完成取图和通信

PanSight3DForm/DetectForm.cs

@@ -1,87 +0,0 @@
-using Camera;
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Data;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Forms;
-using PanSight3DForm.Model;
-
-namespace PanSight3DForm
-{
-    public partial class DetectForm : Form
-    {
-
-        CameraManger cameraManger;
-        public DetectForm(CameraManger _cameraManger)
-        {
-            InitializeComponent();
-            cameraManger = _cameraManger;
-
-            btn_scan_Click(null, null);
-        }
-      
-      
-        private void button1_Click(object sender, EventArgs e)
-        {
-         
-        }
-
-        private void btn_scan_Click(object sender, EventArgs e)
-        {
-            dataGridView1.Rows.Clear();
-            cameraManger.ScannCamera();
-            var _camera = cameraManger.GetCameras;
-            foreach (var item in _camera)
-            {
-                dataGridView1.Rows.Add(item.sourceIp,item.targetIp,item.cameraType,item.cameraStatus);
-            }
-        }
-
-        private void btn_connect_Click(object sender, EventArgs e)
-        {
-            DataGridViewRow selectedRow = dataGridView1.SelectedRows[0];
-
-            if (selectedRow.Cells[0].Value != null) 
-            {
-                string sourceIp = selectedRow.Cells[0].Value.ToString();
-                string targetIp = selectedRow.Cells[1].Value.ToString();
-
-                var ret = cameraManger.ConnectCamera(sourceIp,targetIp);
-                if (ret == true) 
-                {
-                 
-                    selectedRow.Cells[3].Value = "已连接";
-                }
-                else
-                {
-                    selectedRow.Cells[3].Value = "未连接";
-                }
-            }
-        }
-
-        private void btn_disConnect_Click(object sender, EventArgs e)
-        {
-            DataGridViewRow selectedRow = dataGridView1.SelectedRows[0];
-
-            if (selectedRow.Cells[0].Value != null)
-            {
-                string sourceIp = selectedRow.Cells[0].Value.ToString();
-                string targetIp = selectedRow.Cells[1].Value.ToString();
-
-                var ret = cameraManger.DisConnectCamera();
-                if (!ret)
-                {
-                    selectedRow.Cells[3].Value = "已连接";
-                }
-                else
-                {
-                    selectedRow.Cells[3].Value = "未连接";
-                }
-            }
-        }
-    }
-}

