图漾相机搭配VisionPro使用简易教程

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已于 2025-05-13 23:09:27 修改

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分类专栏：图漾相机文章标签：数码相机

于 2025-01-26 22:28:46 首次发布

本文链接：https://blog.csdn.net/qq_38960753/article/details/145366379

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13 篇文章

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1.下载并安装VisionPro软件

请自行下载VisonPro软件。

VisionPro 9.0/9.5/9.6版本经测试，可正常打开图漾相机，建议使用图漾测试过的版本。

2.下载PercipioCameraForVisionPro软件包

使用浏览器下载：https://gitee.com/percipioxyz/camport3_visionpro

使用 git 指令获取本地副本：打开终端，切换到需存放 SDK 的工作目录下，输入 git clone 命令克隆远程仓库。

git clone https://gitee.com/percipioxyz/camport3_visionpro.git

3.软件部署

1.将 PercipioCamera.dll、PercipioCameraExtern.dll、tycam.dll 、opencv_world460.dll拷贝到 VisionPro 的 bin 目录，如果是默认安装，路径位于 C:\ProgramFiles\Cognex\VisionPro\bin。
2.将 PercipioCameraToolBlock.vtt 拷贝到 VisonPro 工具模板目录。如果是默认安装，路径位于 C:\ProgramFiles\Cognex\VisionPro\bin\Templates\Tools。
3.进入VisionPro后，依次点击下图中的位置，调PercipioCameraToolBlock工具。
在这里插入图片描述
4.点击PercipioCameraToolBlock界面的“输入/输出”

PercipioCameraToolBlock的输入参数说明：
1.CameraId：需要打开的相机序列号。
2.Z：相机与投影平面在 Z 方向的距离，单位 mm，将深度图向此投影平面做正交投影。结合该距离下的相机视野和深度图分辨率，可以求出单个像素大小 (mm) ，用于后续计算。
3.ScaleUnit：配置相机的ScaleUnit，以输出不同精度的深度值。
4.RegistrationMode：RGBD对齐开关。
0：不对齐； 1：rgb2depth； 2：depth2rgb。

4.测试流程

4.1 遍历VisionPro SDK支持的参数

以PS800-E1相机测试为主，测试项及其测试方法和结果如下表所示
在这里插入图片描述

4.2 设置示例

4.2.1_cameraSingle.SetTriggerMode

设置触发模式

int triggermode = (int) En_TRIGGER_MODE.TY_TRIGGER_MODE_SLAVE;
int set_trigger_mode = _cameraSingle.SetTriggerMode(ref triggermode);
if (set_trigger_mode != 0) 
{
	_cameraSingle.close();
	NativeMethods.deinitLib();
	_cameraSingle = null;
	throw new Exception("set trigger mode  failed, error code: " 
	 +set_trigger_mode);
}

如果设置成软触发工作模式，还需再start capture之后添加以下代码，发送软触发信号：

if(triggermode == (int) En_TRIGGER_MODE.TY_TRIGGER_MODE_SLAVE)
{
int sendsofttrigger = _cameraSingle.sendSoftTrigger();
if(sendsofttrigger != 0)
{
    _cameraSingle.close();
    NativeMethods.deinitLib();
    _cameraSingle = null;
    throw new Exception("send soft trigger  failed, error code: " +sendsofttrigger);
	}
}

4.2.2 _cameraSingle.SetRegistration

设置对齐模式

_cameraSingle.SetRegistration(0);

也可以直接在PercipioCameraToolBlock页面设置输入参数RegistrationMode，无需写代码。

4.2.3_cameraSingle.SetInt

int set_exp = _cameraSingle.SetInt((int)EnDeviceComponent.TY_COMPONENT_RGB_CAM,(int)En_FEATURE_ID.TY_INT_EXPOSURE_TIME,1088);
if(set_exp != 0)
{
    _cameraSingle.close();
    NativeMethods.deinitLib();
    _cameraSingle = null;
	throw new Exception("set exp failed, error code: " + set_exp);
}

