目录
- 3.1 图像转换扫盲篇（CSharp）
- 3.2 相机采图转流程输入、Group输入、图像源SDK输入、模块输入、算子输入图像
- 3.3 Bitmap转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出图像
- 3.4 Mat转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出、脚本图像
- 3.5 Halcon转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出、脚本图像
- 3.6 流程图像与算子图像互转
- 3.7 图像转换扫盲篇（C++）
- 3.8 相机采图转流程输入、Group输入、图像源SDK输入、模块输入、算子输入图像
- 3.9 QImage转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、流程输出图像
- 3.10 Mat与流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出
- 3.11 Halcon与流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出
- 3.12 流程图像与算子图像互转
- 3.13 算法模块图像与Mat、Halcon、算子图像互转的方法
3.1 图像转换扫盲篇（CSharp）
描述
环境：VM4.2 + VS2013及以上
现象：相机、VM脚本、VM SDK、算子SDK、算法模块中的图像类型是什么？
解答
- 图像格式一览
除了Bitmap、Mat和Halcon中的图像类型，在VM和开发（开发包含三种：VM SDK开发（也称VM二次开发）算子SDK开发、自定义算法模块开发）中涉及的图像类型如下：
相机：图像数据流（此处图像数据流类型是MyCamera.MV_FRAME_OUT，是来自MvCameraControl.Net.dll，即海康机器人工业相机SDK，在MVS SDK和算子SDK中都有这个dll；算子SDK的MVDCamera.Net.dll也可以进行相机取流，它是对MvCameraControl.Net.dll的二次封装，用MVDCamera.Net.dll时，图像数据流类型是CMvdImage）；
VM：脚本输入图像（图像类型是ImageData）；
VM SDK：流程输入图像（ImageBaseData_V2，VM4.2 SDK新增）、Group输入图像（ImageBaseData_V2，VM4.2 SDK新增）、图像源SDK输入图像（ImageBaseData）、模块输入图像（InputImageData）、流程输出图像（区分VM4.0 SDK和VM4.2 SDK的获取输出图像的方式，VM4.2获取流程图像的类型是ImageBaseData_V2） ；
算子SDK：输入图像(CMvdImage)；
算法模块：输入图像(HKA_IMAGE，是C++中图像类型)。 - 图像类型转换（含单通道和三通道图像）三通道的Bitmap、Mat为BGR，三通道的VM和二次开发为RGB，针对常用图像转换场景，列举如下（见3.2~3.6）。篇幅所致，后续每种图像转换用函数表达，函数输入某种图像类型，返回转换后的某种图像类型。
3.2 相机采图转流程输入、Group输入、图像源SDK输入、模块输入、算子输入图像
描述
环境：VM4.2 + VS2013及以上
现象：相机采图转换成其他图像类型
解答
相机采图（MyCamera.MV_FRAME_OUT）转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像。
1 相机采图转流程输入（ImageBaseData_V2）、Group输入（ImageBaseData_V2）
public ImageBaseData_V2 CCDToImageBaseDataV2(MyCamera.MV_FRAME_OUT frameOut)
{
ImageBaseData_V2 imageBaseDataV2 = new ImageBaseData_V2();
if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
{
imageBaseDataV2 = new ImageBaseData_V2(frameOut.pBufAddr, frameOut.stFrameInfo.nFrameLen, frameOut.stFrameInfo.nWidth, frameOut.stFrameInfo.nHeight, VMPixelFormat.VM_PIXEL_MONO_08);
}
else if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed)
{
imageBaseDataV2 = new ImageBaseData_V2(frameOut.pBufAddr, frameOut.stFrameInfo.nFrameLen, frameOut.stFrameInfo.nWidth, frameOut.stFrameInfo.nHeight, VMPixelFormat.VM_PIXEL_RGB24_C3);
}
return imageBaseDataV2;
}
var image = CCDToImageBaseDataV2(stFrameOut);
//设置到流程
var procedure = VmSolution.Instance["流程1"] as VmProcedure;
procedure.ModuParams.SetInputImage_V2("ImageData", image);
//设置到Group
var group = VmSolution.Instance["流程1.组合模块1"] as IMVSGroupTool;
group.ModuParams.SetInputImage_V2("ImageData", image);
2 相机采图转图像源SDK输入（ImageBaseData）
public ImageBaseData CCDToImageBaseData(MyCamera.MV_FRAME_OUT frameOut)
{
ImageBaseData imageBaseData = new ImageBaseData();
imageBaseData.Width = frameOut.stFrameInfo.nWidth;
imageBaseData.Height = frameOut.stFrameInfo.nHeight;
imageBaseData.DataLen = frameOut.stFrameInfo.nFrameLen;
if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
{
imageBaseData.Pixelformat = (int)VMPixelFormat.VM_PIXEL_MONO_08;
}
else if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed)
{
imageBaseData.Pixelformat = (int)VMPixelFormat.VM_PIXEL_RGB24_C3;
}
imageBaseData.ImageData = new byte[frameOut.stFrameInfo.nFrameLen];
Marshal.Copy(frameOut.pBufAddr, imageBaseData.ImageData, 0, (int)frameOut.stFrameInfo.nFrameLen);
return imageBaseData;
}
var image = CCDToImageBaseData(stFrameOut);
//设置到图像源
ImageSourceModuleTool imageSourceModuleTool = (ImageSourceModuleTool)VmSolution.Instance["流程1.图像源1"];
imageSourceModuleTool.SetImageData(image);
3 相机采图转模块输入（InputImageData）
public InputImageData CCDToInputImageData(MyCamera.MV_FRAME_OUT frameOut)
{
InputImageData inputImageData = new InputImageData();
inputImageData.Names.DataName = "InImage";//只能使用默认名称InImage
inputImageData.Names.HeightName = "InImageHeight";//默认InImageHeight
inputImageData.Names.WidthName = "InImageWidth";//默认InImageWidth
inputImageData.Names.PixelFormatName = "InImagePixelFormat";//默认InImagePixelFormat
inputImageData.Width = frameOut.stFrameInfo.nWidth;
inputImageData.Height = frameOut.stFrameInfo.nHeight;
inputImageData.DataLen = frameOut.stFrameInfo.nFrameLen;
if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
{
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_MONO8;
}
else if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed)
{
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_RGB24;
}
//申请内存
inputImageData.Data = Marshal.AllocHGlobal((int)frameOut.stFrameInfo.nFrameLen);
byte[] imagedataBuffer = new byte[(int)frameOut.stFrameInfo.nFrameLen];
Marshal.Copy(frameOut.pBufAddr, imagedataBuffer, 0, (int)frameOut.stFrameInfo.nFrameLen);
Marshal.Copy(imagedataBuffer, 0, inputImageData.Data, (int)frameOut.stFrameInfo.nFrameLen);
return inputImageData;
}
var image= CCDToInputImageData(stFrameOut);
//设置到模块
var circlefindTool = VmSolution.Instance["流程1.圆查找1"] as IMVSImageEnhanceModuCs.IMVSImageEnhanceModuTool;
circlefindTool.ModuParams.SetInputImage(image);
4 相机采图转算子输入（CmvdImage）
public CMvdImage CCDToCMvdImage(MyCamera.MV_FRAME_OUT frameOut)
{
VisionDesigner.CMvdImage cMvdImage = new VisionDesigner.CMvdImage();
VisionDesigner.MVD_IMAGE_DATA_INFO stImageData = new VisionDesigner.MVD_IMAGE_DATA_INFO();
stImageData.stDataChannel[0].nLen = (uint)(frameOut.stFrameInfo.nFrameLen);
stImageData.stDataChannel[0].nSize = (uint)(frameOut.stFrameInfo.nFrameLen);
byte[] m_BufForDriver1 = new byte[frameOut.stFrameInfo.nFrameLen];
//数据Copy
Marshal.Copy(frameOut.pBufAddr, m_BufForDriver1, 0, (int)frameOut.stFrameInfo.nFrameLen);
stImageData.stDataChannel[0].arrDataBytes = m_BufForDriver1;
if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8)
{
stImageData.stDataChannel[0].nRowStep = (uint)frameOut.stFrameInfo.nWidth;
//初始化CMvdImage
cMvdImage.InitImage((uint)frameOut.stFrameInfo.nWidth, (uint)frameOut.stFrameInfo.nHeight, MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08, stImageData);
}
else if (frameOut.stFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed)
{
stImageData.stDataChannel[0].nRowStep = (uint)frameOut.stFrameInfo.nWidth * 3;
//初始化CMvdImage
cMvdImage.InitImage((uint)frameOut.stFrameInfo.nWidth, (uint)frameOut.stFrameInfo.nHeight, MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
return cMvdImage;
}
问题根因
不熟悉相机采图转换为其它类型
3.3 Bitmap转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出图像
描述
环境：VM4.2 + VS2013及以上
现象：Bitmap转换成其他图像类型
解答
Bitmap转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，流程输出图像转换为Bitmap。
1 Bitmap转流程输入（ImageBaseData_V2）、Group输入（ImageBaseData_V2）
public ImageBaseData_V2 BitmapToImageBaseData_V2(Bitmap bmpInputImg)
{
ImageBaseData_V2 imageBaseData_V2 = new ImageBaseData_V2();
System.Drawing.Imaging.PixelFormat bitPixelFormat = bmpInputImg.PixelFormat;
BitmapData bmData = bmpInputImg.LockBits(new Rectangle(0, 0, bmpInputImg.Width, bmpInputImg.Height), ImageLockMode.ReadOnly, bitPixelFormat);//锁定
if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height;//imageBaseData_V2图像真正的缓存长度
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex++];
}
bitmapIndex += offset;//删除冗余数据
}
IntPtr _ImageBaseDataIntptr = Marshal.AllocHGlobal(ImageBaseDataSize);
Marshal.Copy(_ImageBaseDataBufferBytes, 0, _ImageBaseDataIntptr, ImageBaseDataSize);
imageBaseData_V2 = new ImageBaseData_V2(_ImageBaseDataIntptr, (uint)ImageBaseDataSize, bmData.Width, bmData.Height, VMPixelFormat.VM_PIXEL_MONO_08);
Marshal.FreeHGlobal(_ImageBaseDataIntptr);
}
else if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format24bppRgb)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width * 3;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height * 3;//imageBaseData_V2图像真正的缓存长度
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 2];//bitmap为BGR，imageBaseData_V2为RGB
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 1];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex];
bitmapIndex += 3;
}
bitmapIndex += offset;
}
IntPtr _ImageBaseDataIntptr = Marshal.AllocHGlobal(ImageBaseDataSize);
Marshal.Copy(_ImageBaseDataBufferBytes, 0, _ImageBaseDataIntptr, ImageBaseDataSize);
imageBaseData_V2 = new ImageBaseData_V2(_ImageBaseDataIntptr, (uint)ImageBaseDataSize, bmData.Width, bmData.Height, VMPixelFormat.VM_PIXEL_RGB24_C3);
Marshal.FreeHGlobal(_ImageBaseDataIntptr);
}
bmpInputImg.UnlockBits(bmData); // 解除锁定
return imageBaseData_V2;
}
2 Bitmap转图像源SDK输入（ImageBaseData）
public ImageBaseData BitmapToImageBaseData(Bitmap bmpInputImg)
{
ImageBaseData imageBaseData = new ImageBaseData();
System.Drawing.Imaging.PixelFormat bitPixelFormat = bmpInputImg.PixelFormat;
BitmapData bmData = bmpInputImg.LockBits(new Rectangle(0, 0, bmpInputImg.Width, bmpInputImg.Height), ImageLockMode.ReadOnly, bitPixelFormat);//锁定
if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex++];
}
bitmapIndex += offset;
}
imageBaseData = new ImageBaseData(_ImageBaseDataBufferBytes, (uint)ImageBaseDataSize, bmData.Width, bmData.Height, (int)VMPixelFormat.VM_PIXEL_MONO_08);
}
else if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format24bppRgb)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width * 3;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height * 3;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 2];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 1];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex];
bitmapIndex += 3;
}
bitmapIndex += offset;
}
imageBaseData = new ImageBaseData(_ImageBaseDataBufferBytes, (uint)ImageBaseDataSize, bmData.Width, bmData.Height, (int)VMPixelFormat.VM_PIXEL_RGB24_C3);
}
bmpInputImg.UnlockBits(bmData); // 解除锁定
return imageBaseData;
}
3 Bitmap转模块输入（InputImageData）
public InputImageData BitmapToInputImageData(Bitmap bmpInputImg)
{
InputImageData inputImageData = new InputImageData();
System.Drawing.Imaging.PixelFormat bitPixelFormat = bmpInputImg.PixelFormat;
BitmapData bmData = bmpInputImg.LockBits(new Rectangle(0, 0, bmpInputImg.Width, bmpInputImg.Height), ImageLockMode.ReadOnly, bitPixelFormat);//锁定
