VM图像类型转换专题C#篇

前言

VisionMaster（后简称VM）作为一款功能强大的工业图形图像处理软件，可对工业中遇到的各种图像进行处理，同时还有功能强大的算子以及很全面的例程，作为图像处理的主程序是非常不错的。当前VM提供VM算法平台、VM SDK开发、算子SDK开发和定制化算法模块开发四种开发模式，覆盖各类开发族群。如何实现图像的输入输出，是开发者在调用视觉算法库时遇到的首要问题。当前行业主流的图像格式包括相机图像数据流、Bitmap、Mat和Halcon中的图像类型等，而VM不同开发模式的图像类型也有所不同，本文将介绍如何实现这些图像类型之间的互转。以下除定制化算法模块是C 语言，其它都是C#语言的示例代码。

注：本文章仅限VM4.2版本。

VM中对应的图像类型如下：

1. 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）；

2. VM：脚本输入图像（图像类型是ImageData，C 不支持）；

3. 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） ；

4. 算子SDK：输入图像(CMvdImage)；

5. 算法模块：输入图像(HKA_IMAGE，C#不支持)。

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和Group输入（ImageBaseData_V2）

//图像转换函数
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;
}
//设置示例代码
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);

1.2 相机采图转图像源SDK输入（ImageBaseData）

//图像转换函数
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;
}
//设置图像示例代码
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);

1.3 相机采图转模块输入（InputImageData）

//图像转换函数
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;
}
//设置图像代码示例
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);

1.4 相机采图转算子输入（CmvdImage）

//图像转换函数
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;
}

2.Bitmap取图与VM对应图像格式互转

Bitmap与 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，流程输出图像互相转换的示例代码如下所示。

2.1 Bitmap转流程输入和Group输入（ImageBaseData_V2）

public ImageBaseData_V2 BitmapToImageBaseData_V2(Bitmap bmpInputImg)
{
    ImageBaseData_V2 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;
}

2.2 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;
}

2.3 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;//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;        }
        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;//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];
                _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;
}

2.4 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;
}

2.5 流程输出（ImageBaseData_V2）转Bitmap

public Bitmap ImageBaseData_V2ToBitmap(ImageBaseData_V2 imageBaseData_V2)
{
    Bitmap bmpInputImg;
    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;
}

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转流程输入和Group输入（ImageBaseData_V2）

public ImageBaseData_V2 MatToImageBaseData_V2(Mat matInputImg)
{
    ImageBaseData_V2 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;
}

3.2 Mat转图像源SDK输入（ImageBaseData）

public ImageBaseData MatToImageBaseData(Mat matInputImg)
{
    ImageBaseData 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;
}

3.3 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;
}

3.4 Mat与算子图像（CmvdImage）互转

//Mat转CMvdImage
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;
}
//CMvdImage转Mat
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;
}

3.5 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;
}

3.6 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 matInputImg = new Mat();
    if(ImagePixelFormate.MONO8 == img.PixelFormat)
    {
        Mat 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)
    {
        Mat 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 matInputImg;
}

4.Halcon与VM图像格式互转

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、脚本图像 互转示例代码如下 ：

4.1 Halcon图像转流程输入和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);
    }
}

4.2 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);
    }
}

4.3 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);
    }
}

4.4 Halcon图像与算子图像（CmvdImage）互转

//HObject转CMvdImage
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);
    }
}

4.5 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);
    }
}

4.6 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);
    }
}

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

//HKA_IMAGE 转Mat
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;
}
//Mat转HKA_IMAGE 
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

//HKA_IMAGE 转HObject
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

//HKA_IMAGE转IMvdImage
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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