4.2.4 _cameraSingle.GetInt

int exp = 0;
int get_exp = _cameraSingle.GetInt((int) EnDeviceComponent.TY_COMPONENT_RGB_CAM, (int) En_FEATURE_ID.TY_INT_EXPOSURE_TIME, ref exp);
if(get_exp != 0)
{
	_cameraSingle.close();
    NativeMethods.deinitLib();
    _cameraSingle = null;
    throw new Exception("get exp failed, error code: " + get_exp);
}
else
{
      //待补充
}

4.2.5 _cameraSingle.SetBool

int set_aec = _cameraSingle.SetBool((int)EnDeviceComponent.TY_COMPONENT_RGB_CAM,(int)En_FEATURE_ID.TY_BOOL_AUTO_EXPOSURE,false );
if(set_aec != 0)
{
    _cameraSingle.close();
    NativeMethods.deinitLib();
     _cameraSingle = null;
    throw new Exception("set aec failed, error code: " +set_aec);
}

4.2.6 _cameraSingle.GetBool

bool aec_status = true;
int get_aec = _cameraSingle.GetBool((int) EnDeviceComponent.TY_COMPONENT_RGB_CAM, (int) En_FEATURE_ID.TY_BOOL_AUTO_EXPOSURE, ref aec_status);
if(get_aec != 0)
{
	_cameraSingle.close();
	NativeMethods.deinitLib();
	_cameraSingle = null;
	throw new Exception("get_aec failed, error code: " + get_aec);
}

4.2.7 _cameraSingle.SetEnum

int resolution = CameraSingle.ImageMode(TY_PIXEL_FORMAT_LIST.TY_PIXEL_FORMAT_DEPTH16, TY_RESOLUTION_MODE_LIST.TY_RESOLUTION_MODE_1280x960);
int set_depth_resolution = _cameraSingle.SetEnum((int) EnDeviceComponent.TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_ENUM_IMAGE_MODE, resolution);
if(set_depth_resolution != 0)
{
	_cameraSingle.close();
	NativeMethods.deinitLib();
    _cameraSingle = null;
    throw new Exception("set depth resolution failed, error code: " +  set_depth_resolution); 
}

4.2.8 _cameraSingle.GetEnum

int resolution_value = 0;
int get_depth_resolution = _cameraSingle.GetEnum((int) EnDeviceComponent.TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_ENUM_IMAGE_MODE, ref resolution_value);
if(get_depth_resolution != 0)
{
    _cameraSingle.close();
    NativeMethods.deinitLib();
    _cameraSingle = null;
    throw new Exception("get depth resolution failed, error code: " + get_depth_resolution); 
}

4.2.9 _cameraSingle.SetFloat

int set_unit = _cameraSingle.SetFloat((int) EnDeviceComponent.TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_FLOAT_SCALE_UNIT, 5f);

4.2.10 _cameraSingle.GetFloat

float scale_unit= 0;
int get_unit = _cameraSingle.GetFloat((int) EnDeviceComponent.TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_FLOAT_SCALE_UNIT, ref scale_unit);

4.2.11 _cameraSingle.SetScaleUnit

float scaleUnit = 0.25f;
int ret = _cameraSingle.SetScaleUnit(scaleUnit);    
if(ret != 0)
{
    _cameraSingle.close();
    NativeMethods.deinitLib();
    _cameraSingle = null;
    throw new Exception("Set ScaleUnit Failure!");
}

可以直接在界面上输入，无需写代码。

4.2.12 _cameraSingle.GetScaleUnit

float get_scale = _cameraSingle.GetScaleUnit();

5.ToolBlock完整参考代码例子

#region namespace imports
using System;
using System.Collections;
using System.Drawing;
using System.IO;
using System.Windows.Forms;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro3D;
using Percipio.Basalt.Camera;
using Percipio.Basalt.Core;
using Percipio.Basalt.Internal.PInvoke;
using System.Collections.Generic;
#endregion

public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{
  #region Private Member Variables
  private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;
  private CameraSingle _cameraSingle;
  private string _cameraId;
  private float deviceScaleUnit;
  private bool _gvspResendSetted = false; 
  #endregion