PanSight3DForm/DetectForm1.Designer.cs

@@ -1,6 +1,6 @@
 namespace PanSight3DForm
 {
-    partial class DetectForm
+    partial class DetectForm1
     {
         /// <summary>
         /// Required designer variable.
@@ -35,7 +35,6 @@
             this.cameraType = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.cameraStatus = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.panel1 = new System.Windows.Forms.Panel();
-            this.btn_disConnect = new System.Windows.Forms.Button();
             this.btn_connect = new System.Windows.Forms.Button();
             this.btn_scan = new System.Windows.Forms.Button();
             this.tableLayoutPanel1.SuspendLayout();
@@ -52,11 +51,12 @@
             this.tableLayoutPanel1.Controls.Add(this.panel1, 0, 1);
             this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel1.Location = new System.Drawing.Point(0, 0);
+            this.tableLayoutPanel1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.tableLayoutPanel1.Name = "tableLayoutPanel1";
             this.tableLayoutPanel1.RowCount = 2;
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 189F));
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 236F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(613, 287);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(817, 359);
             this.tableLayoutPanel1.TabIndex = 0;
             // 
             // dataGridView1
@@ -69,66 +69,67 @@
             this.cameraStatus});
             this.tableLayoutPanel1.SetColumnSpan(this.dataGridView1, 2);
             this.dataGridView1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.dataGridView1.Location = new System.Drawing.Point(3, 3);
+            this.dataGridView1.Location = new System.Drawing.Point(4, 4);
+            this.dataGridView1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.dataGridView1.MultiSelect = false;
             this.dataGridView1.Name = "dataGridView1";
             this.dataGridView1.ReadOnly = true;
+            this.dataGridView1.RowHeadersWidth = 51;
             this.dataGridView1.RowTemplate.Height = 23;
             this.dataGridView1.SelectionMode = System.Windows.Forms.DataGridViewSelectionMode.FullRowSelect;
-            this.dataGridView1.Size = new System.Drawing.Size(607, 183);
+            this.dataGridView1.Size = new System.Drawing.Size(809, 228);
             this.dataGridView1.TabIndex = 0;
             // 
             // localIP
             // 
             this.localIP.HeaderText = "本地IP";
+            this.localIP.MinimumWidth = 6;
             this.localIP.Name = "localIP";
             this.localIP.ReadOnly = true;
+            this.localIP.Width = 125;
             // 
             // cameraIp
             // 
             this.cameraIp.HeaderText = "相机IP";
+            this.cameraIp.MinimumWidth = 6;
             this.cameraIp.Name = "cameraIp";
             this.cameraIp.ReadOnly = true;
+            this.cameraIp.Width = 125;
             // 
             // cameraType
             // 
             this.cameraType.HeaderText = "相机型号";
+            this.cameraType.MinimumWidth = 6;
             this.cameraType.Name = "cameraType";
             this.cameraType.ReadOnly = true;
+            this.cameraType.Width = 125;
             // 
             // cameraStatus
             // 
             this.cameraStatus.HeaderText = "连接状态";
+            this.cameraStatus.MinimumWidth = 6;
             this.cameraStatus.Name = "cameraStatus";
             this.cameraStatus.ReadOnly = true;
+            this.cameraStatus.Width = 125;
             // 
             // panel1
             // 
             this.tableLayoutPanel1.SetColumnSpan(this.panel1, 2);
-            this.panel1.Controls.Add(this.btn_disConnect);
             this.panel1.Controls.Add(this.btn_connect);
             this.panel1.Controls.Add(this.btn_scan);
             this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panel1.Location = new System.Drawing.Point(3, 192);
+            this.panel1.Location = new System.Drawing.Point(4, 240);
+            this.panel1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(607, 92);
+            this.panel1.Size = new System.Drawing.Size(809, 115);
             this.panel1.TabIndex = 1;
             // 
-            // btn_disConnect
-            // 
-            this.btn_disConnect.Location = new System.Drawing.Point(515, 27);
-            this.btn_disConnect.Name = "btn_disConnect";
-            this.btn_disConnect.Size = new System.Drawing.Size(83, 38);
-            this.btn_disConnect.TabIndex = 2;
-            this.btn_disConnect.Text = "断开连接";
-            this.btn_disConnect.UseVisualStyleBackColor = true;
-            this.btn_disConnect.Click += new System.EventHandler(this.btn_disConnect_Click);
-            // 
             // btn_connect
             // 
-            this.btn_connect.Location = new System.Drawing.Point(413, 27);
+            this.btn_connect.Location = new System.Drawing.Point(670, 32);
+            this.btn_connect.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.btn_connect.Name = "btn_connect";
-            this.btn_connect.Size = new System.Drawing.Size(83, 38);
+            this.btn_connect.Size = new System.Drawing.Size(111, 48);
             this.btn_connect.TabIndex = 1;
             this.btn_connect.Text = "连接";
             this.btn_connect.UseVisualStyleBackColor = true;
@@ -136,9 +137,10 @@
             // 
             // btn_scan
             // 
-            this.btn_scan.Location = new System.Drawing.Point(9, 26);
+            this.btn_scan.Location = new System.Drawing.Point(12, 32);
+            this.btn_scan.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.btn_scan.Name = "btn_scan";
-            this.btn_scan.Size = new System.Drawing.Size(83, 38);
+            this.btn_scan.Size = new System.Drawing.Size(111, 48);
             this.btn_scan.TabIndex = 0;
             this.btn_scan.Text = "搜索";
             this.btn_scan.UseVisualStyleBackColor = true;
@@ -146,13 +148,14 @@
             // 
             // DetectForm
             // 
-            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(613, 287);
+            this.ClientSize = new System.Drawing.Size(817, 359);
             this.Controls.Add(this.tableLayoutPanel1);
-            this.Margin = new System.Windows.Forms.Padding(2);
+            this.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
             this.Name = "DetectForm";
             this.Text = "DetectForm";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.DetectForm_FormClosing);
             this.tableLayoutPanel1.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).EndInit();
             this.panel1.ResumeLayout(false);
@@ -171,6 +174,5 @@
         private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Button btn_connect;
         private System.Windows.Forms.Button btn_scan;
-        private System.Windows.Forms.Button btn_disConnect;
     }
 }

PanSight3DForm/DetectForm1.cs

@@ -0,0 +1,110 @@
+using Camera;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+
+namespace PanSight3DForm
+{
+    public partial class DetectForm1 : Form
+    {
+        public struct cameras
+        {
+            public string sourceIp;
+            public string targetIp;
+            public string cameraType;
+            public string cameraStatus;
+        }
+        public string sourceIp;
+        public string targetIp;
+
+        private List<cameras> camerasList = new List<cameras>();
+        public DetectForm1()
+        {
+            InitializeComponent();
+            
+
+            btn_scan_Click(null, null);
+        }
+      
+      
+        private void button1_Click(object sender, EventArgs e)
+        {
+         
+        }
+     
+        private void btn_scan_Click(object sender, EventArgs e)
+        {
+            
+            dataGridView1.Rows.Clear();
+            camerasList.Clear();
+            IntPtr ptr = CameraWrapper.SgDetectNetCameras();
+            string sip = System.Runtime.InteropServices.Marshal.PtrToStringAnsi(ptr);
+            Common.DETECTINFO[] devices = Common.analysisIpInfos(sip);
+
+
+            if (devices != null && devices.Length > 0)
+            {
+
+                GetDeviceIPPair(devices).ToList().ForEach((item) =>
+                {
+                    cameras _camera = new cameras();
+                    _camera.sourceIp = item.Item1;
+                    _camera.targetIp = item.Item2.Split('(')[0];
+                    _camera.cameraType = item.Item2.Split('(')[1].Split(')')[0].Split('=')[0];
+                    _camera.cameraStatus = "未连接";
+                    foreach (var v in camerasList)
+                    {
+                        if (v.cameraType == _camera.cameraType)
+                        {
+                            return;
+                        }
+                    }
+
+
+                    camerasList.Add(_camera);
+                });
+            }
+            foreach (var item in camerasList)
+            {
+                dataGridView1.Rows.Add(item.sourceIp,item.targetIp,item.cameraType,item.cameraStatus);
+            }
+        }
+        IEnumerable<Tuple<string, string>> GetDeviceIPPair(Common.DETECTINFO[] infos)
+        {
+            foreach (var i in infos)
+            {
+                foreach (var j in i._ips)
+                {
+                    foreach (var k in j._cameraIps)
+                    {
+                        yield return Tuple.Create(j._hostIp, k);
+                    }
+                }
+            }
+        }
+        private void btn_connect_Click(object sender, EventArgs e)
+        {
+            DataGridViewRow selectedRow = dataGridView1.SelectedRows[0];
+
+            if (selectedRow.Cells[0].Value != null) 
+            {
+                sourceIp = selectedRow.Cells[0].Value.ToString();
+                targetIp = selectedRow.Cells[1].Value.ToString();
+
+                this.DialogResult = DialogResult.OK;
+            }
+        }
+
+        private void DetectForm_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            
+        }
+    }
+}

