MVS采集的图像转换成为mat

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MvCamCtrl.NET;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.IO;
using OpenCvSharp;

namespace CarMachineModel.DeviceShare
{


    public  class CameraCommon
    {
        private static MyCamera.MV_CC_DEVICE_INFO_LIST list_Device = default(MyCamera.MV_CC_DEVICE_INFO_LIST);
        public static List<string>? SerialNum;
        public static CameraCommon  camera= new CameraCommon();
        /// <summary>
        /// 列举设备
        /// </summary>
        /// <param name="Errmsg"></param>
        /// <returns></returns>
        public static List<string> EnumCamera(out string Errmsg)
        {
            System.GC.Collect();
            List<string> SerialNum = new List<string>();
            list_Device = default(MyCamera.MV_CC_DEVICE_INFO_LIST);
            int ret = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref list_Device);
            if(ret !=0)
            {

                Errmsg = "枚举失败";
                return null;

            }

            for (int i = 0; i < list_Device.nDeviceNum; i++)
            {
                MyCamera.MV_CC_DEVICE_INFO device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(list_Device.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                {
                    MyCamera.MV_GIGE_DEVICE_INFO gigeInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_GIGE_DEVICE_INFO));
                    SerialNum.Add(gigeInfo.chSerialNumber);
                }
                else if (device.nTLayerType == MyCamera.MV_USB_DEVICE)
                {
                    MyCamera.MV_USB3_DEVICE_INFO usbInfo = (MyCamera.MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stUsb3VInfo, typeof(MyCamera.MV_USB3_DEVICE_INFO));
                    SerialNum.Add(usbInfo.chSerialNumber);

                }


            }
            Errmsg =null;
            return SerialNum;
        }
       
        private MyCamera m_MyCamera = new MyCamera();
        /// <summary>
        /// 创建句柄
        /// </summary>
        public void CreateCameraHandle()
        {
            MyCamera.MV_CC_DEVICE_INFO device =
               (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(list_Device.pDeviceInfo[0],
                                                             typeof(MyCamera.MV_CC_DEVICE_INFO));
            if (null == m_MyCamera)
            {
                m_MyCamera = new MyCamera();
                if (null == m_MyCamera)
                {
 
                    return;
                }
            }
            //创建句柄
            int nRet = m_MyCamera.MV_CC_CreateDevice_NET(ref device);
            if (MyCamera.MV_OK != nRet)
            {
                
                return;
            }
           
        }
        /// <summary>
        /// 打开相机
        /// </summary>
        /// <exception cref="ArgumentNullException"></exception>
        public void OpenCamera()
        {
            if(m_MyCamera == null)
            {
                throw new ArgumentNullException("创建句柄失败");
            }
            int nRet = m_MyCamera.MV_CC_OpenDevice_NET();
            if (MyCamera.MV_OK != nRet)
            {
                m_MyCamera.MV_CC_DestroyDevice_NET();
               
                return;
            }

        }

        public void StartGrabImage()
        {
             int nRet = m_MyCamera.MV_CC_StartGrabbing_NET();
            if (MyCamera.MV_OK != nRet)
            {
       
                return;
            }

        }
        public static void InitCamera()
        {
            EnumCamera(out string vv);
            camera.CreateCameraHandle();
            camera.OpenCamera();
            camera.StartGrabImage();


        }
        protected byte[]? bufferDriver;
        protected uint bufferForDriver;
        public  Mat GetOneFrame()
        {
            IntPtr ptr = Marshal.UnsafeAddrOfPinnedArrayElement(bufferDriver, 0);
            MyCamera.MV_FRAME_OUT_INFO_EX mV_FRAME_OUT_INFO_EX = default(MyCamera.MV_FRAME_OUT_INFO_EX);
            int ret = m_MyCamera.MV_CC_GetOneFrameTimeout_NET(ptr, bufferForDriver,ref mV_FRAME_OUT_INFO_EX,1000);
            if (ret != 0)
            {
                return null;
            }

            return MvSrctoMat(ptr, mV_FRAME_OUT_INFO_EX);
        }
        public Mat MvSrctoMat(IntPtr pData, MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo)
        {
            Mat mat;
            if (pFrameInfo.enPixelType == MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed)
            {
                return mat = new Mat(pFrameInfo.nHeight, pFrameInfo.nWidth, MatType.CV_8UC3, pData, 0L);
            }
            //注意这个是否正确
            if (isMonoData(pFrameInfo.enPixelType))
            {
                return new Mat(pFrameInfo.nWidth, pFrameInfo.nHeight, MatType.CV_8UC1, pData);
            }
            IntPtr intPtr = IntPtr.Zero;
            if (intPtr == IntPtr.Zero)
            {
                intPtr = Marshal.AllocHGlobal(pFrameInfo.nWidth * pFrameInfo.nHeight * 3);
            }

            MyCamera.MV_PIXEL_CONVERT_PARAM pstCvtParam = default(MyCamera.MV_PIXEL_CONVERT_PARAM);
            pstCvtParam.nWidth = pFrameInfo.nWidth;
            pstCvtParam.nHeight = pFrameInfo.nHeight;
            pstCvtParam.pSrcData = pData;
            pstCvtParam.enSrcPixelType = pFrameInfo.enPixelType;
            pstCvtParam.nSrcDataLen = pFrameInfo.nFrameLen;
            pstCvtParam.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed;
            pstCvtParam.pDstBuffer = intPtr;
            pstCvtParam.nDstBufferSize = (uint)(pFrameInfo.nWidth * pFrameInfo.nHeight * 3 + 2048);
            int num = m_MyCamera!.MV_CC_ConvertPixelType_NET(ref pstCvtParam);
            mat = new Mat(pFrameInfo.nHeight, pFrameInfo.nWidth, MatType.CV_8UC1, pstCvtParam.pSrcData, 0L);
            Marshal.FreeHGlobal(intPtr);
            return mat;


        }
        public static bool isMonoData(MyCamera.MvGvspPixelType mvGvspPixelType)
        { 
            switch (mvGvspPixelType)
            {
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12_Packed:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10:
                case MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12:
                    return true;
                default:
                    return false;


            }
        
        }
    }
}