  /// <summary>
  /// Called when the parent tool is run.
  /// Add code here to customize or replace the normal run behavior.
  /// </summary>
  /// <param name="message">Sets the Message in the tool's RunStatus.</param>
  /// <param name="result">Sets the Result in the tool's RunStatus</param>
  /// <returns>True if the tool should run normally,
  ///          False if GroupRun customizes run behavior</returns>
  public override bool GroupRun(ref string message, ref CogToolResultConstants result)
  {
    // To let the execution stop in this script when a debugger is attached, uncomment the following lines.
    #if DEBUG
    if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break();
    #endif

    string cameraId = (string) this.mToolBlock.Inputs["CameraId"].Value;
    double z = (double) this.mToolBlock.Inputs["Z"].Value;    
    ERegistrationMode regMode = (ERegistrationMode) this.mToolBlock.Inputs["RegistrationMode"].Value;    
    //int _fetchTimeout = (int) this.mToolBlock.Inputs["FetchTimeout"].Value;
    if (string.IsNullOrEmpty(cameraId))
    {
      throw new Exception("error: camera id is empty");      
    }
    
    if (cameraId != _cameraId)
    {
      _cameraId = cameraId;
      _cameraSingle = null;
    }
    
    int ret;    
    if (_cameraSingle == null)
    {
    //相机初始化
      NativeMethods.initLib();
      _cameraSingle = new CameraSingle();
      
      VectorOfDeviceBaseInfo DeviceBaseInfoVecs = new VectorOfDeviceBaseInfo();
      NativeMethods.refreshDevices(DeviceBaseInfoVecs.RawPtr);
      
      //打开相机
      int openRet = _cameraSingle.open(cameraId);      
      if (openRet != 0 )
      {
        _cameraSingle.close();
        NativeMethods.deinitLib();
        _cameraSingle = null;
        throw new Exception("open camera failed, error code: " + openRet);
      }
      
      BASALT_DEVICE_CONFIGURE_INFO info = new BASALT_DEVICE_CONFIGURE_INFO(true);
     //关闭左右IR
     // info.irLeftEnable = false;  
     //  info.irRightEnable = false;
      
      //相机组件使能
      int configRet = _cameraSingle.configureComponent(ref info);      
      if (configRet != 0 )
      {
        _cameraSingle.close();
        NativeMethods.deinitLib();
        _cameraSingle = null;
        throw new Exception("config camera failed, error code: " + configRet);
      }
    }
    
    //设置激光强度,范围(0,100)
     int set_laser_power = _cameraSingle.SetInt((uint) EnDeviceComponent.TY_COMPONENT_LASER, (uint) En_FEATURE_ID.TY_INT_LASER_POWER, 100);
    //设置深度图分辨率,有1280X960,640X480,320X240
    uint resolution = CameraSingle.ImageMode(TY_PIXEL_FORMAT_LIST.TY_PIXEL_FORMAT_DEPTH16, TY_RESOLUTION_MODE_LIST.TY_RESOLUTION_MODE_1280x960);
    int set_depth_resolution = _cameraSingle.SetEnum((int) EnDeviceComponent.TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_ENUM_IMAGE_MODE, resolution);
    