PanSight3DForm/DetectForm1.resx

@@ -129,4 +129,16 @@
   <metadata name="cameraStatus.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
+  <metadata name="localIP.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="cameraIp.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="cameraType.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
+  <metadata name="cameraStatus.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
 </root>

PanSight3DForm/Form1.cs

@@ -1,9 +1,12 @@
-using PanSight3DForm.Model;
+using Camera;
+using HalconDotNet;
 using System;
 using System.Collections.Generic;
 using System.ComponentModel;
 using System.Data;
 using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -14,13 +17,31 @@ namespace PanSight3DForm
     public partial class Form1 : Form
     {
         #region 变量
+        CameraWrapper.SGEXPORT_ROI m_roi = new CameraWrapper.SGEXPORT_ROI();
+        CameraWrapper.SGEXPORT_MODE m_mode = new CameraWrapper.SGEXPORT_MODE();
+        CameraWrapper.SGEXPORT_CAMCONFIG m_cfg = new CameraWrapper.SGEXPORT_CAMCONFIG();
+        CameraWrapper.SGEXPORT_PRODUCTINFO m_prod = new CameraWrapper.SGEXPORT_PRODUCTINFO();
+        private CameraSyn m_camera = new CameraSyn();
         private bool isConnect = false;
-        CameraManger cameraManger;
+        public string sourceIp;
+        public string targetIp;
+        float m_fTemperature = 0;
+
+        enum TEST_TYPE { TEST_TYPE_GRAB_PNTS_CLOUD, TEST_TYPE_LOOP_GRAB, TEST_TYPE_PROFILES };
+
+        TEST_TYPE m_testType = TEST_TYPE.TEST_TYPE_GRAB_PNTS_CLOUD;
         #endregion
         public Form1()
         {
             InitializeComponent();
-            cameraManger = new CameraManger();
+            m_camera.DepthEvent += onDepth;
+           
+            m_camera.prepare();
+        }
+
+        private void M_camera_ImageEvent(IntPtr arg1, CameraWrapper.SG_IMGDATA_PARAM arg2, IntPtr arg3)
+        {
+            throw new NotImplementedException();
         }
 
         private void btn_cameraSetting_Click(object sender, EventArgs e)
@@ -37,34 +58,77 @@ namespace PanSight3DForm
         {
             if (!isConnect)
             {
-                DetectForm detectForm = new DetectForm(cameraManger);
-                detectForm.TopMost = true;
-                detectForm.ShowDialog();
-                if (cameraManger.isConnect) 
-                {
 
-                    btn_connect.Text = "断开";
+                DetectForm1 detectForm = new DetectForm1();
-                    isConnect = true;
+                detectForm.TopMost = true;
-                    btn_connect.BackColor = Color.Red;
+                if (detectForm.ShowDialog() == DialogResult.OK)
-                    lb_status.Text = "状态: 已连接";
+                {
-                    lb_status.BackColor = Color.Green;
+                    sourceIp = detectForm.sourceIp;
-                    textBoxLocalIp.Text = cameraManger.localIp;
+                    targetIp = detectForm.targetIp;
-                    textBoxRemoteIp.Text = cameraManger.targetIp;
+                    if (m_camera.Connect2Camera(sourceIp, targetIp))
-                    var mode = cameraManger.GetMode();
+                    {
-                    nud_expo.Value = mode._uiExpo;
+
-                    cbb_gain.Text = mode._usGain.ToString();
+                        if (m_camera.GetRoiAndMedia(ref m_roi) == false)
-                    nup_jiguang.Value = mode._ucLaserPower;
+                        {
-                    nud_frameData.Value = mode._usFrame;
+                            MessageBox.Show("获取ROI失败");
-                    nud_x.Value = (decimal)mode._fXScaling;
+                            return;
-                    nud_y.Value = (decimal)mode._fYScaling;
+                        }
-                    var camMode = cameraManger.GetCamMode();
+                        if (m_camera.GetCamMode(ref m_mode) == false)
-                    cb_transmode.SelectedIndex = camMode._ucTransMode;
+                        {
+                            MessageBox.Show("获取模式失败");
+                            return;
+                        }
+                        cb_transmode.SelectedIndex = m_mode._ucTransMode;
+
+                        if (m_mode._ucDataType == (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE_GRAY)
+                        {
+                            checkBoxGray.Checked = true;
+                        }
+                        else
+                        {
+                            checkBoxGray.Checked = false;
+                        }
+
+                        numericUpDownLineNum.Value = m_mode._uiGrabNumber;
+                        if (m_camera.GetCamConfig(ref m_cfg) == false)
+                        {
+                            MessageBox.Show("获取配置失败");
+                            return;
+                        }
+                        if (m_camera.GetCamProductInfos(ref m_prod) == false)
+                        {
+                            MessageBox.Show("获取产品信息失败");
+                            return;
+                        }
+                        btn_connect.Text = "断开";
+                        isConnect = true;
+                        btn_connect.BackColor = Color.Red;
+                        lb_status.Text = "状态: 已连接";
+                        lb_status.BackColor = Color.Green;
+                        textBoxLocalIp.Text = sourceIp;
+                        textBoxRemoteIp.Text = targetIp;
+
+                        nud_expo.Value = m_cfg._uiExpo;
+                        cbb_gain.Text = m_cfg._usGain.ToString();
+                        nup_jiguang.Value = m_cfg._ucLaserPower;
+                        nud_frameData.Value = m_cfg._usFrame;
+                        nud_x.Value = (decimal)m_cfg._fXScaling;
+                        nud_y.Value = (decimal)m_cfg._fYScaling;
+                       
+
+
+
+                    }
+
+
                 }
 