inputImageData.Names.DataName = "InImage";//只能使用默认名称InImage
inputImageData.Names.HeightName = "InImageHeight";//默认InImageHeight
inputImageData.Names.WidthName = "InImageWidth";//默认InImageWidth
inputImageData.Names.PixelFormatName = "InImagePixelFormat";//默认InImagePixelFormat
inputImageData.Width = bmData.Width;
inputImageData.Height = bmData.Height;
if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex++];
}
bitmapIndex += offset;
}
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_MONO8;
inputImageData.DataLen = (uint)ImageBaseDataSize;
inputImageData.Data = Marshal.AllocHGlobal(ImageBaseDataSize);//inputImageData.Data需要申请内存;
Marshal.Copy(_ImageBaseDataBufferBytes, 0, inputImageData.Data, _ImageBaseDataBufferBytes.Length);
}
else if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format24bppRgb)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width * 3;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height * 3;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 2];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 1];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex];
bitmapIndex += 3;
}
bitmapIndex += offset;
}
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_RGB24;
inputImageData.DataLen = (uint)ImageBaseDataSize;
inputImageData.Data = Marshal.AllocHGlobal(ImageBaseDataSize);//inputImageData.Data需要申请内存;
Marshal.Copy(_ImageBaseDataBufferBytes, 0, inputImageData.Data, _ImageBaseDataBufferBytes.Length);
}
bmpInputImg.UnlockBits(bmData); // 解除锁定
return inputImageData;
}
4 Bitmap与算子（CmvdImage）互转
public CMvdImage BitmapToCMvdImage(Bitmap bmpInputImg)
{
CMvdImage cMvdImage = new CMvdImage();
System.Drawing.Imaging.PixelFormat bitPixelFormat = bmpInputImg.PixelFormat;
BitmapData bmData = bmpInputImg.LockBits(new Rectangle(0, 0, bmpInputImg.Width, bmpInputImg.Height), ImageLockMode.ReadOnly, bitPixelFormat);//锁定
if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex++];
}
bitmapIndex += offset;
}
MVD_IMAGE_DATA_INFO stImageData = new MVD_IMAGE_DATA_INFO();
stImageData.stDataChannel[0].nRowStep = (uint)bmData.Width;
stImageData.stDataChannel[0].nLen = (uint)ImageBaseDataSize;
stImageData.stDataChannel[0].nSize = (uint)ImageBaseDataSize;
stImageData.stDataChannel[0].arrDataBytes = _ImageBaseDataBufferBytes;
cMvdImage.InitImage((uint)bmData.Width, (uint)bmData.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08, stImageData);
}
else if (bitPixelFormat == System.Drawing.Imaging.PixelFormat.Format24bppRgb)
{
Int32 bitmapDataSize = bmData.Stride * bmData.Height;//bitmap图像缓存长度
int offset = bmData.Stride - bmData.Width * 3;
Int32 ImageBaseDataSize = bmData.Width * bmData.Height * 3;
byte[] _BitImageBufferBytes = new byte[bitmapDataSize];
byte[] _ImageBaseDataBufferBytes = new byte[ImageBaseDataSize];
Marshal.Copy(bmData.Scan0, _BitImageBufferBytes, 0, bitmapDataSize);
int bitmapIndex = 0;
int ImageBaseDataIndex = 0;
for (int i = 0; i < bmData.Height; i++)
{
for (int j = 0; j < bmData.Width; j++)
{
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 2];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex + 1];
_ImageBaseDataBufferBytes[ImageBaseDataIndex++] = _BitImageBufferBytes[bitmapIndex];
bitmapIndex += 3;
}
bitmapIndex += offset;
}
MVD_IMAGE_DATA_INFO stImageData = new MVD_IMAGE_DATA_INFO();
stImageData.stDataChannel[0].nRowStep = (uint)bmData.Width * 3;
stImageData.stDataChannel[0].nLen = (uint)ImageBaseDataSize;
stImageData.stDataChannel[0].nSize = (uint)ImageBaseDataSize;
stImageData.stDataChannel[0].arrDataBytes = _ImageBaseDataBufferBytes;
cMvdImage.InitImage((uint)bmData.Width, (uint)bmData.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
bmpInputImg.UnlockBits(bmData); // 解除锁定
return cMvdImage;
}
public Bitmap CMvdImageToBitmap(CMvdImage cMvdImage)
{
Bitmap bmpInputImg= null;
byte[] buffer = new byte[cMvdImage.GetImageData(0).arrDataBytes.Length];
buffer = cMvdImage.GetImageData(0).arrDataBytes;
if (MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08 == cMvdImage.PixelFormat)
{
Int32 imageWidth = Convert.ToInt32(cMvdImage.Width);
Int32 imageHeight = Convert.ToInt32(cMvdImage.Height);
System.Drawing.Imaging.PixelFormat bitMaPixelFormat = System.Drawing.Imaging.PixelFormat.Format8bppIndexed;
bmpInputImg = new Bitmap(imageWidth, imageHeight, bitMaPixelFormat);
int offset = imageWidth % 4 != 0 ? (4 - imageWidth % 4) : 0;//添加冗余位，变成4的倍数
int strid = imageWidth + offset;
int bitmapBytesLenth = strid * imageHeight;
byte[] bitmapDataBytes = new byte[bitmapBytesLenth];
for (int i = 0; i < imageHeight; i++)
{
for (int j = 0; j < strid; j++)
{
int bitIndex = i * strid + j;
int mvdIndex = i * imageWidth + j;
if (j >= imageWidth)
{
bitmapDataBytes[bitIndex] = 0;//冗余位填充0
}
else
{
bitmapDataBytes[bitIndex] = buffer[mvdIndex];
}
}
}
BitmapData bitmapData = bmpInputImg.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), ImageLockMode.WriteOnly, bitMaPixelFormat);
IntPtr imageBufferPtr = bitmapData.Scan0;
Marshal.Copy(bitmapDataBytes, 0, imageBufferPtr, bitmapBytesLenth);
bmpInputImg.UnlockBits(bitmapData);
var colorPalettes = bmpInputImg.Palette;
for (int j = 0; j < 256; j++)
{
colorPalettes.Entries[j] = Color.FromArgb(j, j, j);
}
bmpInputImg.Palette = colorPalettes;
}
else if (MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3 == cMvdImage.PixelFormat)
{
Int32 imageWidth = Convert.ToInt32(cMvdImage.Width);
Int32 imageHeight = Convert.ToInt32(cMvdImage.Height);
System.Drawing.Imaging.PixelFormat bitMaPixelFormat = System.Drawing.Imaging.PixelFormat.Format24bppRgb;
bmpInputImg = new Bitmap(imageWidth, imageHeight, bitMaPixelFormat);
int offset = imageWidth % 4 != 0 ? (4 - (imageWidth * 3) % 4) : 0;//添加冗余位，变成4的倍数
int strid = imageWidth * 3 + offset;
int bitmapBytesLenth = strid * imageHeight;
byte[] bitmapDataBytes = new byte[bitmapBytesLenth];
for (int i = 0; i < imageHeight; i++)
{
for (int j = 0; j < imageWidth; j++)
{
int mvdIndex = i * imageWidth * 3 + j * 3;
int bitIndex = i * strid + j * 3;
bitmapDataBytes[bitIndex] = buffer[mvdIndex + 2];
bitmapDataBytes[bitIndex + 1] = buffer[mvdIndex + 1];
bitmapDataBytes[bitIndex + 2] = buffer[mvdIndex];
}
for (int k = 0; k < offset; k++)
{
bitmapDataBytes[i * strid + imageWidth * 3 + k] = 0;
}
}
BitmapData bitmapData = bmpInputImg.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), ImageLockMode.WriteOnly, bitMaPixelFormat);
IntPtr imageBufferPtr = bitmapData.Scan0;
Marshal.Copy(bitmapDataBytes, 0, imageBufferPtr, bitmapBytesLenth);
bmpInputImg.UnlockBits(bitmapData);
}
return bmpInputImg;
}
5 流程输出（ImageBaseData_V2）转Bitmap
public Bitmap ImageBaseData_V2ToBitmap(ImageBaseData_V2 imageBaseData_V2)
{
Bitmap bmpInputImg = null;
byte[] buffer = new byte[imageBaseData_V2.DataLen];
Marshal.Copy(imageBaseData_V2.ImageData, buffer, 0, buffer.Length);
if (VMPixelFormat.VM_PIXEL_MONO_08 == imageBaseData_V2.Pixelformat)
{
Int32 imageWidth = Convert.ToInt32(imageBaseData_V2.Width);
Int32 imageHeight = Convert.ToInt32(imageBaseData_V2.Height);
System.Drawing.Imaging.PixelFormat bitMaPixelFormat = System.Drawing.Imaging.PixelFormat.Format8bppIndexed;
bmpInputImg = new Bitmap(imageWidth, imageHeight, bitMaPixelFormat);
int offset = imageWidth % 4 != 0 ? (4 - imageWidth % 4) : 0;//添加冗余位，变成4的倍数
int strid = imageWidth + offset;
int bitmapBytesLenth = strid * imageHeight;
byte[] bitmapDataBytes = new byte[bitmapBytesLenth];
for (int i = 0; i < imageHeight; i++)
{
for (int j = 0; j < strid; j++)
{
int bitIndex = i * strid + j;
int mvdIndex = i * imageWidth + j;
if (j >= imageWidth)
{
bitmapDataBytes[bitIndex] = 0;//冗余位填充0
}
else
{
bitmapDataBytes[bitIndex] = buffer[mvdIndex];
}
}
}
BitmapData bitmapData = bmpInputImg.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), ImageLockMode.WriteOnly, bitMaPixelFormat);
IntPtr imageBufferPtr = bitmapData.Scan0;
Marshal.Copy(bitmapDataBytes, 0, imageBufferPtr, bitmapBytesLenth);
bmpInputImg.UnlockBits(bitmapData);
var colorPalettes = bmpInputImg.Palette;
for (int j = 0; j < 256; j++)
{
colorPalettes.Entries[j] = Color.FromArgb(j, j, j);
}
bmpInputImg.Palette = colorPalettes;
}
else if (VMPixelFormat.VM_PIXEL_RGB24_C3 == imageBaseData_V2.Pixelformat)
{
Int32 imageWidth = Convert.ToInt32(imageBaseData_V2.Width);
Int32 imageHeight = Convert.ToInt32(imageBaseData_V2.Height);
System.Drawing.Imaging.PixelFormat bitMaPixelFormat = System.Drawing.Imaging.PixelFormat.Format24bppRgb;
bmpInputImg = new Bitmap(imageWidth, imageHeight, bitMaPixelFormat);
int offset = imageWidth % 4 != 0 ? (4 - (imageWidth * 3) % 4) : 0;//添加冗余位，变成4的倍数
int strid = imageWidth * 3 + offset;
int bitmapBytesLenth = strid * imageHeight;
byte[] bitmapDataBytes = new byte[bitmapBytesLenth];
for (int i = 0; i < imageHeight; i++)
{
for (int j = 0; j < imageWidth; j++)
{
int mvdIndex = i * imageWidth * 3 + j * 3;
int bitIndex = i * strid + j * 3;
bitmapDataBytes[bitIndex] = buffer[mvdIndex + 2];
bitmapDataBytes[bitIndex + 1] = buffer[mvdIndex + 1];
bitmapDataBytes[bitIndex + 2] = buffer[mvdIndex];
}
for (int k = 0; k < offset; k++)
{
bitmapDataBytes[i * strid + imageWidth * 3 + k] = 0;
}
}
BitmapData bitmapData = bmpInputImg.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), ImageLockMode.WriteOnly, bitMaPixelFormat);
IntPtr imageBufferPtr = bitmapData.Scan0;
Marshal.Copy(bitmapDataBytes, 0, imageBufferPtr, bitmapBytesLenth);
bmpInputImg.UnlockBits(bitmapData);
}
return bmpInputImg;
}
问题根因
不熟悉Bitmap转换为其它类型
3.4 Mat转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出、脚本图像
描述
环境：VM4.2 + VS2013及以上
现象：Mat转换成其他图像类型
解答
Mat转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，算子输出图像转Mat，流程输出图像转换为Mat，Mat与脚本图像互转。
1 Mat转流程输入（ImageBaseData_V2）、Group输入（ImageBaseData_V2）
public ImageBaseData_V2 MatToImageBaseData_V2(Mat matInputImg)
{
ImageBaseData_V2 imageBaseData_V2 = new ImageBaseData_V2();
uint dataLen = (uint)(matInputImg.Width * matInputImg.Height * matInputImg.Channels());
if (1 == matInputImg.Channels())
{
imageBaseData_V2 = new ImageBaseData_V2(matInputImg.Ptr(0), dataLen, matInputImg.Width, matInputImg.Height, VMPixelFormat.VM_PIXEL_MONO_08);
