基于C#的Baumer相机二次开发教程

环境配置

1. 新建项目
2. 右键【依赖项】-> 选择【bin】文件夹中的【bgapi2_genicam_dotnet.dll】文件
3. 当dll文件被添加到【依赖项\程序集】中之后，右键->【属性】，将其【复制本地】设为【True】

此动态链接库自身也有很多依赖项，为了省事儿，可以将其同文件夹下的内容，全部复制粘贴到debug或release文件夹。

接口层级

Baumer相机提供了多个不同的system，每个system下分为多个API，每个API又对应多个设备。因此，在二次开发时，需要先遍历所有的system，再遍历system下的api，最后遍历api下的device，才能获取相应的设备。

一般来说，每个system对应一个.cti格式的文件，例如我所用的SDK中，探测到了【bgapi2_usb.cti_2.15.2】和【bgapi2_gige.cti_2.15.2】这两个system。通过下面的代码，可以获取这些System

using BGAPI2;public string getSystemList()
{string txtInfo = "";SystemList sysList;BGAPI2.System mSystem = null;try{sysList = SystemList.Instance;sysList.Refresh();txtInfo += $"5.1.2 Detected systems: {sysList.Count}\n";}catch (BGAPI2.Exceptions.IException ex){txtInfo += $"ErrorType: {ex.GetType()}\n " +$"ErrorException {ex.GetErrorDescription()}\n " +$"in function: {ex.GetFunctionName()}";return txtInfo;}foreach (KeyValuePair<string, BGAPI2.System> sys in sysList){txtInfo += $"the {sys.Key} will be opened!\n";mSystem = sys.Value;mSystem.Open();txtInfo += //$"\nSystem ID: {mSystem.Id}\n" +$"System Name: {mSystem.FileName}\n" +$"System Vendor: {mSystem.Vendor}\n" +$"System Version: {mSystem.Version}\n" +$"System Model: {mSystem.Model}\n";mSystem.Close();}return txtInfo;
}

其返回内容表示，探测到两个system，列表如下

System Name	bgapi2_usb.cti	bgapi2_gige.cti
System Vendor	Baumer	Baumer
System Version	2.15.2	2.15.2
System Model	bgapi2_usb	bgapi2_gige

USB和GigE分别是Baumer GAPI支持的接口类型，分别使用USB和网口进行通信。

启动相机

相机的启动流程为

1. 打开system
2. 打开api
3. 打开设备
4. 打开设备的数据流
5. 打开数据流对应的buffer

每个system中，提供了不同的API，每个API又适配不同类型的设备，所以想获得设备信息，需要先便利system，再遍历相应的API，最后对设备进行遍历，代码如下。

BGAPI2.System workSystem;
BGAPI2.Device workDevice;
BGAPI2.Interface workApi;
BGAPI2.DataStream workDS;
BGAPI2.BufferList workBL;public void startSystem()
{SystemList sysList;BGAPI2.System mSystem;sysList = SystemList.Instance;sysList.Refresh();foreach (KeyValuePair<string, BGAPI2.System> sys in sysList){if (sys.Key.Contains("gige")){workSystem = sys.Value;workSystem.Open();break;}}
}public void startAPI()
{string txtInfo = "";InterfaceList iList = workSystem.Interfaces;iList.Refresh(1);foreach (KeyValuePair<string, BGAPI2.Interface> ifc_pair in iList){workApi = ifc_pair.Value;workApi.Open();}
}public void startDevice()
{BGAPI2.DeviceList devLst = workApi.Devices;devLst.Refresh(1);foreach (KeyValuePair<string, BGAPI2.Device> dev_pair in devLst){workDevice = dev_pair.Value;workDevice.Open();break;}
}public void startDataStream()
{BGAPI2.DataStreamList dsList = workDevice.DataStreams;dsList.Refresh();foreach (KeyValuePair<string, BGAPI2.DataStream> ds_pair in dsList){workDS = ds_pair.Value;workDS.Open();break;}
}public void startBuffer()
{workBL = workDS.BufferList;BGAPI2.Buffer bf;long iDevicePayloadsize = (long)workDevice.RemoteNodeList["PayloadSize"].Value;IntPtr mUserBuffer = new IntPtr(0);ulong uPayloadSize = workDS.IsDefinedPayloadSize ? workDS.PayloadSize : (ulong)iDevicePayloadsize;List<IntPtr> LUserBuffer = new List<IntPtr>();for (int i = 0; i < 4; i++){mUserBuffer = Marshal.AllocHGlobal((int)uPayloadSize);LUserBuffer.Add(mUserBuffer);IntPtr pUserObj = new IntPtr(0); // NULL pointer, not usedbf = new BGAPI2.Buffer(mUserBuffer, uPayloadSize, pUserObj);workBL.Add(bf); // 1MB buffer size}foreach (KeyValuePair<string, BGAPI2.Buffer> buf_pair in workBL){buf_pair.Value.QueueBuffer();}workDS.StartAcquisition();  //开始采集数据流workDevice.RemoteNodeList["AcquisitionStart"].Execute(); //开始采集数据
}

读取相机数据

在开启数据采集之后，接下来就是把数据装载到buffer中，如果想要读取这些buffer数据，可将其进一步存储为BGAPI2中的Image格式，示例如下

BGAPI2.Image imgWork = null;
public string fillBuffer()
{string info = "";ImageProcessor imgPro = new ImageProcessor(); //创建图像处理器对象BGAPI2.Buffer bfFilled = null;bfFilled = workDS.GetFilledBuffer(1000);if (bfFilled == null)info += "Error: Buffer Timeout after 1000 ms\n";else{info += $"图像{bfFilled.FrameID}的内存地址为{(ulong)bfFilled.MemPtr}";imgWork = imgPro.CreateImage((uint)bfFilled.Width,(uint)bfFilled.Height,(string)bfFilled.PixelFormat,bfFilled.MemPtr,(ulong)bfFilled.MemSize); //创建图像对象bfFilled.QueueBuffer(); //将缓冲区重新放回队列中，等待下一次使用}return info;
}