             }
             else
             {
-                cameraManger.DisConnectCamera();
+               
+                m_camera.CloseCamera();
+
                 btn_connect.Text = "连接";
                 isConnect = false;
                 btn_connect.BackColor = Color.OliveDrab;
@@ -73,6 +137,465 @@ namespace PanSight3DForm
                 textBoxLocalIp.Text = "";
                 textBoxRemoteIp.Text = "";
             }
+
+        }
+        unsafe void saveDepthData(float* pBuf, uint bufSize)
+        {
+            string dataDir = "c:\\data";
+            if (Directory.Exists(dataDir) == false)
+            {
+                Directory.CreateDirectory(dataDir);
+            }
+            string timestamp = DateTime.Now.ToString("yyMMddHHmmss_fff");
+            string filename = string.Format("{0}\\Depth_t{1}.txt", dataDir, timestamp);
+            StreamWriter sw = new StreamWriter(filename);
+            string content = "";
+
+            for (int i = 0; i < bufSize;)
+            {
+                content = string.Format("{0},{1},{2}", pBuf[i], pBuf[i + 1], pBuf[i + 2]);
+                i += 3;
+                sw.WriteLine(content);
+            }
+            sw.Close();
+
+            Common.InvokeFunc(this, () => {
+                labelTips.Text = "点云文件抓取成功，" + filename;
+            });
+        }
+        int m_iGrabProfileNum = 0; 
+        int m_iGrabCallbackCount = 0;
+        unsafe void onDepth(IntPtr pBuf, IntPtr pGrayBuf, CameraWrapper.SG_DEPTHDATA_PARAM param, IntPtr pOwner)
+        {
+            if (pBuf == null)
+            {
+                return;
+            }
+
+            Common.InvokeFunc(this, () => {
+                labelTips.Text = "数据全部采集完成，开始转换显示";
+            });
+
+
+            if (param._bProfile == 1)
+            {
+                return;
+            }
+
+            int w = param._iPointNumPerLine;
+            int h = param._iCapturedProfileLineNum;
+
+            if (pGrayBuf != null && param._iCapturedProfileLineNum > 0)
+            {
+                // 显示灰度图
+                showGrayImg((byte*)pGrayBuf, w, h);
+                
+            }
+
+            if (pBuf != null && param._iCapturedProfileLineNum > 0)
+            {
+                // 显示高度图
+                //showDepthImg(pBuf, param);
+                showDepthImg((float*)pBuf, w, h);
+            }
+
+            // 重点声明一下，onDepth 函数是SDK中的线程回调上来的，这里面不要有耗时等待的操作。
+
+            m_iGrabProfileNum = param._iCapturedProfileLineNum;
+            m_iGrabCallbackCount++;
+            if (m_testType != TEST_TYPE.TEST_TYPE_PROFILES)
+            {
+                // 抓取点云
+                Common.InvokeFunc(this, () => {
+
+                    // 不要在SDK的回调线程中直接调用sdk接口,此处切换到ui线程中调用
+
+                    m_fTemperature = 0;
+                    m_camera.GetTemperature(ref m_fTemperature);
+
+                    labelMsg.Text = DateTime.Now.ToString("HH:mm:ss.fff") + " 抓取线数:" + m_iGrabProfileNum + "  温度:" + m_fTemperature;
+                });
+            }
+
+
+            //if (h > 0)
+            //{
+            //    saveDepthData((float*)pBuf, (uint)(w * h * 3));
+            //}
+            //Common.InvokeFunc(this, () => {
+            //    BufToHImage((float*)pBuf, (byte*)pGrayBuf, w, h);
+            //});
+        }
+
+        unsafe void showGrayImg( byte* pGrayBuf, int width, int height)
+        {
+            int iPntsCount = width * height;
+
+            float[] y_pBuf = new float[iPntsCount];
+            float[] x_pBuf = new float[iPntsCount];
+            float[] z_pBuf = new float[iPntsCount];
+
+            byte[] grayBufff = null;
+            if (pGrayBuf != null)
+            {
+                grayBufff = new byte[iPntsCount];
+            }
+
+
+            for (int i = 0; i < iPntsCount; i++)
+            {
+              
+                if (pGrayBuf != null)
+                {
+                    grayBufff[i] = pGrayBuf[i];
+                }
+
+            }
+            //HTuple obj3DHandle;//3D句柄
+            //HTuple hTupleX = new HTuple(x_pBuf);
+            //HTuple hTupleY = new HTuple(y_pBuf);
+            //HTuple hTupleZ = new HTuple(z_pBuf);
+            //HTuple hTupleGray = new HTuple();
+            //if (pGrayBuf != null)
+            //{
+            //    hTupleGray = new HTuple(iPntsCount);                
+            //}
+            //HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
+            //void* p0, p1, p2, p3;
+            IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
+            IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            fixed (void* py = y_pBuf)
+            {
+                ypRawData = new IntPtr(py);
+            }
+            fixed (void* px = x_pBuf)
+            {
+                xpRawData = new IntPtr(px);
+            }
+            fixed (void* pz = z_pBuf)
+            {
+                zpRawData = new IntPtr(pz);
+            }
+            if (pGrayBuf != null)
+            {
+                fixed (void* pg = grayBufff)
+                {
+                    gpRawData = new IntPtr(pg);
+                }
+            }
+            HObject img = null, x = null, y = null, z = null;
+            img?.Dispose();
+            HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