}
else if (3 == matInputImg.Channels())
{
//交换R与B通道
Cv2.CvtColor(matInputImg, matInputImg, ColorConversionCodes.BGR2RGB);
imageBaseData_V2 = new ImageBaseData_V2(matInputImg.Ptr(0), dataLen, matInputImg.Width, matInputImg.Height, VMPixelFormat.VM_PIXEL_RGB24_C3);
}
return imageBaseData_V2;
}
2 Mat转图像源SDK输入（ImageBaseData）
public ImageBaseData MatToImageBaseData(Mat matInputImg)
{
ImageBaseData imageBaseData = new ImageBaseData();
uint dataLen = (uint)(matInputImg.Width * matInputImg.Height * matInputImg.Channels());
byte[] buffer = new byte[dataLen];
Marshal.Copy(matInputImg.Ptr(0), buffer, 0, buffer.Length);
if (1 == matInputImg.Channels())
{
imageBaseData = new ImageBaseData(buffer, dataLen, matInputImg.Width, matInputImg.Height, (int)VMPixelFormat.VM_PIXEL_MONO_08);
}
else if (3 == matInputImg.Channels())
{
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
imageBaseData = new ImageBaseData(buffer, dataLen, matInputImg.Width, matInputImg.Height, (int)VMPixelFormat.VM_PIXEL_RGB24_C3);
}
return imageBaseData;
}
3 Mat转模块输入（InputImageData）
public InputImageData MatToInputImageData(Mat matInputImg)
{
InputImageData inputImageData = new InputImageData();
uint dataLen = (uint)(matInputImg.Width * matInputImg.Height * matInputImg.Channels());
byte[] buffer = new byte[dataLen];
Marshal.Copy(matInputImg.Ptr(0), buffer, 0, buffer.Length);
inputImageData.Names.DataName = "InImage";//只能使用默认名称InImage
inputImageData.Names.HeightName = "InImageHeight";//默认InImageHeight
inputImageData.Names.WidthName = "InImageWidth";//默认InImageWidth
inputImageData.Names.PixelFormatName = "InImagePixelFormat";//默认InImagePixelFormat
inputImageData.Width = matInputImg.Width;
inputImageData.Height = matInputImg.Height;
inputImageData.DataLen = dataLen;
//inputImageData.Data需要申请内存
inputImageData.Data = Marshal.AllocHGlobal((int)dataLen);
if (1 == matInputImg.Channels())
{
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_MONO8;
Marshal.Copy(buffer, 0, inputImageData.Data, buffer.Length);
}
else if (3 == matInputImg.Channels())
{
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_RGB24;
Marshal.Copy(buffer, 0, inputImageData.Data, buffer.Length);
}
return inputImageData;
}
4 Mat与算子图像（CmvdImage）互转
public CMvdImage MatToCMvdImage(Mat matInputImg)
{
CMvdImage cMvdImage = new CMvdImage();
uint dataLen = (uint)(matInputImg.Width * matInputImg.Height * matInputImg.Channels());
byte[] buffer = new byte[dataLen];
Marshal.Copy(matInputImg.Ptr(0), buffer, 0, buffer.Length);
if (1 == matInputImg.Channels())
{
MVD_IMAGE_DATA_INFO stImageData = new MVD_IMAGE_DATA_INFO();
stImageData.stDataChannel[0].nRowStep = (uint)matInputImg.Width;
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].arrDataBytes = buffer;
cMvdImage.InitImage((uint)matInputImg.Width, (uint)matInputImg.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08, stImageData);
}
else if (3 == matInputImg.Channels())
{
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
MVD_IMAGE_DATA_INFO stImageData = new MVD_IMAGE_DATA_INFO();
stImageData.stDataChannel[0].nRowStep = (uint)matInputImg.Width * 3;
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].arrDataBytes = buffer;
cMvdImage.InitImage((uint)matInputImg.Width, (uint)matInputImg.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
return cMvdImage;
}
public Mat CMvdImageToMat(CMvdImage cMvdImage)
{
Mat matInputImg = new Mat();
cMvdImage.InitImage("D:\\2.jpg");
byte[] buffer = new byte[cMvdImage.GetImageData(0).arrDataBytes.Length];
buffer = cMvdImage.GetImageData(0).arrDataBytes;
if (MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08 == cMvdImage.PixelFormat)
{
matInputImg.Create((int)cMvdImage.Height, (int)cMvdImage.Width, MatType.CV_8UC1);
Marshal.Copy(buffer, 0, matInputImg.Ptr(0), buffer.Length);
}
else if (MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3 == cMvdImage.PixelFormat)
{
matInputImg.Create((int)cMvdImage.Height, (int)cMvdImage.Width, MatType.CV_8UC3);
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
Marshal.Copy(buffer, 0, matInputImg.Ptr(0), buffer.Length);
}
return matInputImg;
}
5 流程输出（ImageBaseData_V2）转Mat
public Mat ImageBaseData_V2ToMat(ImageBaseData_V2 imageBaseData_V2)
{
Mat matInputImg = new Mat();
byte[] buffer = new byte[imageBaseData_V2.DataLen];
Marshal.Copy(imageBaseData_V2.ImageData, buffer, 0, buffer.Length);
if (VMPixelFormat.VM_PIXEL_MONO_08 == imageBaseData_V2.Pixelformat)
{
matInputImg.Create(imageBaseData_V2.Height, imageBaseData_V2.Width, MatType.CV_8UC1);
Marshal.Copy(buffer, 0, matInputImg.Ptr(0), buffer.Length);
}
else if (VMPixelFormat.VM_PIXEL_RGB24_C3 == imageBaseData_V2.Pixelformat)
{
matInputImg.Create(imageBaseData_V2.Height, imageBaseData_V2.Width, MatType.CV_8UC3);
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
Marshal.Copy(buffer, 0, matInputImg.Ptr(0), buffer.Length);
}
return matInputImg;
}
6 Mat与脚本图像（ImageData）互转
public ImageData MatToImageData(Mat matImage)
{
ImageData imgOut = new ImageData();
byte[] buffer = new Byte[matImage.Width * matImage.Height * matImage.Channels()];
Marshal.Copy(matImage.Ptr(0), buffer, 0, buffer.Length);
if (1 == matImage.Channels())
{
imgOut.Buffer = buffer;
imgOut.Width = matImage.Width;
imgOut.Heigth = matImage.Height;
imgOut.PixelFormat = ImagePixelFormate.MONO8;
}
else if (3 == matImage.Channels())
{
//交换R与B通道
for (int i = 0; i < buffer.Length - 2; i += 3)
{
byte temp = buffer[i];
buffer[i] = buffer[i + 2];
buffer[i + 2] = temp;
}
imgOut.Buffer = buffer;
imgOut.Width = matImage.Width;
imgOut.Heigth = matImage.Height;
imgOut.PixelFormat = ImagePixelFormate.RGB24;
}
return imgOut;
}
public Mat ImageDataToMat(ImageData img)
{
Mat matImage = new Mat();
if(ImagePixelFormate.MONO8 == img.PixelFormat)
{
matImage = Mat.Zeros(img.Heigth, img.Width, MatType.CV_8UC1);
IntPtr grayPtr = Marshal.AllocHGlobal(img.Width * img.Heigth);
Marshal.Copy(img.Buffer, 0, matImage.Ptr(0), img.Buffer.Length);
//用完记得释放指针
Marshal.FreeHGlobal(grayPtr);
}
else if (ImagePixelFormate.RGB24 == img.PixelFormat)
{
matImage = Mat.Zeros(img.Heigth, img.Width, MatType.CV_8UC3);
IntPtr rgbPtr = Marshal.AllocHGlobal(img.Width * img.Heigth * 3);
Marshal.Copy(img.Buffer, 0, matImage.Ptr(0), img.Buffer.Length);
Cv2.CvtColor(matImage, matImage, ColorConversionCodes.RGB2BGR);
//用完记得释放指针
Marshal.FreeHGlobal(rgbPtr);
}
return matImage;
}
问题根因
不熟悉Mat转换为其它类型
3.5 Halcon转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出、脚本图像
描述
环境：VM4.2 + VS2013及以上
现象：Halcon转换成其他图像类型
解答
Halcon图像转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，算子输出图像转Halcon图像，流程输出图像转换为Halcon图像，Halcon图像与脚本图像互转。
1 Halcon图像转流程输入（ImageBaseData_V2）、Group输入（ImageBaseData_V2）
public static ImageBaseData_V2 HalconImageToImageBaseDataV2(HObject hImageObj)
{
try
{
ImageBaseData_V2 imageBaseData = new ImageBaseData_V2();
HTuple imageWidth = 0;
HTuple imageHeight = 0;
HTuple objClass = hImageObj.GetObjClass();
if (objClass.S.Equals("image"))
{
HTuple imageType;
HOperatorSet.GetImageType(hImageObj, out imageType);
if (imageType.S.Equals("byte"))
{
//获取图像通道数
HTuple channels = 0;
HOperatorSet.CountChannels(hImageObj, out channels);
//如果是单通道
if (channels.I == 1)
{
HTuple imagePointer;
HOperatorSet.GetImagePointer1(hImageObj, out imagePointer, out imageType, out imageWidth, out imageHeight);
imageBaseData.Width = imageWidth.I;
imageBaseData.Height = imageHeight.I;
imageBaseData.Pixelformat = VMPixelFormat.VM_PIXEL_MONO_08;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
imageBaseData.DataLen = (uint)(stride * imageBaseData.Height);
imageBaseData.ImageData = imagePointer;
}
//如果是三通道
else if (channels.I == 3)
{
HTuple redChannel;
HTuple greenChannel;
HTuple blueChannel;
HOperatorSet.GetImagePointer3(hImageObj, out redChannel, out greenChannel, out blueChannel, out imageType, out imageWidth, out imageHeight);
imageBaseData.Width = imageWidth.I;
imageBaseData.Height = imageHeight.I;
imageBaseData.Pixelformat = VMPixelFormat.VM_PIXEL_RGB24_C3;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
byte[] imageRedBuffer = new byte[stride * imageHeight.I];
byte[] imageGreenBuffer = new byte[stride * imageHeight.I];
byte[] imageBlueBuffer = new byte[stride * imageHeight.I];
Marshal.Copy(redChannel, imageRedBuffer, 0, imageRedBuffer.Length);
Marshal.Copy(greenChannel, imageGreenBuffer, 0, imageGreenBuffer.Length);
Marshal.Copy(blueChannel, imageBlueBuffer, 0, imageBlueBuffer.Length);
byte[] imageBuffer = new byte[stride * imageHeight.I * 3];
for (int row = 0; row < imageHeight.I; row++)
{
for (int col = 0, index = 0; col < imageWidth.I; col++, index += 3)
{
imageBuffer[index] = imageRedBuffer[row * imageWidth + col];
imageBuffer[index + 1] = imageGreenBuffer[row * imageWidth + col];
imageBuffer[index + 2] = imageBlueBuffer[row * imageWidth + col];
}
}
imageBaseData.DataLen = (uint)(stride * imageBaseData.Height * 3);
imageBaseData.ImageData = Marshal.UnsafeAddrOfPinnedArrayElement(imageBuffer, 0);
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持单通道，三通道以外的图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持8bit以外的位深度图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("HObject非图像类型对象");
}
return imageBaseData;
}
catch (Exception ex)
{
hImageObj?.Dispose();
throw new Exception(ex.Message);
}
}
2 Halcon图像转图像源SDK输入（ImageBaseData）
public static ImageBaseData HalconImageToImageBaseData(HObject hImageObj)
{
try
{
ImageBaseData imageBaseData = new ImageBaseData();
HTuple imageWidth = 0;
HTuple imageHeight = 0;
HTuple objClass = hImageObj.GetObjClass();
if (objClass.S.Equals("image"))
{
HTuple imageType;
HOperatorSet.GetImageType(hImageObj, out imageType);
if (imageType.S.Equals("byte"))
{
//获取图像通道数
HTuple channels = 0;
HOperatorSet.CountChannels(hImageObj, out channels);
//如果是单通道
if (channels.I == 1)
{
HTuple imagePointer;
HOperatorSet.GetImagePointer1(hImageObj, out imagePointer, out imageType, out imageWidth, out imageHeight);
imageBaseData.Width = imageWidth.I;
imageBaseData.Height = imageHeight.I;