    //设置相机SGBM参数
    //设置图像数量,范围(1,20)
    //int SGBM_IMAGE_NUM = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_IMAGE_NUM, 18);
     //视差搜索范围,范围(1,320)
    //int SGBM_DISPARITY_NUM = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_DISPARITY_NUM, 256);
      //视差值,范围(-1280,1280)
   // int SGBM_DISPARITY_OFFSET = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_DISPARITY_OFFSET, -64); 
     //视差匹配窗口的高,范围(1,21)
    //int SGBM_MATCH_WIN_HEIGHT = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_MATCH_WIN_HEIGHT, 21); 
     //视差匹配窗口的宽,范围(1,9)
    //int SGBM_MATCH_WIN_WIDTH = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_MATCH_WIN_WIDTH, 5); 
     //控制视差平滑度的第一个参数,(0,10000)
    //int SGBM_SEMI_PARAM_P1 = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_SEMI_PARAM_P1, 100); 
      //控制视差平滑度的尺度参数,范围(0,25)
    // int SGBM_SEMI_PARAM_P1_SCALE = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_SEMI_PARAM_P1_SCALE, 6); 
     //控制视差平滑度的第二个参数,(0,10000)
     //int SGBM_SEMI_PARAM_P2 = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_SEMI_PARAM_P2, 400);
      //唯一性检查时的阈值,范围(0,511)
    // int SGBM_UNIQUE_FACTOR = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_UNIQUE_FACTOR, 60);
      // 唯一性检查， 绝对值差异，范围(0,10000)
     // int SGBM_UNIQUE_ABSDIFF = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_DEPTH_CAM, (int) En_FEATURE_ID.TY_INT_SGBM_UNIQUE_ABSDIFF, 400);
      
   

    //设置左右IR增益,范围(0,255)，模拟增益(0,3)和曝光(3,990)
    int set_leftir_gain = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_IR_CAM_LEFT, (int) En_FEATURE_ID.TY_INT_GAIN, 32);
    int set_leftir_analog_gain = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_IR_CAM_LEFT, (int) En_FEATURE_ID.TY_INT_ANALOG_GAIN, 3);
    int set_leftir_exporsure = _cameraSingle.SetInt((int) EnDeviceComponent. TY_COMPONENT_IR_CAM_LEFT, (int) En_FEATURE_ID.TY_INT_EXPOSURE_TIME, 990);
    
    int set_rightir_gain = _cameraSingle.SetInt((int) EnDeviceComponent.TY_COMPONENT_IR_CAM_RIGHT, (int) En_FEATURE_ID.TY_INT_GAIN, 32);
    int set_rightir_analog_gain = _cameraSingle.SetInt((int) EnDeviceComponent.TY_COMPONENT_IR_CAM_RIGHT, (int) En_FEATURE_ID.TY_INT_ANALOG_GAIN, 3);
    int set_rightir_exporsure = _cameraSingle.SetInt((int) EnDeviceComponent.TY_COMPONENT_IR_CAM_RIGHT, (int) En_FEATURE_ID.TY_INT_EXPOSURE_TIME, 990);
    
    
    
    //设置彩色分辨率,有2560X1920，1920X1440,1280X960,640X480
    uint RGB_resolution = CameraSingle.ImageMode(TY_PIXEL_FORMAT_LIST.TY_PIXEL_FORMAT_RGB, TY_RESOLUTION_MODE_LIST.TY_RESOLUTION_MODE_1280x960);
    int set_RGB_resolution = _cameraSingle.SetEnum((int) EnDeviceComponent.TY_COMPONENT_RGB_CAM, (int) En_FEATURE_ID.TY_ENUM_IMAGE_MODE, RGB_resolution);
    
    //设置彩色图模拟增益,范围(0,65535)
     int set_rgb_analog_gain = _cameraSingle.SetInt((int) EnDeviceComponent.TY_COMPONENT_RGB_CAM, (int) En_FEATURE_ID.TY_INT_ANALOG_GAIN, 1000);
    //设置彩色图曝光,范围(0,66600)
    int set_rgb_exposure = _cameraSingle.SetInt((int) EnDeviceComponent.TY_COMPONENT_RGB_CAM, (int) En_FEATURE_ID.TY_INT_EXPOSURE_TIME, 10000);
    //设置自动曝光
    //int set_aec = _cameraSingle.SetBool((int)EnDeviceComponent.TY_COMPONENT_RGB_CAM,(int)En_FEATURE_ID.TY_BOOL_AUTO_EXPOSURE,true);
    //设置白平衡
     int set_awb = _cameraSingle.SetBool((int)EnDeviceComponent.TY_COMPONENT_RGB_CAM,(int)En_FEATURE_ID.TY_BOOL_AUTO_AWB,true);
    