+            x?.Dispose(); y?.Dispose(); z?.Dispose();
+            HOperatorSet.Decompose3(img, out x, out y, out z);
+            HTuple w, h;
+
+            HOperatorSet.GetImageSize(z, out w, out h);
+            HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
+            HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
+            
+            if (pGrayBuf != null)
+            {
+                HObject gray = null;
+                gray?.Dispose();
+                HOperatorSet.GenImage1(out gray, "byte", width, height, gpRawData);
+                HOperatorSet.GetImageSize(gray, out w, out h);
+                HOperatorSet.SetPart(this.hWindowControlGray.HalconWindow, 0, 0, h - 1, w - 1);
+                HOperatorSet.DispObj(gray, this.hWindowControlGray.HalconWindow);
+            }
+        }
+      
+        unsafe void showDepthImg(float* pBuf, int width, int height) 
+        {
+            int iPntsCount = width * height;
+
+            float[] y_pBuf = new float[iPntsCount];
+            float[] x_pBuf = new float[iPntsCount];
+            float[] z_pBuf = new float[iPntsCount];
+
+
+
+            //float/*[*/] a_pBuf = new float[iPntsCount * 3];
+            for (int i = 0; i < iPntsCount; i++)
+            {
+                y_pBuf[i] = pBuf[i * 3];
+                x_pBuf[i] = pBuf[i * 3 + 1];
+                z_pBuf[i] = pBuf[i * 3 + 2];
+                
+                //a_pBuf[i*3] = pBuf[i * 3];
+                //a_pBuf[i*3+1] = pBuf[i * 3 + 1];
+                //a_pBuf[i*3+2] = pBuf[i * 3 + 2];
+
+            }
+            //// 定义txt文件的路径
+            //string filePath = "all_buf.txt";
+
+            //// 使用StreamWriter写入文件
+            //using (StreamWriter writer = new StreamWriter(filePath))
+            //{
+            //    // 遍历数组并写入每个元素到txt文件
+            //    foreach (float value in a_pBuf)
+            //    {
+            //        writer.WriteLine(value);
+            //    }
+            //}
+            //// 定义txt文件的路径
+            //filePath = "x1.txt";
+
+            //// 使用StreamWriter写入文件
+            //using (StreamWriter writer = new StreamWriter(filePath))
+            //{
+            //    // 遍历数组并写入每个元素到txt文件
+            //    foreach (float value in x_pBuf)
+            //    {
+            //        writer.WriteLine(value);
+            //    }
+            //}
+            //// 定义txt文件的路径
+            //filePath = "y1.txt";
+
+            //// 使用StreamWriter写入文件
+            //using (StreamWriter writer = new StreamWriter(filePath))
+            //{
+            //    // 遍历数组并写入每个元素到txt文件
+            //    foreach (float value in y_pBuf)
+            //    {
+            //        writer.WriteLine(value);
+            //    }
+            //}
+            //HTuple obj3DHandle;//3D句柄
+            //HTuple hTupleX = new HTuple(x_pBuf);
+            //HTuple hTupleY = new HTuple(y_pBuf);
+            //HTuple hTupleZ = new HTuple(z_pBuf);
+            //HTuple hTupleGray = new HTuple();
+            //if (pGrayBuf != null)
+            //{
+            //    hTupleGray = new HTuple(iPntsCount);                
+            //}
+            //HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
+            //void* p0, p1, p2, p3;
+            IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
+            IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            fixed (void* py = y_pBuf)
+            {
+                ypRawData = new IntPtr(py);
+            }
+            fixed (void* px = x_pBuf)
+            {
+                xpRawData = new IntPtr(px);
+            }
+            fixed (void* pz = z_pBuf)
+            {
+                zpRawData = new IntPtr(pz);
+            }
+           
+            HObject img = null, x = null, y = null, z = null;
+            img?.Dispose();
+            HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
+            x?.Dispose(); y?.Dispose(); z?.Dispose();
+            HOperatorSet.Decompose3(img, out x, out y, out z);
+            HTuple w, h;
+
+            HOperatorSet.GetImageSize(z, out w, out h);
+            HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
+            HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
+
+           
+        }
+    
+
+        public byte Rescale(float value, float max, float min)
+        {
+            if (value < min)
+            {
+                return 0;
+            }
+            else if (value > max)
+            {
+                return 255;
+            }
+            else if (Math.Abs(max - min) < 0.00001)
+            {
+                // 同一个平面
+                return 0;
+            }
+            return (byte)(((value - min) / (max - min)) * 255);
+        }
+        unsafe void BufToHImage(float* pBuf, byte* pGrayBuf, int width, int height)
+        {
+            int iPntsCount = width * height;
+
+            float[] y_pBuf = new float[iPntsCount];
+            float[] x_pBuf = new float[iPntsCount];
+            float[] z_pBuf = new float[iPntsCount];
+
+            byte[] grayBufff = null;
+            if (pGrayBuf != null)
+            {
+                grayBufff = new byte[iPntsCount];
+            }
+
+
+            for (int i = 0; i < iPntsCount; i++)
+            {
+                y_pBuf[i] = pBuf[i * 3];