imageBaseData.Pixelformat = (int)VMPixelFormat.VM_PIXEL_MONO_08;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
imageBaseData.DataLen = (uint)(stride * imageBaseData.Height);
imageBaseData.ImageData = new byte[stride * imageHeight.I];
Marshal.Copy(imagePointer, imageBaseData.ImageData, 0, stride * imageHeight.I);
}
//如果是三通道
else if (channels.I == 3)
{
HTuple redChannel;
HTuple greenChannel;
HTuple blueChannel;
HOperatorSet.GetImagePointer3(hImageObj, out redChannel, out greenChannel, out blueChannel, out imageType, out imageWidth, out imageHeight);
imageBaseData.Width = imageWidth.I;
imageBaseData.Height = imageHeight.I;
imageBaseData.Pixelformat = (int)VMPixelFormat.VM_PIXEL_RGB24_C3;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
imageBaseData.DataLen = (uint)(stride * imageBaseData.Height * 3);
imageBaseData.ImageData = new byte[stride * imageHeight.I * 3];
byte[] imageRedBuffer = new byte[stride * imageHeight.I];
byte[] imageGreenBuffer = new byte[stride * imageHeight.I];
byte[] imageBlueBuffer = new byte[stride * imageHeight.I];
Marshal.Copy(redChannel.IP, imageRedBuffer, 0, imageRedBuffer.Length);
Marshal.Copy(greenChannel.IP, imageGreenBuffer, 0, imageGreenBuffer.Length);
Marshal.Copy(blueChannel.IP, imageBlueBuffer, 0, imageBlueBuffer.Length);
for (int row = 0; row < imageHeight.I; row++)
{
for (int col = 0, index = 0; col < imageWidth.I; col++, index += 3)
{
imageBaseData.ImageData[index] = imageRedBuffer[row * imageWidth + col];
imageBaseData.ImageData[index + 1] = imageGreenBuffer[row * imageWidth + col];
imageBaseData.ImageData[index + 2] = imageBlueBuffer[row * imageWidth + col];
}
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持单通道，三通道以外的图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持8bit以外的位深度图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("HObject非图像类型对象");
}
return imageBaseData;
}
catch (Exception ex)
{
hImageObj?.Dispose();
throw new Exception(ex.Message);
}
}
3 Halcon图像转模块输入（InputImageData）
public static InputImageData HalconImageToModuleInputImage(HObject hImageObj)
{
try
{
InputImageData inputImageData = new InputImageData();
HTuple imageWidth = 0;
HTuple imageHeight = 0;
HTuple objClass = hImageObj.GetObjClass();
if (objClass.S.Equals("image"))
{
HTuple imageType;
HOperatorSet.GetImageType(hImageObj, out imageType);
if (imageType.S.Equals("byte"))
{
//获取图像通道数
HTuple channels = 0;
HOperatorSet.CountChannels(hImageObj, out channels);
//如果是单通道
if (channels.I == 1)
{
HTuple imagePointer;
HOperatorSet.GetImagePointer1(hImageObj, out imagePointer, out imageType, out imageWidth, out imageHeight);
inputImageData.Width = imageWidth.I;
inputImageData.Height = imageHeight.I;
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_MONO8;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
inputImageData.DataLen = (uint)(stride * inputImageData.Height);
inputImageData.Data = imagePointer;
inputImageData.Names.DataName = "InImage";
inputImageData.Names.WidthName = "InImageWidth";
inputImageData.Names.HeightName = "InImageHeight";
inputImageData.Names.PixelFormatName = "InImagePixelFormat";
}
//如果是三通道
else if (channels.I == 3)
{
HTuple redChannel;
HTuple greenChannel;
HTuple blueChannel;
HOperatorSet.GetImagePointer3(hImageObj, out redChannel, out greenChannel, out blueChannel, out imageType, out imageWidth, out imageHeight);
inputImageData.Width = imageWidth.I;
inputImageData.Height = imageHeight.I;
inputImageData.Pixelformat = ImagePixelFormat.IMAGE_PIXEL_FORMAT_RGB24;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
byte[] imageRedBuffer = new byte[stride * imageHeight.I];
byte[] imageGreenBuffer = new byte[stride * imageHeight.I];
byte[] imageBlueBuffer = new byte[stride * imageHeight.I];
Marshal.Copy(redChannel.IP, imageRedBuffer, 0, imageRedBuffer.Length);
Marshal.Copy(greenChannel.IP, imageGreenBuffer, 0, imageGreenBuffer.Length);
Marshal.Copy(blueChannel.IP, imageBlueBuffer, 0, imageBlueBuffer.Length);
byte[] imageBuffer = new byte[stride * imageHeight * 3];
for (int row = 0; row < imageHeight.I; row++)
{
for (int col = 0, index = 0; col < imageWidth.I; col++, index += 3)
{
imageBuffer[index] = imageRedBuffer[row * imageWidth + col];
imageBuffer[index + 1] = imageGreenBuffer[row * imageWidth + col];
imageBuffer[index + 2] = imageBlueBuffer[row * imageWidth + col];
}
}
inputImageData.DataLen = (uint)(stride * inputImageData.Height * 3);
inputImageData.Data = Marshal.UnsafeAddrOfPinnedArrayElement(imageBuffer, 0);
inputImageData.Names.DataName = "InImage";
inputImageData.Names.WidthName = "InImageWidth";
inputImageData.Names.HeightName = "InImageHeight";
inputImageData.Names.PixelFormatName = "InImagePixelFormat";
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持单通道，三通道以外的图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持8bit以外的位深度图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("HObject非图像类型对象");
}
return inputImageData;
}
catch (Exception ex)
{
hImageObj?.Dispose();
throw new Exception(ex.Message);
}
}
4 Halcon图像与算子图像（CmvdImage）互转
public static CMvdImage HalconImageToCMvdImage(HObject hImageObj)
{
try
{
CMvdImage image = new CMvdImage();
HTuple imageWidth = 0;
HTuple imageHeight = 0;
HTuple objClass = hImageObj.GetObjClass();
if (objClass.S.Equals("image"))
{
HTuple imageType;
HOperatorSet.GetImageType(hImageObj, out imageType);
if (imageType.S.Equals("byte"))
{
//获取图像通道数
HTuple channels = 0;
HOperatorSet.CountChannels(hImageObj, out channels);
//如果是单通道
if (channels.I == 1)
{
HTuple imagePointer;
HOperatorSet.GetImagePointer1(hImageObj, out imagePointer, out imageType, out imageWidth, out imageHeight);
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
MVD_IMAGE_DATA_INFO imageDataInfo = new MVD_IMAGE_DATA_INFO();
imageDataInfo.stDataChannel = new MVD_DATA_CHANNEL_INFO[4];
imageDataInfo.stDataChannel[0] = new MVD_DATA_CHANNEL_INFO();
imageDataInfo.stDataChannel[0].arrDataBytes = new byte[stride * imageHeight.I];
imageDataInfo.stDataChannel[0].nRowStep = (uint)stride;
imageDataInfo.stDataChannel[0].nSize = (uint)(stride * imageHeight.I);
imageDataInfo.stDataChannel[0].nLen = (uint)(imageWidth.I * imageHeight.I);
Marshal.Copy(imagePointer, imageDataInfo.stDataChannel[0].arrDataBytes, 0, stride * imageHeight.I);
image.InitImage((uint)imageWidth.I, (uint)imageHeight.I, MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08, imageDataInfo);
}
//如果是三通道
else if (channels.I == 3)
{
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
MVD_IMAGE_DATA_INFO imageDataInfo = new MVD_IMAGE_DATA_INFO();
imageDataInfo.stDataChannel = new MVD_DATA_CHANNEL_INFO[4];
imageDataInfo.stDataChannel[0] = new MVD_DATA_CHANNEL_INFO();
imageDataInfo.stDataChannel[0].arrDataBytes = new byte[stride * imageHeight.I * 3];
imageDataInfo.stDataChannel[0].nRowStep = (uint)stride;
imageDataInfo.stDataChannel[0].nSize = (uint)(stride * imageHeight.I * 3);
imageDataInfo.stDataChannel[0].nLen = (uint)(imageWidth.I * imageHeight.I * 3);
HTuple redChannel;
HTuple greenChannel;
HTuple blueChannel;
HOperatorSet.GetImagePointer3(hImageObj, out redChannel, out greenChannel, out blueChannel, out imageType, out imageWidth, out imageHeight);
byte[] imageRedBuffer = new byte[stride * imageHeight.I];
byte[] imageGreenBuffer = new byte[stride * imageHeight.I];
byte[] imageBlueBuffer = new byte[stride * imageHeight.I];
Marshal.Copy(redChannel.IP, imageRedBuffer, 0, imageRedBuffer.Length);
Marshal.Copy(greenChannel.IP, imageGreenBuffer, 0, imageGreenBuffer.Length);
Marshal.Copy(blueChannel.IP, imageBlueBuffer, 0, imageBlueBuffer.Length);
for (int row = 0; row < imageHeight.I; row++)
{
for (int col = 0, index = 0; col < imageWidth.I; col++, index += 3)
{
imageDataInfo.stDataChannel[0].arrDataBytes[index] = imageRedBuffer[row * imageWidth + col];
imageDataInfo.stDataChannel[0].arrDataBytes[index + 1] = imageGreenBuffer[row * imageWidth + col];
imageDataInfo.stDataChannel[0].arrDataBytes[index + 2] = imageBlueBuffer[row * imageWidth + col];
}
}
image.InitImage((uint)imageWidth.I, (uint)imageHeight.I, MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3, imageDataInfo);
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持单通道，三通道以外的图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持8bit以外的位深度图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("HObject非图像类型对象");
}
return image;
}
catch (Exception ex)
{
hImageObj?.Dispose();
throw new Exception(ex.Message);
}
}
public static HObject CMvdImageToHalconImage(CMvdImage image)
{
IntPtr imagePointer = IntPtr.Zero;
IntPtr redChannel = IntPtr.Zero;
IntPtr greenChannel = IntPtr.Zero;
IntPtr blueChannel = IntPtr.Zero;
try
{
HObject imageObj = new HObject();
HTuple width = image.Width;
HTuple height = image.Height;
if (image.PixelFormat == MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08)
{
imagePointer = Marshal.AllocHGlobal(image.GetImageData(0).arrDataBytes.Length);
Marshal.Copy(image.GetImageData(0).arrDataBytes, 0, imagePointer, image.GetImageData(0).arrDataBytes.Length);
HOperatorSet.GenImage1(out imageObj, "byte", width, height, imagePointer);
}
else if (image.PixelFormat == MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3)
{
int stride = width;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
byte[] imageRedBuffer = new byte[stride * height.I];
byte[] imageGreenBuffer = new byte[stride * height.I];
byte[] imageBlueBuffer = new byte[stride * height.I];
for (int row = 0; row < height.I; row++)
{
for (int col = 0, index = 0; col < width.I; col++, index += 3)
{
imageRedBuffer[row * width.I + col] = image.GetImageData(0).arrDataBytes[index];
imageGreenBuffer[row * width.I + col] = image.GetImageData(0).arrDataBytes[index + 1];
imageBlueBuffer[row * width.I + col] = image.GetImageData(0).arrDataBytes[index + 2];
}
}
HOperatorSet.GenImage3(
out imageObj,
"byte",
width,
height,
Marshal.UnsafeAddrOfPinnedArrayElement(imageRedBuffer, 0),
Marshal.UnsafeAddrOfPinnedArrayElement(imageGreenBuffer, 0),
Marshal.UnsafeAddrOfPinnedArrayElement(imageBlueBuffer, 0));
}
return imageObj;
}
catch (Exception ex)
{
Marshal.FreeHGlobal(imagePointer);