//    if(set_rgb_exposure != 0)
//    {
//      _cameraSingle.close();
//      NativeMethods.deinitLib();
//      _cameraSingle = null;
//      throw new Exception("set exp failed, error code: " + set_rgb_exposure);
//    }
    
   
      
    
    //设置GVSP 重传
    if(!_gvspResendSetted)
    {
        ret = _cameraSingle.SetBool((uint) EnDeviceComponent.TY_COMPONENT_DEVICE, (uint) En_FEATURE_ID.TY_BOOL_GVSP_RESEND, true);
        _gvspResendSetted = true;
    }
   
    //设置ScaleUnit  
    //ret = _cameraSingle.SetScaleUnit(0.5);

    //设置对齐模式
    _cameraSingle.SetRegistration(regMode);
    
    int triggermode = (int) En_TRIGGER_MODE.TY_TRIGGER_MODE_SLAVE;
    ret = _cameraSingle.SetTriggerMode(ref triggermode);
   
    
  
    
    
    
    ret = _cameraSingle.startCapture();      
    if (!(ret == 0 || ret == -1016))
    {
      _cameraSingle.close();
      NativeMethods.deinitLib();
      _cameraSingle = null;
      throw new Exception("startCapture failed, error code: " + ret);
    }  
    
    deviceScaleUnit =  _cameraSingle.GetScaleUnit();
    if(triggermode == (int) En_TRIGGER_MODE.TY_TRIGGER_MODE_SLAVE )
    {
      int sendsofttrigger = _cameraSingle.sendSoftTrigger();
      if(sendsofttrigger != 0)
      {
        _cameraSingle.close();
        NativeMethods.deinitLib();
        _cameraSingle = null;
        throw new Exception("send soft trigger  failed, error code: " + sendsofttrigger);
      }
    }
    
    BasaltImageFrame frame = _cameraSingle.fetchFrame(4000, (float) z);
    float scaleX = frame.scaleX;
    float scaleY = frame.scaleY;
    ret = frame.errorcode;
    if (!(ret == 0 || ret == -1016))
    {
      _cameraSingle.close();
      NativeMethods.deinitLib();
      _cameraSingle = null;
      throw new Exception("fetch frame failed, error code: " + ret);
    }
    
    _cameraSingle.stopCapture();
   
    
    CogImage16Grey image16Grey;
    CogImage8Grey image8Grey;
    
    //RGB这里要做格式转换，不然设置分辨率不生效
    CogImage24PlanarColor image = new CogImage24PlanarColor(frame.colorImg);
    
    this.mToolBlock.Outputs["OutputColorImage"].Value = image;
    this.mToolBlock.Outputs["OutputDepthImage"].Value = Create16Range(frame, deviceScaleUnit,out image16Grey,out image8Grey);
   this.mToolBlock.Outputs["OutputImage16Grey"].Value = image16Grey;
    this.mToolBlock.Outputs["OutputImage8Grey"].Value = image8Grey;
    this.mToolBlock.Outputs["OutputScaleX"].Value = scaleX;
    this.mToolBlock.Outputs["OutputScaleY"].Value = scaleY;
    
    frame.Dispose();
    GC.Collect();

    return false;
  }
  
  //图像格式转换
  private static unsafe CogImage16Range Create16Range(BasaltImageFrame frame, float scaleUnit, out CogImage16Grey image16Grey, out CogImage8Grey image8Grey)
  {
    int width = frame.depthImg.Width;
    int height = frame.depthImg.Height;
    
    image16Grey = new CogImage16Grey(width, height);
    ICogImage16PixelMemory image16PixelMemory = image16Grey.Get16GreyPixelMemory((CogImageDataModeConstants) 3, 0, 0, width, height);

    image8Grey = new CogImage8Grey(width, height);
    ICogImage8PixelMemory image8PixelMemory = image8Grey.Get8GreyPixelMemory((CogImageDataModeConstants) 3, 0, 0, width, height);
    
    ushort* image16Ptr = (ushort*) image16PixelMemory.Scan0.ToPointer();
    byte* image8Ptr = (byte*) image8PixelMemory.Scan0.ToPointer();
    
    ushort* depthImagePtr = (ushort*) frame.depthImg.Data().ToPointer();
    byte* depthMaskImagePtr = (byte*) frame.depthMaskImg.Data().ToPointer();
    int a = frame.depthImg.Width * frame.depthImg.Height / 2 + frame.depthImg.Width / 2;
    ushort val = depthImagePtr[a];
    