+                x_pBuf[i] = pBuf[i * 3 + 1];
+                z_pBuf[i] = pBuf[i * 3 + 2];
+                if (pGrayBuf != null)
+                {
+                    grayBufff[i] = pGrayBuf[i];
+                }
+
+            }
+            //HTuple obj3DHandle;//3D句柄
+            //HTuple hTupleX = new HTuple(x_pBuf);
+            //HTuple hTupleY = new HTuple(y_pBuf);
+            //HTuple hTupleZ = new HTuple(z_pBuf);
+            //HTuple hTupleGray = new HTuple();
+            //if (pGrayBuf != null)
+            //{
+            //    hTupleGray = new HTuple(iPntsCount);                
+            //}
+            //HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
+            //void* p0, p1, p2, p3;
+            IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
+            IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
+            fixed (void* py = y_pBuf)
+            {
+                ypRawData = new IntPtr(py);
+            }
+            fixed (void* px = x_pBuf)
+            {
+                xpRawData = new IntPtr(px);
+            }
+            fixed (void* pz = z_pBuf)
+            {
+                zpRawData = new IntPtr(pz);
+            }
+            if (pGrayBuf != null)
+            {
+                fixed (void* pg = grayBufff)
+                {
+                    gpRawData = new IntPtr(pg);
+                }
+            }
+            HObject img = null, x = null, y = null, z = null;
+            img?.Dispose();
+            HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
+            x?.Dispose(); y?.Dispose(); z?.Dispose();
+            HOperatorSet.Decompose3(img, out x, out y, out z);
+            HTuple w, h;
+
+            HOperatorSet.GetImageSize(z, out w, out h);
+            HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
+            HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
+
+            if (pGrayBuf != null)
+            {
+                HObject gray = null;
+                gray?.Dispose();
+                HOperatorSet.GenImage1(out gray, "byte", width, height, gpRawData);
+                HOperatorSet.GetImageSize(gray, out w, out h);
+                HOperatorSet.SetPart(this.hWindowControlGray.HalconWindow, 0, 0, h - 1, w - 1);
+                HOperatorSet.DispObj(gray, this.hWindowControlGray.HalconWindow);
+            }
+        }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            CameraWrapper.SGEXPORT_MODE mode = m_mode;
+            mode._ucCaptureMode = (byte)CameraWrapper.CAPMODE.CAPMODE_AUTO;
+            mode._uiGrabNumber = (uint)numericUpDownLineNum.Value;
+            if (checkBoxGray.Checked)
+            {
+                mode._ucDataType = (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE_GRAY;
+            }
+            else
+            {
+                mode._ucDataType = (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE;
+            }
+            mode._ucUserOperatorMode = (byte)CameraWrapper.DATAMODE.DATAMODE_GRAB;
+            mode._ucTransMode = (byte)cb_transmode.SelectedIndex; // 对应到 CameraWrapper.TRANSMODE
+            m_camera.SetCamMode(mode);
+        }
+
+        private void button2_Click(object sender, EventArgs e)
+        {
+            CameraWrapper.SGEXPORT_CAMCONFIG cfg = m_cfg;
+            m_cfg._usFrame = (ushort)nud_frameData.Value;
+            m_cfg._fYScaling = (ushort)nud_y.Value;
+            m_cfg._fXScaling = (ushort)nud_x.Value;
+            var ret = m_camera.SetCamConfig(m_cfg);
+            
+        }
+
+        private void button3_Click(object sender, EventArgs e)
+        {
+            m_camera.GetCamConfig(ref m_cfg);
+            m_cfg._uiExpo = (uint)nud_expo.Value;
+            m_cfg._usGain = ushort.Parse(cbb_gain.Text);
+            m_cfg._ucLaserPower = (byte)nup_jiguang.Value;
+            m_camera.SetCamConfig(m_cfg);
+           
+        }
+
+        private void buttonCapture_Click(object sender, EventArgs e)
+        {
+            labelTips.Text = "开始抓取...";
+            bool ret = m_camera.SendGrabSignalToCameraEx(false);
+            if (ret == false)
+            {
+                labelMsg.Text = "抓取失败";
+            }
+        }
+
+        private void buttonStart_Click(object sender, EventArgs e)
+        {
+            if (m_mode._ucUserOperatorMode != (byte)CameraWrapper.DATAMODE.DATAMODE_GRAB)
+            {
+                MessageBox.Show("相机模式不对（非抓取模式）");
+                return;
+            }
+
+            bool bStart = m_camera.StartCapture();
+            if (bStart)
+            {
+                labelMsg.Text = "准备抓取成功，请使用定时抓取或单步触发功能";
+            }
+            else
+            {
+                labelMsg.Text = "准备抓起失败";
+            }
+        }
+
+        private void buttonStop_Click(object sender, EventArgs e)
+        {
+            bool bStop = m_camera.StopCapture();
+            if (bStop)
+            {
+                labelMsg.Text = "结束抓取成功";
+            }
+            else
+            {
+                labelMsg.Text = "结束抓起失败";
+            }
+        }
+
+        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
+        {
+           
+        }
+
+        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
+        {
+
+            CameraSyn.LibRelease();
         }
     }
 }