Marshal.FreeHGlobal(redChannel);
Marshal.FreeHGlobal(greenChannel);
Marshal.FreeHGlobal(blueChannel);
throw new Exception(ex.Message);
}
}
5 流程输出（ImageBaseData_V2）转Halcon图像
public static HObject ImageBaseDataV2ToHalconImage(ImageBaseData_V2 image)
{
try
{
HObject imageObj = new HObject();
HTuple width = image.Width;
HTuple height = image.Height;
if (image.Pixelformat == VMPixelFormat.VM_PIXEL_MONO_08)
{
HOperatorSet.GenImage1(out imageObj, "byte", width, height, image.ImageData);
}
else if (image.Pixelformat == VMPixelFormat.VM_PIXEL_RGB24_C3)
{
int stride = width.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
byte[] imageRedBuffer = new byte[stride * height.I];
byte[] imageGreenBuffer = new byte[stride * height.I];
byte[] imageBlueBuffer = new byte[stride * height.I];
byte[] imageBuffer = new byte[stride * height.I * 3];
Marshal.Copy(image.ImageData, imageBuffer, 0, imageBuffer.Length);
for (int row = 0; row < height.I; row++)
{
for (int col = 0, index = 0; col < width.I; col++, index += 3)
{
imageRedBuffer[row * width.I + col] = imageBuffer[index];
imageGreenBuffer[row * width.I + col] = imageBuffer[index + 1];
imageBlueBuffer[row * width.I + col] = imageBuffer[index + 2];
}
}
HOperatorSet.GenImage3(
out imageObj,
"byte",
width,
height,
Marshal.UnsafeAddrOfPinnedArrayElement(imageRedBuffer, 0),
Marshal.UnsafeAddrOfPinnedArrayElement(imageGreenBuffer, 0),
Marshal.UnsafeAddrOfPinnedArrayElement(imageBlueBuffer, 0));
}
return imageObj;
}
catch (Exception ex)
{
throw new Exception(ex.Message);
}
}
6 halcon图像与脚本图像（ImageData）互转
public static ImageData HalconImageToImageData(HObject hImageObj)
{
try
{
ImageData imageData = new ImageData();
HTuple imageWidth = 0;
HTuple imageHeight = 0;
HTuple objClass = hImageObj.GetObjClass();
if (objClass.S.Equals("image"))
{
HTuple imageType;
HOperatorSet.GetImageType(hImageObj, out imageType);
if (imageType.S.Equals("byte"))
{
//获取图像通道数
HTuple channels = 0;
HOperatorSet.CountChannels(hImageObj, out channels);
//如果是单通道
if (channels.I == 1)
{
HTuple imagePointer;
HOperatorSet.GetImagePointer1(hImageObj, out imagePointer, out imageType, out imageWidth, out imageHeight);
imageData.Width = imageWidth.I;
imageData.Heigth = imageHeight.I;
imageData.PixelFormat = ImagePixelFormate.MONO8;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
imageData.Buffer = new byte[stride * imageHeight.I];
Marshal.Copy(imagePointer, imageData.Buffer, 0, stride * imageHeight.I);
}
//如果是三通道
else if (channels.I == 3)
{
HTuple redChannel;
HTuple greenChannel;
HTuple blueChannel;
HOperatorSet.GetImagePointer3(hImageObj, out redChannel, out greenChannel, out blueChannel, out imageType, out imageWidth, out imageHeight);
imageData.Width = imageWidth.I;
imageData.Heigth = imageHeight.I;
imageData.PixelFormat = ImagePixelFormate.RGB24;
int stride = imageWidth.I;
if (stride % 4 != 0)
{
stride += 4 - stride % 4;
}
imageData.Buffer = new byte[stride * imageHeight.I * 3];
byte[] imageRedBuffer = new byte[stride * imageHeight.I];
byte[] imageGreenBuffer = new byte[stride * imageHeight.I];
byte[] imageBlueBuffer = new byte[stride * imageHeight.I];
Marshal.Copy(redChannel.IP, imageRedBuffer, 0, imageRedBuffer.Length);
Marshal.Copy(greenChannel.IP, imageGreenBuffer, 0, imageGreenBuffer.Length);
Marshal.Copy(blueChannel.IP, imageBlueBuffer, 0, imageBlueBuffer.Length);
for (int row = 0; row < imageHeight.I; row++)
{
for (int col = 0, index = 0; col < imageWidth.I; col++, index += 3)
{
imageData.Buffer[index] = imageRedBuffer[row * imageWidth + col];
imageData.Buffer[index + 1] = imageGreenBuffer[row * imageWidth + col];
imageData.Buffer[index + 2] = imageBlueBuffer[row * imageWidth + col];
}
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持单通道，三通道以外的图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("不支持8bit以外的位深度图像");
}
}
else
{
hImageObj?.Dispose();
throw new Exception("HObject非图像类型对象");
}
return imageData;
}
catch (Exception ex)
{
hImageObj?.Dispose();
throw new Exception(ex.Message);
}
}
public static HObject ImageDataToHalconImage(ImageData image)
{
IntPtr imagePointer = IntPtr.Zero;
IntPtr redChannel = IntPtr.Zero;
IntPtr greenChannel = IntPtr.Zero;
IntPtr blueChannel = IntPtr.Zero;
try
{
HObject imageObj = new HObject();
HTuple width = image.Width;
HTuple height = image.Heigth;
if (image.PixelFormat == ImagePixelFormate.MONO8)
{
imagePointer = Marshal.AllocHGlobal(image.Buffer.Length);
Marshal.Copy(image.Buffer, 0, imagePointer, image.Buffer.Length);
HOperatorSet.GenImage1(out imageObj, "byte", width, height, imagePointer);
}
else if (image.PixelFormat == ImagePixelFormate.RGB24)
{
byte[] imageRedBuffer = new byte[image.Buffer.Length / 3];
byte[] imageGreBuffer = new byte[image.Buffer.Length / 3];
byte[] imageBluBuffer = new byte[image.Buffer.Length / 3];
int index = 0;
for (int i = 0; i < image.Buffer.Length; index++, i += 3)
{
imageRedBuffer[index] = image.Buffer[i];
imageGreBuffer[index] = image.Buffer[i + 1];
imageBluBuffer[index] = image.Buffer[i + 2];
}
redChannel = Marshal.AllocHGlobal(imageRedBuffer.Length);
greenChannel = Marshal.AllocHGlobal(imageGreBuffer.Length);
blueChannel = Marshal.AllocHGlobal(imageBluBuffer.Length);
Marshal.Copy(imageRedBuffer, 0, redChannel, imageRedBuffer.Length);
Marshal.Copy(imageGreBuffer, 0, greenChannel, imageGreBuffer.Length);
Marshal.Copy(imageBluBuffer, 0, blueChannel, imageBluBuffer.Length);
HOperatorSet.GenImage3(out imageObj, "byte", width, height, redChannel, greenChannel, blueChannel);
}
return imageObj;
}
catch (Exception ex)
{
Marshal.FreeHGlobal(imagePointer);
Marshal.FreeHGlobal(redChannel);
Marshal.FreeHGlobal(greenChannel);
Marshal.FreeHGlobal(blueChannel);
throw new Exception(ex.Message);
}
}
问题根因
不熟悉Halcon图像转换为其它类型
3.6 流程图像与算子图像互转
描述
环境：VM4.2 + VS2013及以上
现象：流程图像与算子图像互转
解答
VM SDK开发中流程输入输出图像都是ImageBaseData_V2，算子SDK开发中算子输入输出图像都是CmvdImage，两者可以实现互转。
1 流程图像转算子图像
public CMvdImage ImageBaseData_V2ToCMvdImage(ImageBaseData_V2 ImageBaseDataV2)
{
VisionDesigner.CMvdImage cmvdImage = new VisionDesigner.CMvdImage();
VisionDesigner.MVD_IMAGE_DATA_INFO stImageData = new VisionDesigner.MVD_IMAGE_DATA_INFO();
if (VMPixelFormat.VM_PIXEL_MONO_08 == ImageBaseDataV2.Pixelformat)
{
stImageData.stDataChannel[0].nRowStep = (uint)ImageBaseDataV2.Width;
stImageData.stDataChannel[0].nLen = (uint)(ImageBaseDataV2.Width * ImageBaseDataV2.Height);
stImageData.stDataChannel[0].nSize = (uint)(ImageBaseDataV2.Width * ImageBaseDataV2.Height);
byte[] m_BufForDriver1 = new byte[ImageBaseDataV2.Width * ImageBaseDataV2.Height];
//数据Copy
Marshal.Copy(ImageBaseDataV2.ImageData, m_BufForDriver1, 0, ((int)ImageBaseDataV2.Width * ImageBaseDataV2.Height));
stImageData.stDataChannel[0].arrDataBytes = m_BufForDriver1;
//初始化CMvdImage
cmvdImage.InitImage((uint)ImageBaseDataV2.Width, (uint)ImageBaseDataV2.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08, stImageData);
}
else if (VMPixelFormat.VM_PIXEL_RGB24_C3 == ImageBaseDataV2.Pixelformat)
{
stImageData.stDataChannel[0].nRowStep = (uint)ImageBaseDataV2.Width * 3;
stImageData.stDataChannel[0].nLen = (uint)(ImageBaseDataV2.Width * ImageBaseDataV2.Height * 3);
stImageData.stDataChannel[0].nSize = (uint)(ImageBaseDataV2.Width * ImageBaseDataV2.Height * 3);
byte[] m_BufForDriver1 = new byte[3 * (ImageBaseDataV2.Width * ImageBaseDataV2.Height)];
//数据Copy
Marshal.Copy(ImageBaseDataV2.ImageData, m_BufForDriver1, 0, ((int)(ImageBaseDataV2.Width * ImageBaseDataV2.Height) * 3));
stImageData.stDataChannel[0].arrDataBytes = m_BufForDriver1;
//初始化CMvdImage
cmvdImage.InitImage((uint)ImageBaseDataV2.Width, (uint)ImageBaseDataV2.Height, MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
return cmvdImage;
}
2 算子图像转流程图像
public ImageBaseData_V2 CMvdImageToImageBaseData_V2(CMvdImage cmvdImage)
{
VM.PlatformSDKCS.ImageBaseData_V2 ImageBaseDataV2 = null;
if (MVD_PIXEL_FORMAT.MVD_PIXEL_MONO_08 == cmvdImage.PixelFormat)
{
var cmvdImageData = cmvdImage.GetImageData();
IntPtr imagedata = Marshal.AllocHGlobal(cmvdImageData.stDataChannel[0].arrDataBytes.Length);
Marshal.Copy(cmvdImageData.stDataChannel[0].arrDataBytes, 0, imagedata, cmvdImageData.stDataChannel[0].arrDataBytes.Length);
ImageBaseDataV2 = new ImageBaseData_V2(imagedata, (uint)cmvdImageData.stDataChannel[0].arrDataBytes.Length, (int)cmvdImage.Width, (int)cmvdImage.Height, VMPixelFormat.VM_PIXEL_MONO_08);
//使用结束后需要手动释放
//Marshal.FreeHGlobal(imagedata);
//imagedata = IntPtr.Zero;
}
else if (MVD_PIXEL_FORMAT.MVD_PIXEL_RGB_RGB24_C3 == cmvdImage.PixelFormat)
{
var cmvdImageData = cmvdImage.GetImageData();
IntPtr imagedata = Marshal.AllocHGlobal(cmvdImageData.stDataChannel[0].arrDataBytes.Length);
Marshal.Copy(cmvdImageData.stDataChannel[0].arrDataBytes, 0, imagedata, cmvdImageData.stDataChannel[0].arrDataBytes.Length);
ImageBaseDataV2 = new ImageBaseData_V2(imagedata, (uint)cmvdImageData.stDataChannel[0].arrDataBytes.Length, (int)cmvdImage.Width, (int)cmvdImage.Height, VMPixelFormat.VM_PIXEL_RGB24_C3);
//使用结束后需要手动释放
//Marshal.FreeHGlobal(imagedata);
//imagedata = IntPtr.Zero;
}
return ImageBaseDataV2;
}
问题根因
不熟悉流程图像与算子图像互转
3.7 图像转换扫盲篇（C++）
描述
环境：VM4.2 + VS2013及以上
现象：有哪些图像类型可以进行转换？
解答
1 图像格式一览
除了QImage、Mat和Halcon中的图像类型，在VM和开发（二次开发包含三种：VM SDK开发、算子SDK开发、算法模块开发）中涉及的图像类型如下：
相机：图像数据流（此处图像数据流类型是MyCamera.MV_FRAME_OUT，是来自MvCameraControl.Net.dll，即海康机器人工业相机SDK，在MVS SDK和算子SDK中都有这个dll；算子SDK的MVDCamera.Net.dll也可以进行相机取流，它是对MvCameraControl.Net.dll的二次封装，用MVDCamera.Net.dll时，图像数据流类型是IMvdImage）；
VM：脚本输入图像（图像类型是ImageData，是C#中图像类型）；
VM SDK：流程输入图像（IoImage）、Group输入图像（IoImage）、图像源SDK输入图像（ImageBaseData）、模块输入图像（ImageBaseData）；
算子SDK：输入图像(IMvdImage)；
算法模块：输入图像(HKA_IMAGE)。
2 图像类型转换（含单通道和三通道图像）三通道的Mat为BGR，三通道QImage、VM和二次开发为RGB，针对常用图像转换场景，列举如下（见3.8-3.13）。篇幅所致，后续每种转换用函数表达，函数输入某种图像类型，返回某种图像类型。
3.8 相机采图转流程输入、Group输入、图像源SDK输入、模块输入、算子输入图像
描述
环境：VM4.2 + VS2013及以上
现象：相机采图转换成其他图像类型
解答
相机采图（MyCamera.MV_FRAME_OUT）转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像。
1相机采图转流程输入（IoImage）、Group输入（IoImage）
IoImage MV_FRAME_OUTToProcedureIoImage(MV_FRAME_OUT stImageInfo)
{
// TODO: 在此处添加实现代码.