      
    
    for (int row = 0; row < image16PixelMemory.Height; ++row)
    {
      for (int column = 0; column < image16PixelMemory.Width; ++column)
      {
        *image8Ptr = depthMaskImagePtr[row * width + column];
        ++image8Ptr;
        *image16Ptr = depthImagePtr[row * width + column];
        ++image16Ptr;
      }
      image16Ptr += image16PixelMemory.Stride - image16PixelMemory.Width;
      image8Ptr += image8PixelMemory.Stride - image8PixelMemory.Width;
    }
    double zResolution = 1;
    double xResolution = frame.scaleX;
    double yResolution = frame.scaleY;
      
    CogTransform2DLinear transform2Dlinear = new CogTransform2DLinear();
    //transform2Dlinear.SetScalingsRotationsTranslation(xResolution, yResolution, 0.0, -1.0 * Math.PI, (double) (width / 2), 0.0);
    transform2Dlinear.SetScalingsRotationsTranslation(1.0 / xResolution, 1.0 / yResolution, 2.0 * Math.PI, 2.0 * Math.PI, 0.0, 0.0);
    image16Grey.CoordinateSpaceTree.AddSpace("@", "Sensor2D", transform2Dlinear, true, CogAddSpaceConstants.DuplicateIsError);
    image8Grey.CoordinateSpaceTree.AddSpace("@", "Sensor2D", transform2Dlinear, true, CogAddSpaceConstants.DuplicateIsError);
    Cog3DTransformLinear linear3Dtrans = new Cog3DTransformLinear(new Cog3DMatrix3x3(1.0 / xResolution, 0.0, 0.0, 0.0, 1.0 / yResolution, 0.0, 0.0, 0.0, 1.0 / zResolution), new Cog3DVect3(1.0, 1.0, 1.0));
    
    CogImage16Range image16Range = new CogImage16Range(image16Grey, image8Grey, linear3Dtrans);
    image16Range.SelectedSpaceName = "Sensor2D";
    image8Grey.SelectedSpaceName = "Sensor2D";
    image16Grey.SelectedSpaceName = "Sensor2D";
    
    return image16Range;
  }

  #region When the Current Run Record is Created
  /// <summary>
  /// Called when the current record may have changed and is being reconstructed
  /// </summary>
  /// <param name="currentRecord">
  /// The new currentRecord is available to be initialized or customized.</param>
  public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord)
  {
  }
  #endregion

  #region When the Last Run Record is Created
  /// <summary>
  /// Called when the last run record may have changed and is being reconstructed
  /// </summary>
  /// <param name="lastRecord">
  /// The new last run record is available to be initialized or customized.</param>
  public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord)
  {
  }
  #endregion

  #region When the Script is Initialized
  /// <summary>
  /// Perform any initialization required by your script here
  /// </summary>
  /// <param name="host">The host tool</param>
  public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host)
  {
    // DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVE
    base.Initialize(host);


    // Store a local copy of the script host
    this.mToolBlock = ((Cognex.VisionPro.ToolBlock.CogToolBlock) (host));
  }
  #endregion

}

6.WinFrom参考代码例子

6.1 待补充

7.常见FAQ

1.每次运行只能采一张图，再次点击运行时会报错-1016。
2.使用图漾PercipioViewer软件保存的Png图片，是16位灰度图，可以使用Cog3DImageConvertTool这个Vtt文件，将16位灰度图转换成CogImage16Range，之后供VisionPro的3D工具应用。
3.图漾官网上下载的VisionPro的SDK，是旧的版本，建议使用链接上的V1.0.4版本的SDK。
4.切记使用图漾TOF相机，使用改插件，会有一些问题，有问题，请及时联系图漾技术。