PanSight3DForm/Model/CameraManger.cs

@@ -1,171 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using Camera;
-using Sunny.UI.Win32;
-using static AntdUI.Math3D;
-namespace PanSight3DForm.Model
-{
-    public class CameraManger
-    {
-        #region 变量
-        CameraWrapper.SGEXPORT_ROI m_roi = new CameraWrapper.SGEXPORT_ROI();
-        CameraWrapper.SGEXPORT_MODE m_mode = new CameraWrapper.SGEXPORT_MODE();
-        CameraWrapper.SGEXPORT_CAMCONFIG m_cfg = new CameraWrapper.SGEXPORT_CAMCONFIG();
-        CameraWrapper.SGEXPORT_PRODUCTINFO m_prod = new CameraWrapper.SGEXPORT_PRODUCTINFO();
-        public struct cameras
-        {
-            public string sourceIp;
-            public string targetIp;
-            public string cameraType;
-            public string cameraStatus;
-        }
-
-        private CameraSyn m_camera = new CameraSyn();
-        private List<cameras>  camerasList =new List<cameras>();
-        public bool isConnect = false;
-        public string localIp;
-        public string targetIp;
-        #endregion 
-
-        public CameraManger() 
-        {
-            m_camera = new CameraSyn();
-            m_camera.ImageEvent += M_camera_ImageEvent;
-        }
-
-        private void M_camera_ImageEvent(IntPtr arg1, CameraWrapper.SG_IMGDATA_PARAM arg2, IntPtr arg3)
-        {
-            
-        }
-
-        public void ScannCamera() 
-        {
-            IntPtr ptr = CameraWrapper.SgDetectNetCameras();
-            string sip = System.Runtime.InteropServices.Marshal.PtrToStringAnsi(ptr);
-            Common.DETECTINFO[] devices = Common.analysisIpInfos(sip);
-           
-            
-            if (devices != null && devices.Length > 0)
-            {
-               
-                GetDeviceIPPair(devices).ToList().ForEach((item) =>
-                {
-                    cameras _camera = new cameras();
-                    _camera.sourceIp = item.Item1;
-                    _camera.targetIp = item.Item2.Split('(')[0];
-                    _camera.cameraType = item.Item2.Split('(')[1].Split(')')[0].Split('=')[0];
-                    _camera.cameraStatus = "未连接";
-                    foreach (var v in camerasList)
-                    {
-                        if (v.cameraType == _camera.cameraType) 
-                        {
-                            return;
-                        }
-                    }
-                    
-                    
-                    camerasList.Add(_camera);
-                });
-            }
-        }
-
-        public bool ConnectCamera(string sourceip,string targetIp) 
-        {
-            
-            m_camera.LocalIp = sourceip;
-            m_camera.CameraIp = targetIp;
-
-            var ret = m_camera.Connect();
-            string v = "已连接";
-            if (!ret) v = "未连接";
-            else 
-            {
-                localIp = m_camera.LocalIp;
-                this.targetIp = m_camera.CameraIp;
-            }
-            for (int i = 0; i < camerasList.Count; i++)
-            {
-                if (m_camera.CameraIp == camerasList[i].targetIp)
-                {
-                    cameras _cameras = new cameras();
-                    _cameras.sourceIp = camerasList[i].sourceIp;
-                    _cameras.targetIp = camerasList[i].targetIp;
-                    _cameras.cameraStatus = v;
-                    camerasList[i] = _cameras;
-                }
-            }
-            isConnect = ret;
-            return ret;
-        }
-        public bool DisConnectCamera() 
-        {
-            m_camera.CloseCamera();
-            for (int i = 0; i < camerasList.Count; i++)
-            {
-                if (m_camera.CameraIp == camerasList[i].targetIp)
-                {
-                    cameras _cameras = new cameras();
-                    _cameras.sourceIp = camerasList[i].sourceIp;
-                    _cameras.targetIp = camerasList[i].targetIp;
-                    _cameras.cameraStatus = "未连接";
-                    camerasList[i] = _cameras;
-                }
-            }
-            isConnect = false;
-            return true;
-        }
-        IEnumerable<Tuple<string, string>> GetDeviceIPPair(Common.DETECTINFO[] infos)
-        {
-            foreach (var i in infos)
-            {
-                foreach (var j in i._ips)
-                {
-                    foreach (var k in j._cameraIps)
-                    {
-                        yield return Tuple.Create(j._hostIp, k);
-                    }
-                }
-            }
-        }
-        public bool SetExpor(uint expo)
-        {
-            m_cfg._uiExpo = expo;
-
-            if (m_camera.SetCamConfig(m_cfg)) 
-            {
-                return true;
-            }
-            return false;
-        }
-        public bool SetGain(ushort gain) 
-        {
-            m_cfg._usGain = gain;
-            if (m_camera.SetCamConfig(m_cfg))
-            {
-                return true;
-            }
-            return false;
-        }
-       public List<cameras> GetCameras 
-        
-        {
-            get { return camerasList; }
-        }
-
-        public CameraWrapper.SGEXPORT_CAMCONFIG  GetMode() 
-        {
-            m_camera.GetCamConfig(ref m_cfg);
-            return m_cfg;
-            
-        }
-        public CameraWrapper.SGEXPORT_MODE GetCamMode() 
-        {
-            m_camera.GetCamMode(ref m_mode);
-            return m_mode;
-
-        }
-    }
-}