IoImage ioImage{};
unsigned char* m_pSaveImageBuf = NULL;//建议在头文件声明,控制释放时机防止内存泄漏，写在此处为了方便参考
m_pSaveImageBuf = (unsigned char*)malloc(sizeof(unsigned char) * stImageInfo.stFrameInfo.nFrameLen);
memcpy(m_pSaveImageBuf, stImageInfo.pBufAddr, stImageInfo.stFrameInfo.nFrameLen);
ioImage.stImage.Width = stImageInfo.stFrameInfo.nWidth;
ioImage.stImage.Height = stImageInfo.stFrameInfo.nHeight;
ioImage.stImage.DataLen = stImageInfo.stFrameInfo.nFrameLen;
ioImage.stImage.ImageData = m_pSaveImageBuf;
if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_Mono8)
{
ioImage.stImage.Pixelformat = MvdPixelFormat::MVD_PIXEL_MONO_08;
}
else if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_RGB8_Packed)
{
ioImage.stImage.Pixelformat = MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3;
}
return ioImage;
}
2相机采图转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
ImageBaseData MV_FRAME_OUTToImageBaseData(MV_FRAME_OUT stImageInfo)
{
// TODO: 在此处添加实现代码.
ImageBaseData imageBaseData{};
unsigned char* m_pSaveImageBuf = NULL;//建议在头文件声明,控制释放时机防止内存泄漏，写在此处为了方便参考
m_pSaveImageBuf = (unsigned char*)malloc(sizeof(unsigned char) * stImageInfo.stFrameInfo.nFrameLen);
memcpy(m_pSaveImageBuf, stImageInfo.pBufAddr, stImageInfo.stFrameInfo.nFrameLen);
imageBaseData.Width = stImageInfo.stFrameInfo.nWidth;
imageBaseData.Height = stImageInfo.stFrameInfo.nHeight;
imageBaseData.DataLen = stImageInfo.stFrameInfo.nFrameLen;
imageBaseData.ImageData = m_pSaveImageBuf;
if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_Mono8)
{
imageBaseData.Pixelformat = MvdPixelFormat::MVD_PIXEL_MONO_08;
}
else if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_RGB8_Packed)
{
imageBaseData.Pixelformat = MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3;
}
return imageBaseData;
}
3相机采图转算子输入（IMvdImage）
IMvdImage* MV_FRAME_OUTToIMvdImage(MV_FRAME_OUT stImageInfo)
{
// TODO: 在此处添加实现代码.
IMvdImage* iMvdImage = NULL;
unsigned char* m_pSaveImageBuf = NULL;//建议在头文件声明,控制释放时机防止内存泄漏，写在此处为了方便参考
m_pSaveImageBuf = (unsigned char*)malloc(sizeof(unsigned char) * stImageInfo.stFrameInfo.nFrameLen);
memcpy(m_pSaveImageBuf, stImageInfo.pBufAddr, stImageInfo.stFrameInfo.nFrameLen);
MVD_IMAGE_DATA_INFO stImageData{ };
if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_Mono8)
{
stImageData.stDataChannel[0].nRowStep = stImageInfo.stFrameInfo.nWidth;
stImageData.stDataChannel[0].nLen = stImageInfo.stFrameInfo.nFrameLen;
stImageData.stDataChannel[0].nSize = stImageInfo.stFrameInfo.nFrameLen;
stImageData.stDataChannel[0].pData = m_pSaveImageBuf;
iMvdImage->InitImage(stImageInfo.stFrameInfo.nWidth, stImageInfo.stFrameInfo.nHeight, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_MONO_08, stImageData);
}
else if (stImageInfo.stFrameInfo.enPixelType == PixelType_Gvsp_RGB8_Packed)
{
stImageData.stDataChannel[0].nRowStep = stImageInfo.stFrameInfo.nWidth*3;
stImageData.stDataChannel[0].nLen = stImageInfo.stFrameInfo.nFrameLen;
stImageData.stDataChannel[0].nSize = stImageInfo.stFrameInfo.nFrameLen;
stImageData.stDataChannel[0].pData = m_pSaveImageBuf;
iMvdImage->InitImage(stImageInfo.stFrameInfo.nWidth, stImageInfo.stFrameInfo.nHeight, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_BGR_BGR24_C3, stImageData);
}
return iMvdImage;
}
问题根因
不熟悉相机采图转换为其它类型
3.9 QImage转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、流程输出图像
描述
环境：VM4.2 + VS2013及以上
现象：QImage转换成其他图像类型
解答
QImage转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，流程输出图像转换为Bitmap。
1 QImage转流程输入（IoImage）、Group输入（IoImage）
IoImage QImageToIoImage(QImage qImage)
{
QString strReMsg = "";
IoImage ioImage;
switch (qImage.format())
{
case QImage::Format_Indexed8:
ioImage.stImage.Width=qImage.width();
ioImage.stImage.Height=qImage.height();
ioImage.stImage.DataLen=qImage.sizeInBytes();
ioImage.stImage.Pixelformat=_MvdPixelFormat_::MVD_PIXEL_MONO_08;
ioImage.stImage.ImageData=(void *)qImage.constBits();
//ioImage.stImage.ImageData=qImage.data_ptr();
//QImage(ioImage.stImage.ImageData,ioImage.stImage.Width,ioImage.stImage.Width,QImage::Format_RGB888);
break;
case QImage::Format_RGB888:
ioImage.stImage.Width=qImage.width();
ioImage.stImage.Height=qImage.height();
ioImage.stImage.DataLen=qImage.sizeInBytes();
ioImage.stImage.Pixelformat=_MvdPixelFormat_::MVD_PIXEL_RGB_RGB24_C3;
ioImage.stImage.ImageData=(void *)qImage.constBits();
break;
}
strReMsg = "QImageToIoImage s uccess.";
ui->textEdit->append(strReMsg);
return ioImage;
}
2 QImage转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
ImageBaseData QImageToImageBaseData(QImage qImage)
{
ImageBaseData imageBaseData;
switch (qImage.format())
{
case QImage::Format_Indexed8:
imageBaseData.Width=qImage.width();
imageBaseData.Height=qImage.height();
imageBaseData.DataLen=qImage.sizeInBytes();
imageBaseData.Pixelformat=_MvdPixelFormat_::MVD_PIXEL_MONO_08;
imageBaseData.ImageData=(void *)qImage.constBits();
//ioImage.stImage.ImageData=qImage.data_ptr();
break;
case QImage::Format_RGB888:
imageBaseData.Width=qImage.width();
imageBaseData.Height=qImage.height();
imageBaseData.DataLen=qImage.sizeInBytes();
imageBaseData.Pixelformat=_MvdPixelFormat_::MVD_PIXEL_RGB_RGB24_C3;
imageBaseData.ImageData=(void *)qImage.constBits();
break;
}
return imageBaseData;
}
3 Qimage与算子图像（IMvdImage）互转
IMvdImage* QImageToIMvdImage(QImage qImage)
{
IMvdImage* iMvdImage;
CreateImageInstance(&iMvdImage);
MVD_IMAGE_DATA_INFO stImageData;
switch (qImage.format())
{
case QImage::Format_Indexed8:
stImageData.stDataChannel[0].nRowStep = qImage.width();
stImageData.stDataChannel[0].nLen = qImage.sizeInBytes();
stImageData.stDataChannel[0].nSize = qImage.sizeInBytes();
stImageData.stDataChannel[0].pData = (unsigned char*)qImage.constBits();
iMvdImage->InitImage(qImage.width(), qImage.height(),MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08, stImageData);
break;
case QImage::Format_RGB888:
stImageData.stDataChannel[0].nRowStep = qImage.width()*3;
stImageData.stDataChannel[0].nLen = qImage.sizeInBytes();
stImageData.stDataChannel[0].nSize = qImage.sizeInBytes();
stImageData.stDataChannel[0].pData = (unsigned char*)qImage.constBits();
iMvdImage->InitImage(qImage.width(), qImage.height(),MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3, stImageData);
break;
}
return iMvdImage;
}
//算子转QImage
QImage IMvdImageToQImage(IMvdImage * iMvdImage)
{
if(iMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08)
{
//QImage qImage((const uchar*)iMvdImage->GetImageData(0)->pData,iMvdImage->GetWidth(),iMvdImage->GetHeight(),iMvdImage->GetImageData(0)->nLen/iMvdImage->GetHeight(),QImage::Format_Indexed8);
//QImage qImage(iMvdImage->GetImageData(0)->pData,iMvdImage->GetWidth(),iMvdImage->GetHeight(),iMvdImage->GetImageData(0)->nLen/iMvdImage->GetHeight(),QImage::Format_Indexed8);
QImage qImage((const uchar*)iMvdImage->GetImageData(0)->pData,iMvdImage->GetWidth(),iMvdImage->GetHeight(),QImage::Format_Grayscale8);//Format_Indexed8
return qImage;
}
if(iMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3)
{
QImage qImage((const uchar*)iMvdImage->GetImageData(0)->pData,iMvdImage->GetWidth(),iMvdImage->GetHeight(),QImage::Format_RGB888);
return qImage;
}
}
4 流程输出（IoImage）转QImage
QImage IoImageToQImage(IoImage inIoImage)
{
if(inIoImage.stImage.Pixelformat == _MvdPixelFormat_::MVD_PIXEL_MONO_08)
{
QImage qImage((const uchar*)inIoImage.stImage.ImageData,inIoImage.stImage.Width,inIoImage.stImage.Height,QImage::Format_Grayscale8);
return qImage;
}
if(inIoImage.stImage.Pixelformat == _MvdPixelFormat_::MVD_PIXEL_RGB_RGB24_C3)
{
QImage qImage((const uchar*)inIoImage.stImage.ImageData,inIoImage.stImage.Width,inIoImage.stImage.Height,QImage::Format_RGB888);
return qImage;
}
}
问题根因
不熟悉QImage转换为其它类型
3.10 Mat与流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出
描述
环境：VM4.2 + VS2013及以上
现象：Mat转换成其他图像类型
解答
Mat转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，算子输出图像转Mat，流程输出图像转换为Mat。
1 Mat转流程输入（IoImage）、Group输入（IoImage）
IoImage MatToProcedureInputImage(Mat matInputImg)
{
if (matInputImg.empty())
{
throw IMVDException(MVD_MODUL_APP, MVD_E_PARAMETER_ILLEGAL);
}
if ((CV_8UC1 != matInputImg.type()) && (CV_8UC3 != matInputImg.type()))
{
throw IMVDException(MVD_MODUL_APP, MVD_E_SUPPORT);
}
IoImage m_pIoImage{};
uint dataLen = (uint)(matInputImg.cols * matInputImg.rows * matInputImg.channels());
CString strReMsg = _T("");
try
{
if (CV_8UC1 == matInputImg.type())
{
m_pIoImage.stImage.Width = matInputImg.cols;
m_pIoImage.stImage.Width = matInputImg.cols;
m_pIoImage.stImage.Height = matInputImg.rows;
m_pIoImage.stImage.DataLen = dataLen;
m_pIoImage.stImage.Pixelformat = _MvdPixelFormat_::MVD_PIXEL_MONO_08;
m_pIoImage.stImage.ImageData = matInputImg.ptr(0);
}
else if (CV_8UC3 == matInputImg.type())
{
cv::cvtColor(matInputImg, matInputImg, CV_BGR2RGB);
m_pIoImage.stImage.Width = matInputImg.cols;
m_pIoImage.stImage.Height = matInputImg.rows;
m_pIoImage.stImage.DataLen = dataLen;
m_pIoImage.stImage.Pixelformat = _MvdPixelFormat_::MVD_PIXEL_RGB_RGB24_C3;
m_pIoImage.stImage.ImageData = matInputImg.ptr(0);
}
}
catch (CVmException e)
{
strReMsg.Format(_T("%x"), e.GetErrorCode());
strReMsg = _T("0x") + strReMsg + _T(" == SaveProcedureToFile()");
}
return m_pIoImage;
}
2 Mat转图像源SDK输入（ImageBaseData）、模块输出（ImageBaseData）
ImageBaseData MatToImageBaseData(Mat matInputImg)
{
if (matInputImg.empty())
{
throw IMVDException(MVD_MODUL_APP, MVD_E_PARAMETER_ILLEGAL);
}
if ((CV_8UC1 != matInputImg.type()) && (CV_8UC3 != matInputImg.type()))
{
throw IMVDException(MVD_MODUL_APP, MVD_E_SUPPORT);
}
ImageBaseData m_pImageBaseData{};
uint dataLen = (uint)(matInputImg.cols * matInputImg.rows * matInputImg.channels());
CString strReMsg = _T("");
try
{
if (CV_8UC1 == matInputImg.type())
{
m_pImageBaseData.Width = matInputImg.cols;
m_pImageBaseData.Height = matInputImg.rows;
m_pImageBaseData.DataLen = dataLen;
m_pImageBaseData.Pixelformat = _MvdPixelFormat_::MVD_PIXEL_MONO_08;
m_pImageBaseData.ImageData = matInputImg.ptr(0);
}
else if (CV_8UC3 == matInputImg.type())
{
cv::cvtColor(matInputImg, matInputImg, CV_BGR2RGB);
m_pImageBaseData.Width = matInputImg.cols;
m_pImageBaseData.Height = matInputImg.rows;
m_pImageBaseData.DataLen = dataLen;
m_pImageBaseData.Pixelformat = _MvdPixelFormat_::MVD_PIXEL_RGB_RGB24_C3;
m_pImageBaseData.ImageData = matInputImg.ptr(0);
}
}
catch (CVmException e)
{
strReMsg.Format(_T("%x"), e.GetErrorCode());
strReMsg = _T("0x") + strReMsg + _T(" == SaveProcedureToFile()");
}
return m_pImageBaseData;
}
3 Mat与算子图像（IMvdImage）互转
IMvdImage* MatToIMvdImage(Mat& matInputImg)
{
if (matInputImg.empty())
{
throw IMVDException(MVD_MODUL_APP, MVD_E_PARAMETER_ILLEGAL);
}
