + "拍照成功:" + sw.ElapsedMilliseconds);
return true;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
return false;
}
return true;
}
/// <summary>
/// 开始连续采集
/// </summary>
public bool StartGrabbing()
{
try
{
if (camera.StreamGrabber.IsGrabbing)
{
//NotifyG.Error("相机当前正处于采集状态！");
return false;
}
else
{
camera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
camera.StreamGrabber.Start(GrabStrategy.LatestImages, GrabLoop.ProvidedByStreamGrabber);
return true;
}
}
catch (Exception ex)
{
//NotifyG.Error(DeviceName + ex.ToString());
return false;
}
}
/// <summary>
/// 停止连续采集
/// </summary>
public bool StopGrabbing()
{
try
{
if (camera.StreamGrabber.IsGrabbing)
{
camera.StreamGrabber.Stop();
}
}
catch (Exception ex)
{
//NotifyG.Error(DeviceName + ex.ToString());
}
return true;
}
/// <summary>
/// 获取最小最大曝光时间
/// </summary>
public void GetMinMaxExposureTime()
{
try
{
if (camera.GetSfncVersion() < Sfnc2_0_0)
{
var minExposureTime = camera.Parameters[PLCamera.ExposureTimeRaw].GetMinimum();
var maxExposureTime = camera.Parameters[PLCamera.ExposureTimeRaw].GetMaximum();
}
else
{
var minExposureTime = (long)camera.Parameters[PLUsbCamera.ExposureTime].GetMinimum();
var maxExposureTime = (long)camera.Parameters[PLUsbCamera.ExposureTime].GetMaximum();
}
}
catch (Exception ex)
{
}
}
/// <summary>
/// 获取最小最大增益
/// </summary>
public void GetMinMaxGain()
{
try
{
if (camera.GetSfncVersion() < Sfnc2_0_0)
{
var minGain = camera.Parameters[PLCamera.GainRaw].GetMinimum();
var maxGain = camera.Parameters[PLCamera.GainRaw].GetMaximum();
}
else
{
var minGain = (long)camera.Parameters[PLUsbCamera.Gain].GetMinimum();
var maxGain = (long)camera.Parameters[PLUsbCamera.Gain].GetMaximum();
}
}
catch (Exception ex)
{
//NotifyG.Error(DeviceName + ex.ToString());
}
}
private void button2_Click(object sender, EventArgs e)
{
Stopwatch sw1 = new Stopwatch();
sw1.Start();
var f1 = GrabImage();
sw1.Stop();
MessageBox.Show(string.Format("grab time:{0}",sw1.ElapsedMilliseconds));
//if(f1)
//{
// if (null != Image)
// HOperatorSet.DispObj(Image, hWindowControl1.Handle);
//}
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
if (null != camera && camera.IsOpen)
Close();
}
private void button6_Click(object sender, EventArgs e)
{
try
{
if (null != Image && Image.IsInitialized())
{
//HOperatorSet.WriteImage(Image, "bmp", 0, "d:\\123.bmp");
HOperatorSet.DispObj(Image, handle);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
private void Form1_Load(object sender, EventArgs e)
{
handle = hWindowControl1.HalconWindow;
}
private void button3_Click(object sender, EventArgs e)
{
timer1.Start();
StartGrabbing();
}
private void button4_Click(object sender, EventArgs e)
{
timer1.Stop();
StopGrabbing();
}
private void timer1_Tick(object sender, EventArgs e)
{
button6_Click(null, null);
}
}
}