目录
- 前言
- 图像转换
- 1.相机取流转VM对应类型图像格式
- 1.1 相机采图转流程输入（IoImage）、Group输入（IoImage）
- 1.2 相机采图转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
- 1.3 相机采图转算子输入（IMvdImage）
- 2.QImage取图与VM对应图像格式互转
- 2.1 QImage转流程输入（IoImage）、Group输入（IoImage）
- 2.2 QImage转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
- 2.3 Qimage与算子图像（IMvdImage）互转
- 2.4 流程输出（IoImage）转QImage
- 3.Mat取图与VM对应图像格式互转
- 3.1 Mat转流程输入（IoImage）、Group输入（IoImage）
- 3.2 Mat转图像源SDK输入（ImageBaseData）、模块输出（ImageBaseData）
- 3.3 Mat与算子图像（IMvdImage）互转
- 3.4 流程输出（IoImage）转Mat
- 4.Halcon与VM图像格式互转
- 4.1 Halcon图像转流程输入（IoImage）、Group输入（IoImage）
- 4.2 Halcon图像转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
- 4.3 Halcon图像与算子图像（IMvdImage）互转
- 4.4 流程输出（IoImage）转Halcon图像
- 5.流程图像与算子图像
- 5.1 流程图像转算子图像
- 5.2 算子图像转流程图像
- 6.算法模块图像与Mat、Halcon、算子图像互转的方法（C++）
- 6.1 HKA_IMAGE与Mat互转
- 6.2 HKA_IMAGE与Halcon图像互转
- 6.3 HKA_IMAGE与算子图像（CmvdImage）互转
- 总结
前言
当前VM提供了VM算法平台、VM SDK开发、算子SDK开发和算子模块开发四种开发模式兼顾各种开发族群。如何实现图像的正确输入是开发者在使用通用算法库时经常遇到的首要问题，当前市面上又存在多种图像格式，如Bitmap、Mat和Halcon中的图像类型等，而VM这么多种开发模式又分别有不同的图像格式，本文将介绍如何实现这些图像类型之间的互转。本文是C++语言的示例代码，C#语言示例代码请参考上一篇文章。
注：本文章仅限VM4.2版本；
VM中对应的图像类型如下：
- 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）；
- 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)。
需要注意的是， 三通道图像类型转换时，Bitmap、Mat为BGR，VM和二次开发为RGB。
下面针对常用图像转换场景，提供对应的图像转换示例供大家参考（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）。
图像转换
1.相机取流转VM对应类型图像格式
相机截取帧格式为MyCamera.MV_FRAME_OUT，以下为分别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、算子输入图像的示例代码。
1.1 相机采图转流程输入（IoImage）、Group输入（IoImage）
//图像转换函数
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;
}
1.2 相机采图转图像源SDK输入（ImageBaseData）、模块输入（ImageBaseData）
//图像转换函数
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;
}
1.3 相机采图转算子输入（IMvdImage）
//图像转换函数
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;
}
2.QImage取图与VM对应图像格式互转
QImage转流程输入、Group输入、图像源SDK输入、模块输入、算子输入、流程输出图像互相转换的示例代码如下所示。
2.1 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;
}
2.2 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;
}
2.3 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;
}
}
2.4 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;
}
}
3.Mat取图与VM对应图像格式互转
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、脚本图像互转代码示例如下：
3.1 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;
}
3.2 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;
}
3.3 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;
}
3.4 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;
}
4.Halcon与VM图像格式互转
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,互转示例代码如下 ：
4.1 Halcon图像转流程输入（IoImage）、Group输入（IoImage）
IoImage HImageToIoImage(HImage image)
{
IoImage ioImage{};
ImageBaseData imageBaseData = HImageToImageBaseData(image);
ioImage.stImage = imageBaseData;
return ioImage;
}
4.2 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;
}
4.3 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;
}
4.4 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;
}
5.流程图像与算子图像
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。
5.1 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;
}
5.2 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;
}
6.算法模块图像与Mat、Halcon、算子图像互转的方法（C++）
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。
6.1 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;
}
6.2 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;
}
6.3 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;
}
总结
以上基本包含大部分图像类型和VM图像类型互转的方法，其实本质上都是图像数据（地址或byte数组）、图像宽高及像素格式的赋值及拷贝操作，其它图像类型的转换可以参考这些方式实现。
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