if ((CV_8UC1 != matInputImg.type()) && (CV_8UC3 != matInputImg.type()))
{
throw IMVDException(MVD_MODUL_APP, MVD_E_SUPPORT);
}
IMvdImage* pMvdImg = NULL;
uint dataLen = (uint)(matInputImg.cols * matInputImg.rows * matInputImg.channels());
try
{
int nRet = CreateImageInstance(&pMvdImg);
if (MVD_OK != nRet)
{
throw IMVDException(MVD_MODUL_IMAGE, nRet, "Failed to create image instance.");
}
if (CV_8UC1 == matInputImg.type())
{
MVD_IMAGE_DATA_INFO stImageData{ };
stImageData.stDataChannel[0].nRowStep = (uint)matInputImg.cols;
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].pData = matInputImg.ptr(0);
pMvdImg->InitImage((uint)matInputImg.cols, (uint)matInputImg.rows, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_MONO_08, stImageData);
}
else if (CV_8UC3 == matInputImg.type())
{
cv::cvtColor(matInputImg, matInputImg, CV_BGR2RGB);
MVD_IMAGE_DATA_INFO stImageData{ };
stImageData.stDataChannel[0].nRowStep = (uint)matInputImg.cols*matInputImg.channels();
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].pData = matInputImg.ptr(0);
pMvdImg->InitImage((uint)matInputImg.cols, (uint)matInputImg.rows, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
}
catch (IMVDException &ex)
{
if (NULL != pMvdImg)
{
DestroyImageInstance(pMvdImg);
pMvdImg = NULL;
}
throw ex;
}
return pMvdImg;
}
Mat IMvdImageToMat(IMvdImage* pMvdImg)
{
Mat stMatImg;
if (NULL == pMvdImg)
{
throw IMVDException(MVD_MODUL_APP, MVD_E_PARAMETER_ILLEGAL);
}
MVD_PIXEL_FORMAT enSrcPixelFormat = pMvdImg->GetPixelFormat();
if ((VisionDesigner::MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08 != enSrcPixelFormat) && (VisionDesigner::MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3 != enSrcPixelFormat))
{
throw IMVDException(MVD_MODUL_APP, MVD_E_SUPPORT);
}
// 根据传入的ImvdImage图像初始化mat
if (VisionDesigner::MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08 == enSrcPixelFormat)
{
stMatImg.create((int)pMvdImg->GetHeight(), (int)pMvdImg->GetWidth(), CV_8UC1);
}
else if (VisionDesigner::MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3 == enSrcPixelFormat)
{
stMatImg.create((int)pMvdImg->GetHeight(), (int)pMvdImg->GetWidth(), CV_8UC3);
}
if (stMatImg.empty())
{
throw IMVDException(MVD_MODUL_APP, MVD_E_RESOURCE);
}
// 上述方式为mat分配的内存一定是连续的
uchar* pdata = stMatImg.ptr<uchar>(0);
memcpy(pdata, pMvdImg->GetImageData(0)->pData, pMvdImg->GetImageData(0)->nLen);
if (CV_8UC3 == stMatImg.type())
{
cvtColor(stMatImg, stMatImg, CV_RGB2BGR);
}
return stMatImg;
}
4 流程输出（IoImage）转Mat
Mat IoImageToMat(IoImage m_pIoImage)
{
Mat stMatImg;
CString strReMsg = _T("");
try
{
MvdPixelFormat srcPixelFormat = m_pIoImage.stImage.Pixelformat;
if ((VisionMasterSDK::MvdPixelFormat::MVD_PIXEL_MONO_08 != srcPixelFormat) && (VisionMasterSDK::MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3 != srcPixelFormat))
{
throw CVmException(0xE0000503);
}
// 根据传入的IoImage图像初始化mat
if (VisionMasterSDK::MvdPixelFormat::MVD_PIXEL_MONO_08 == srcPixelFormat)
{
stMatImg.create((int)m_pIoImage.stImage.Height, (int)m_pIoImage.stImage.Width, CV_8UC1);
}
else if (VisionMasterSDK::MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3 == srcPixelFormat)
{
stMatImg.create((int)m_pIoImage.stImage.Height, (int)m_pIoImage.stImage.Width, CV_8UC3);
}
if (stMatImg.empty())
{
throw IMVDException(MVD_MODUL_APP, MVD_E_RESOURCE);
}
// 上述方式为mat分配的内存一定是连续的
uchar* pdata = stMatImg.ptr<uchar>(0);
memcpy(pdata, m_pIoImage.stImage.ImageData, m_pIoImage.stImage.DataLen);
if (CV_8UC3 == stMatImg.type())
{
cvtColor(stMatImg, stMatImg, CV_RGB2BGR);
}
}
catch (CVmException e)
{
strReMsg.Format(_T("%x"), e.GetErrorCode());
strReMsg = _T("0x") + strReMsg + _T(" == SaveProcedureToFile()");
}
return stMatImg;
}
问题根因
不熟悉Mat转换为其它类型
3.11 Halcon与流程输入、Group输入、图像源SDK输入、模块输入、算子输入、算子输出、流程输出
描述
环境：VM4.2 + VS2013及以上
现象：Halcon转换成其他图像类型
解答
Halcon图像转换为流程输入图像、Group输入图像、图像源SDK输入图像、模块输入图像、算子输入图像，算子输出图像转Halcon图像，流程输出图像转换为Halcon图像。
1 Halcon图像转流程输入（IoImage）、Group输入（IoImage）,HImageToImageBaseData函数的实现见“2 Halcon图像转ImageBaseData“
IoImage HImageToIoImage(HImage image)
{
IoImage ioImage{};
ImageBaseData imageBaseData = HImageToImageBaseData(image);
ioImage.stImage = imageBaseData;
return ioImage;
}
2 Halcon图像转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
ImageBaseData HImageToImageBaseData(HImage image)
{
ImageBaseData imageBaseData{};
//获取图像通道位深度信息
HString bitdepth = image.GetChannelInfo("type", 1);
assert(!strcmp(bitdepth.Text(), "byte"));
int channels = image.CountChannels();
assert(channels == 1 || channels == 3);
HString type;
Hlong width, height;
//单通道
if (channels == 1)
{
void* imagePtr = image.GetImagePointer1(&type, &width, &height);
imageBaseData.DataLen = width * height;
imageBaseData.Width = width;
imageBaseData.Height = height;
imageBaseData.Pixelformat = MvdPixelFormat::MVD_PIXEL_MONO_08;
imageBaseData.ImageData = imagePtr;
}
//3通道
if (channels == 3)
{
void* imageRedPtr;
void* imageGreenPtr;
void* imageBluePtr;
image.GetImagePointer3(&imageRedPtr, &imageGreenPtr, &imageBluePtr, &type, &width, &height);
byte* imageRedBuf = new byte[width * height];
byte* imageGreenBuf = new byte[width * height];
byte* imageBlueBuf = new byte[width * height];
memcpy(imageRedBuf, imageRedPtr, width * height);
memcpy(imageGreenBuf, imageGreenPtr, width * height);
memcpy(imageBlueBuf, imageBluePtr, width * height);
byte* imageBuf = new byte[width * height * 3];
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageBuf[index] = imageRedBuf[row * width + col];
imageBuf[index + 1] = imageGreenBuf[row * width + col];
imageBuf[index + 2] = imageBlueBuf[row * width + col];
}
}
delete[] imageRedBuf;
delete[] imageGreenBuf;
delete[] imageBlueBuf;
imageBaseData.DataLen = width * height * 3;
imageBaseData.Width = width;
imageBaseData.Height = height;
imageBaseData.Pixelformat = MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3;
imageBaseData.ImageData = imageBuf;
}
return imageBaseData;
}
3 Halcon图像与算子图像（IMvdImage）互转
IMvdImage* HImageToMvdImage(HImage image)
{
//获取图像通道位深度信息
HString bitdepth = image.GetChannelInfo("type", 1);
assert(!strcmp(bitdepth.Text(), "byte"));
int channels = image.CountChannels();
assert(channels == 1 || channels == 3);
HString type;
Hlong width, height;
//单通道
if (channels == 1)
{
IMvdImage* pMvdImage;
CreateImageInstance(&pMvdImage);
void* imagePtr = image.GetImagePointer1(&type, &width, &height);
MVD_IMAGE_DATA_INFO imageDataInfo;
imageDataInfo.stDataChannel[0].nLen = width * height;
imageDataInfo.stDataChannel[0].nRowStep = width;
imageDataInfo.stDataChannel[0].nSize = width * height;
imageDataInfo.stDataChannel[0].pData = (byte*)imagePtr;
pMvdImage->InitImage(width, height, MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08, imageDataInfo);
return pMvdImage;
}
//3通道
else if (channels == 3)
{
IMvdImage* pMvdImage;
CreateImageInstance(&pMvdImage);
void* imageRedPtr;
void* imageGreenPtr;
void* imageBluePtr;
image.GetImagePointer3(&imageRedPtr, &imageGreenPtr, &imageBluePtr, &type, &width, &height);
long size = width * height * 3;
byte* imageRedBuf = new byte[width * height];
byte* imageGreenBuf = new byte[width * height];
byte* imageBlueBuf = new byte[width * height];
memcpy(imageRedBuf, imageRedPtr, width * height);
memcpy(imageGreenBuf, imageGreenPtr, width * height);
memcpy(imageBlueBuf, imageBluePtr, width * height);
byte* imageBuffer = new byte[size];
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageBuffer[index] = imageRedBuf[row * width + col];
imageBuffer[index + 1] = imageGreenBuf[row * width + col];
imageBuffer[index + 2] = imageBlueBuf[row * width + col];
}
}
delete[] imageRedBuf;
delete[] imageGreenBuf;
delete[] imageBlueBuf;
MVD_IMAGE_DATA_INFO imageDataInfo{};
imageDataInfo.stDataChannel[0].nLen = width * height * 3;
imageDataInfo.stDataChannel[0].nRowStep = width * 3;
imageDataInfo.stDataChannel[0].nSize = width * height * 3;
imageDataInfo.stDataChannel[0].pData = imageBuffer;
try {
pMvdImage->InitImage(width, height, MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3, imageDataInfo);
}
catch (IMVDException* ex)
{
cout << ex->GetDescription() << ex->GetErrorCode() << endl;
}
return pMvdImage;
}
else
{
return nullptr;
}
}
HImage MvdImageToHImage(IMvdImage* pMvdImage)
{
HImage image;
MVD_IMAGE_DATA_INFO* imageDataInfo = pMvdImage->GetImageData();
if (pMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08)
{
image.GenImage1(
"byte",
pMvdImage->GetWidth(),
pMvdImage->GetHeight(),
imageDataInfo->stDataChannel[0].pData);
}
else if (pMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_RGB_RGB24_C3)
{
int width = pMvdImage->GetWidth();
int height = pMvdImage->GetHeight();
long size = width * height * 3;
byte* imageRedBuf = new byte[(long)(width * height)];
byte* imageGreenBuf = new byte[(long)(width * height)];
byte* imageBlueBuf = new byte[(long)(width * height)];
byte* imageBuffer = new byte[size];
memcpy(imageBuffer, pMvdImage->GetImageData()->stDataChannel[0].pData, size);
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageRedBuf[row * width + col] = imageBuffer[index];
imageGreenBuf[row * width + col] = imageBuffer[index + 1];
imageBlueBuf[row * width + col] = imageBuffer[index + 2];
}
}
delete[] imageBuffer;
image.GenImage3(
"byte",
pMvdImage->GetWidth(),
pMvdImage->GetHeight(),
imageRedBuf,
imageGreenBuf,
imageBlueBuf);
}
return image;
}
4 流程输出（IoImage）转Halcon图像
HImage IoImageToHImage(IoImage ioImage)
{
HImage image;
if (ioImage.stImage.Pixelformat == MvdPixelFormat::MVD_PIXEL_MONO_08)
{
image.GenImage1("byte", ioImage.stImage.Width, ioImage.stImage.Height, ioImage.stImage.ImageData);
}
if (ioImage.stImage.Pixelformat == MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3)
{
int width = ioImage.stImage.Width;
int height = ioImage.stImage.Height;
long size = width * height * 3;
byte* imageRedBuf = new byte[(long)width * height];
byte* imageGreenBuf = new byte[(long)width * height];
byte* imageBlueBuf = new byte[(long)width * height];
byte* imageBuffer = new byte[size];
memcpy(imageBuffer, ioImage.stImage.ImageData, size);
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageRedBuf[row * width + col] = imageBuffer[index];
imageGreenBuf[row * width + col] = imageBuffer[index + 1];
imageBlueBuf[row * width + col] = imageBuffer[index + 2];
}
}
delete[] imageBuffer;
image.GenImage3("byte", width, height, imageRedBuf, imageGreenBuf, imageBlueBuf);
}
return image;
}
问题根因
不熟悉Halcon图像转换为其它类型
3.12 流程图像与算子图像互转
描述
环境：VM4.2 + VS2013及以上
现象：流程图像与算子图像互转
解答
VM SDK开发中流程输入输出图像都是IoImage，算子SDK开发中算子输入输出图像都是ImvdImage，两者可以实现互转。
1 流程图像转算子图像
IMvdImage* ImageConvert::IoImageToIMvdImage(IoImage ioImage)
{
// TODO: 在此处添加实现代码.