PanSight3DForm/PanSight3DForm.csproj

@@ -12,9 +12,24 @@
     <FileAlignment>512</FileAlignment>
     <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
     <Deterministic>true</Deterministic>
+    <PublishUrl>publish\</PublishUrl>
+    <Install>true</Install>
+    <InstallFrom>Disk</InstallFrom>
+    <UpdateEnabled>false</UpdateEnabled>
+    <UpdateMode>Foreground</UpdateMode>
+    <UpdateInterval>7</UpdateInterval>
+    <UpdateIntervalUnits>Days</UpdateIntervalUnits>
+    <UpdatePeriodically>false</UpdatePeriodically>
+    <UpdateRequired>false</UpdateRequired>
+    <MapFileExtensions>true</MapFileExtensions>
+    <ApplicationRevision>0</ApplicationRevision>
+    <ApplicationVersion>1.0.0.%2a</ApplicationVersion>
+    <IsWebBootstrapper>false</IsWebBootstrapper>
+    <UseApplicationTrust>false</UseApplicationTrust>
+    <BootstrapperEnabled>true</BootstrapperEnabled>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <PlatformTarget>AnyCPU</PlatformTarget>
+    <PlatformTarget>x64</PlatformTarget>
     <DebugSymbols>true</DebugSymbols>
     <DebugType>full</DebugType>
     <Optimize>false</Optimize>
@@ -23,6 +38,7 @@
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
     <Prefer32Bit>false</Prefer32Bit>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>
@@ -32,11 +48,36 @@
     <DefineConstants>TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <DebugSymbols>true</DebugSymbols>
+    <OutputPath>bin\x64\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <DebugType>full</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <OutputPath>bin\x64\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <Optimize>true</Optimize>
+    <DebugType>pdbonly</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <LangVersion>7.3</LangVersion>
+    <ErrorReport>prompt</ErrorReport>
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="CameraEx">
       <HintPath>..\Dlls\CameraEx.dll</HintPath>
     </Reference>
+    <Reference Include="halcondotnet">
+      <HintPath>..\Dlls\halcondotnet.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Xml.Linq" />
@@ -52,11 +93,11 @@
   <ItemGroup>
     <Compile Include="Common.cs" />
     <Compile Include="CursorCtrol.cs" />
-    <Compile Include="DetectForm.cs">
+    <Compile Include="DetectForm1.cs">
       <SubType>Form</SubType>
     </Compile>
-    <Compile Include="DetectForm.Designer.cs">
+    <Compile Include="DetectForm1.Designer.cs">
-      <DependentUpon>DetectForm.cs</DependentUpon>
+      <DependentUpon>DetectForm1.cs</DependentUpon>
     </Compile>
     <Compile Include="Form1.cs">
       <SubType>Form</SubType>
@@ -64,11 +105,10 @@
     <Compile Include="Form1.Designer.cs">
       <DependentUpon>Form1.cs</DependentUpon>
     </Compile>
-    <Compile Include="Model\CameraManger.cs" />
     <Compile Include="Program.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
-    <EmbeddedResource Include="DetectForm.resx">
+    <EmbeddedResource Include="DetectForm1.resx">
-      <DependentUpon>DetectForm.cs</DependentUpon>
+      <DependentUpon>DetectForm1.cs</DependentUpon>
     </EmbeddedResource>
     <EmbeddedResource Include="Form1.resx">
       <DependentUpon>Form1.cs</DependentUpon>
@@ -103,5 +143,17 @@
       <Version>3.7.0</Version>
     </PackageReference>
   </ItemGroup>
+  <ItemGroup>
+    <BootstrapperPackage Include=".NETFramework,Version=v4.8">
+      <Visible>False</Visible>
+      <ProductName>Microsoft .NET Framework 4.8 %28x86 和 x64%29</ProductName>
+      <Install>true</Install>
+    </BootstrapperPackage>
+    <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
+      <Visible>False</Visible>
+      <ProductName>.NET Framework 3.5 SP1</ProductName>
+      <Install>false</Install>
+    </BootstrapperPackage>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>

PanSight3DForm/PanSight3DForm.sln

@@ -8,13 +8,19 @@ EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
+		Debug|x64 = Debug|x64
 		Release|Any CPU = Release|Any CPU
+		Release|x64 = Release|x64
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Debug|x64.ActiveCfg = Debug|x64
+		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Debug|x64.Build.0 = Debug|x64
 		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Release|Any CPU.Build.0 = Release|Any CPU
+		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Release|x64.ActiveCfg = Release|x64
+		{CB2EBB4D-EDF7-4346-A8A0-928FFA87B38E}.Release|x64.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

PanSight3DForm/Program.cs

@@ -16,7 +16,7 @@ namespace PanSight3DForm
         {
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
-            Application.Run(new Form1());
+            Application.Run(new  Form1());
         }
     }
 }