IMvdImage* iMvdImage = NULL;
MVD_IMAGE_DATA_INFO stImageData{ };
if (ioImage.stImage.Pixelformat == MvdPixelFormat::MVD_PIXEL_MONO_08)
{
stImageData.stDataChannel[0].nRowStep = ioImage.stImage.Width;
stImageData.stDataChannel[0].nLen = ioImage.stImage.DataLen;
stImageData.stDataChannel[0].nSize = ioImage.stImage.DataLen;
stImageData.stDataChannel[0].pData = (unsigned char*)ioImage.stImage.ImageData;
iMvdImage->InitImage(ioImage.stImage.Width, ioImage.stImage.Height, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_MONO_08, stImageData);
}
else if (ioImage.stImage.Pixelformat == MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3)
{
stImageData.stDataChannel[0].nRowStep = ioImage.stImage.Width*3;
stImageData.stDataChannel[0].nLen = ioImage.stImage.DataLen;
stImageData.stDataChannel[0].nSize = ioImage.stImage.DataLen;
stImageData.stDataChannel[0].pData = (unsigned char*)ioImage.stImage.ImageData;
iMvdImage->InitImage(ioImage.stImage.Width, ioImage.stImage.Height, VisionDesigner::_MVD_PIXEL_FORMAT_::MVD_PIXEL_BGR_BGR24_C3, stImageData);
}
return iMvdImage;
}
2 算子图像转流程图像
IoImage ImageConvert::IMvdImageToIoImage(IMvdImage* iMvdImage)
{
// TODO: 在此处添加实现代码.
IoImage ioImage{};
ioImage.stImage.Width = iMvdImage->GetWidth();
ioImage.stImage.Height = iMvdImage->GetHeight();
ioImage.stImage.ImageData = iMvdImage->GetImageData(0)->pData;//图像数据内存地址是连续的
if (iMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_MONO_08)
{
ioImage.stImage.DataLen = iMvdImage->GetImageData(0)->nLen;
ioImage.stImage.Pixelformat = MvdPixelFormat::MVD_PIXEL_MONO_08;
}
else if (iMvdImage->GetPixelFormat() == MVD_PIXEL_FORMAT::MVD_PIXEL_BGR_BGR24_C3)
{
ioImage.stImage.Pixelformat = MvdPixelFormat::MVD_PIXEL_RGB_RGB24_C3;
}
return ioImage;
}
问题根因
不熟悉流程图像与算子图像互转
3.13 算法模块图像与Mat、Halcon、算子图像互转的方法
描述
环境：VM4.2 + VS2013及以上
现象：算法模块图像转换成其它类型
解答
算法模块图像与Mat、Halcon图像、算子图像实现互转，自定义算法模块开发时，在C++工程中，算法的图像类型为HKA_IMAGE。
1 HKA_IMAGE与Mat互转
Mat CAlgorithmModule::HKAImageToMat(HKA_IMAGE inputimage)
{
Mat mat, mat1;
if (inputimage.format == HKA_IMG_MONO_08)
{
mat = Mat(inputimage.height, inputimage.width, CV_8UC1, inputimage.data[0]);
}
else if (inputimage.format == HKA_IMG_RGB_RGB24_C3)
{
mat1 = Mat(inputimage.height, inputimage.width, CV_8UC3, inputimage.data[0]);
cvtColor(mat1, mat, COLOR_RGB2BGR);
}
return mat;
}
HKA_IMAGE CAlgorithmModule::MatToHKAImage(Mat mat)
{
HKA_IMAGE inputimage;
if (mat.channels() == 1)
{
inputimage = { HKA_IMG_MONO_08, 0 };
inputimage.width = mat.cols;
inputimage.height = mat.rows;
inputimage.format = HKA_IMG_MONO_08;
inputimage.step[0] = mat.cols;
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height, mat.data, inputimage.width * inputimage.height);
}
}
else if (mat.channels() == 3)
{
cvtColor(mat, mat, COLOR_BGR2RGB);
inputimage = { HKA_IMG_RGB_RGB24_C3, 0 };
inputimage.width = mat.cols;
inputimage.height = mat.rows;
inputimage.format = HKA_IMG_RGB_RGB24_C3;
inputimage.step[0] = mat.cols * 3;
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height * 3);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height * 3);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height * 3, mat.data, inputimage.width * inputimage.height * 3);
}
}
return inputimage;
}
2 HKA_IMAGE与Halcon图像互转
HImage CAlgorithmModule::HKAImageToHImage(HKA_IMAGE inputimage)
{
HImage himage;
if (HKA_IMG_MONO_08 == inputimage.format)
{
himage.GenImage1("byte", inputimage.width, inputimage.height, inputimage.data[0]);
}
if (HKA_IMG_RGB_RGB24_C3 == inputimage.format)
{
int width = inputimage.width;
int height = inputimage.height;
long size = width * height * 3;
byte* imageRedBuf = new byte[(long)width * height];
byte* imageGreenBuf = new byte[(long)width * height];
byte* imageBlueBuf = new byte[(long)width * height];
byte* imageBuffer = new byte[size];
memcpy(imageBuffer, inputimage.data[0], size);
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageRedBuf[row * width + col] = imageBuffer[index];
imageGreenBuf[row * width + col] = imageBuffer[index + 1];
imageBlueBuf[row * width + col] = imageBuffer[index + 2];
}
}
delete[] imageBuffer;
himage.GenImage3("byte", width, height, imageRedBuf, imageGreenBuf, imageBlueBuf);
}
return himage;
}
HKA_IMAGE CAlgorithmModule::HImageToHKAIMAGE(HImage himage)
{
HKA_IMAGE inputimage;
HString type;
Hlong width, height;
if (himage.CountChannels() == 1)
{
inputimage = { HKA_IMG_MONO_08, 0 };
void* imagePtr = himage.GetImagePointer1(&type, &width, &height);
inputimage.width = width;
inputimage.height = height;
inputimage.format = HKA_IMG_MONO_08;
inputimage.step[0] = width;
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height, imagePtr, inputimage.width * inputimage.height);
}
}
else if (himage.CountChannels() == 3)
{
inputimage = { HKA_IMG_RGB_RGB24_C3, 0 };
void* imageRedPtr;
void* imageGreenPtr;
void* imageBluePtr;
himage.GetImagePointer3(&imageRedPtr, &imageGreenPtr, &imageBluePtr, &type, &width, &height);
long size = width * height * 3;
byte* imageRedBuf = new byte[width * height];
byte* imageGreenBuf = new byte[width * height];
byte* imageBlueBuf = new byte[width * height];
memcpy_s(imageRedBuf, imageRedPtr, width * height);
memcpy_s(imageGreenBuf, imageGreenPtr, width * height);
memcpy_s(imageBlueBuf, imageBluePtr, width * height);
byte* imageBuffer = new byte[size];
int index = 0;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++, index += 3)
{
imageBuffer[index] = imageRedBuf[row * width + col];
imageBuffer[index + 1] = imageGreenBuf[row * width + col];
imageBuffer[index + 2] = imageBlueBuf[row * width + col];
}
}
delete[] imageRedBuf;
delete[] imageGreenBuf;
delete[] imageBlueBuf;
inputimage.width = width;
inputimage.height = height;
inputimage.format = HKA_IMG_RGB_RGB24_C3;
inputimage.step[0] = width * 3;
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height * 3);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height * 3);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height * 3, imageBuffer, inputimage.width * inputimage.height * 3);
}
delete[] imageBuffer;
}
return inputimage;
}
3 HKA_IMAGE与算子图像（CmvdImage）互转
IMvdImage* CAlgorithmModule::HKAImageToIMvdImage(HKA_IMAGE inputimage)
{
IMvdImage* iMvdImage = NULL;
CreateImageInstance(&iMvdImage);
MVD_IMAGE_DATA_INFO stImageData;
if (inputimage.format == HKA_IMG_MONO_08)
{
uint dataLen = (uint)(inputimage.width * inputimage.height);
stImageData.stDataChannel[0].nRowStep = inputimage.width;
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].pData = (unsigned char*)malloc(inputimage.width * inputimage.height);
memset(stImageData.stDataChannel[0].pData, 0, inputimage.width * inputimage.height);
stImageData.stDataChannel[0].pData = (unsigned char*)inputimage.data[0];
iMvdImage->InitImage(inputimage.width, inputimage.height, MVD_PIXEL_MONO_08, stImageData);
}
else if (inputimage.format == HKA_IMG_RGB_RGB24_C3)
{
uint dataLen = (uint)(inputimage.width * inputimage.height * 3);
stImageData.stDataChannel[0].nRowStep = inputimage.width * 3;
stImageData.stDataChannel[0].nLen = dataLen;
stImageData.stDataChannel[0].nSize = dataLen;
stImageData.stDataChannel[0].pData = (unsigned char*)malloc(inputimage.width * inputimage.height * 3);
memset(stImageData.stDataChannel[0].pData, 0, inputimage.width * inputimage.height);
stImageData.stDataChannel[0].pData = (unsigned char*)inputimage.data[0];
iMvdImage->InitImage(inputimage.width, inputimage.height, MVD_PIXEL_RGB_RGB24_C3, stImageData);
}
return iMvdImage;
}
HKA_IMAGE CAlgorithmModule::IMvdImageToHKA_IMAGE(IMvdImage* iMvdImage)
{
HKA_IMAGE inputimage;
if (iMvdImage->GetPixelFormat() == MVD_PIXEL_MONO_08)
{
inputimage = { HKA_IMG_MONO_08, 0 };
inputimage.width = iMvdImage->GetWidth();
inputimage.height = iMvdImage->GetHeight();
inputimage.format = HKA_IMG_MONO_08;
inputimage.step[0] = iMvdImage->GetWidth();
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height, iMvdImage->GetImageData()->stDataChannel[0].pData, inputimage.width * inputimage.height);
}
}
else if (iMvdImage->GetPixelFormat() == MVD_PIXEL_RGB_RGB24_C3)
{
inputimage = { HKA_IMG_RGB_RGB24_C3, 0 };
inputimage.width = iMvdImage->GetWidth();
inputimage.height = iMvdImage->GetHeight();
inputimage.format = HKA_IMG_RGB_RGB24_C3;
inputimage.step[0] = iMvdImage->GetWidth() * 3;
inputimage.data[0] = (char*)malloc(inputimage.width * inputimage.height * 3);
if (inputimage.data[0] != NULL)
{
memset(inputimage.data[0], 0, inputimage.width * inputimage.height * 3);
memcpy_s(inputimage.data[0], inputimage.width * inputimage.height * 3, iMvdImage->GetImageData()->stDataChannel[0].pData, inputimage.width * inputimage.height * 3);
}
}
return inputimage;
}
问题根因
不熟悉算法模块图像转其它类型