Baumer工业相机堡盟相机如何通过BGAPI SDK联合OpenCVSharp进行图像简单拼接和显示（C#）

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using BGAPI2;
using System.Runtime.InteropServices;
using System.IO;
using CSCameraDemo.Properties;
using System.Globalization;
using WindowsFormsApplication1;
using System.Threading.Tasks;
using System.Threading;
using System.Drawing.Imaging;
using OpenCvSharp;
using OpenCvSharp.Dnn;

void mDataStream_NewBufferEvent(object sender, BGAPI2.Events.NewBufferEventArgs mDSEvent)
{
    try
    {
        BGAPI2.Buffer mBufferFilled = null;              
        mBufferFilled = mDSEvent.BufferObj;
        if (mBufferFilled == null)
        {
            MessageBox.Show("Error: Buffer Timeout after 1000 ms!");
        }
        else if (mBufferFilled.IsIncomplete == true)
        {
            //MessageBox.Show("Error: Image is incomplete!");
            //queue buffer again
            mBufferFilled.QueueBuffer();
        }
        else
        {
            #region//获取当前FrameID
            FrameIDInt = (int)mBufferFilled.FrameID;
            OnNotifySetFrameID(FrameIDInt.ToString());
            #endregion
            //将相机内部图像内存数据转为bitmap数据
            System.Drawing.Bitmap bitmap  = new System.Drawing.Bitmap((int)mBufferFilled.Width, (int)mBufferFilled.Height, (int)mBufferFilled.Width,
                System.Drawing.Imaging.PixelFormat.Format8bppIndexed, (IntPtr)((ulong)mBufferFilled.MemPtr + mBufferFilled.ImageOffset));
            #region//Mono图像数据转换。彩色图像数据转换于此不同
            System.Drawing.Imaging.ColorPalette palette = bitmap.Palette;
            int nColors = 256;
            for (int ix = 0; ix < nColors; ix++)
            {
                uint Alpha = 0xFF;
                uint Intensity = (uint)(ix * 0xFF / (nColors - 1));
                palette.Entries[ix] = System.Drawing.Color.FromArgb((int)Alpha, (int)Intensity, (int)Intensity, (int)Intensity);
            }
            bitmap.Palette = palette;
            #endregion
            long currenttime = (long)mBufferFilled.Timestamp;                   
            DateTime sdasd = GetTime(currenttime, true);
            #region//对四张图像进行基础拼接
            OpenCvSharp.Mat Matgray1 = OpenCvSharp.Extensions.BitmapConverter.ToMat(bitmap);//用bitmap转换为mat  
            OpenCvSharp.Mat Matgray2 = Matgray1;
            OpenCvSharp.Mat Matgray3 = Matgray1;
            OpenCvSharp.Mat Matgray4 = Matgray1;
            Mat panorama1 = new Mat();
            Mat panorama2 = new Mat();
            Mat panoramaResult = new Mat();
            Cv2.VConcat(Matgray1, Matgray2, panorama1);
            Cv2.VConcat(Matgray3, Matgray4, panorama2);
            Cv2.HConcat(panorama1, panorama2, panoramaResult);
            Bitmap bmp = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(panoramaResult);//用mat转换为bitmap              
            panorama1.Dispose(); panorama2.Dispose(); panoramaResult.Dispose();
            #endregion
            #region//回调函数保存图像功能
            if (bSaveImg)
            {
                //使用bitmap自带函数保存
                string strtime = DateTime.Now.ToString("yyyyMMddhhmmssfff");
                string saveimagepath = pImgFileDir + "\\" + strtime + ".jpg";
                bmp.Save(saveimagepath, System.Drawing.Imaging.ImageFormat.Bmp);
                使用opencv进行保存图像
                //if (mBufferFilled.PixelFormat == "Mono8")
                //{
                //    OpenCvSharp.Mat matgray = OpenCvSharp.Extensions.BitmapConverter.ToMat(bitmap);//用bitmap转换为mat                           
                //    matgray.SaveImage("opencv_image.png");
                //    Cv2.ImWrite("opencvcv_image_Clone.png", matgray);
                //}
                bSaveImg = false;//变量控制单次保存图像
            }
            #endregion
            #region//bitmap的图像数据复制pBitmap
            Bitmap clonebitmap = (Bitmap)bmp.Clone();
            BitmapData data = clonebitmap.LockBits(new Rectangle(0, 0, clonebitmap.Width, clonebitmap.Height), ImageLockMode.ReadOnly, clonebitmap.PixelFormat);
            clonebitmap.UnlockBits(data);
            pBitmap = clonebitmap;
            #endregion
            #region//将pBitmap图像数据显示在UI界面PictureBox控件上
            prcSource.X = 0;prcSource.Y = 0;
            prcSource.Width = (int)mBufferFilled.Width;prcSource.Height = (int)mBufferFilled.Height;
            System.Drawing.Graphics graph = System.Drawing.Graphics.FromHwnd(pictureBoxA.Handle);
            graph.DrawImage(pBitmap, prcPBox, prcSource, GraphicsUnit.Pixel);
            #endregion
            clonebitmap.Dispose(); //清除临时变量clonebitmap所占内存空间
            mBufferFilled.QueueBuffer();
        }
    }
    catch (BGAPI2.Exceptions.IException ex)
    {
        {
            string str2;
            str2 = string.Format("ExceptionType:{0}! ErrorDescription:{1} in function:{2}", ex.GetType(), ex.GetErrorDescription(), ex.GetFunctionName());
            MessageBox.Show(str2);
        }
    }
    return;
}

#region//对四张图像进行基础拼接
OpenCvSharp.Mat Matgray1 = OpenCvSharp.Extensions.BitmapConverter.ToMat(bitmap);//用bitmap转换为mat  
OpenCvSharp.Mat Matgray2 = Matgray1;
OpenCvSharp.Mat Matgray3 = Matgray1;
OpenCvSharp.Mat Matgray4 = Matgray1;
Mat panorama1 = new Mat();
Mat panorama2 = new Mat();
Mat panoramaResult = new Mat();
Cv2.VConcat(Matgray1, Matgray2, panorama1);
Cv2.VConcat(Matgray3, Matgray4, panorama2);
Cv2.HConcat(panorama1, panorama2, panoramaResult);
Bitmap bmp = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(panoramaResult);//用mat转换为bitmap              
panorama1.Dispose(); panorama2.Dispose(); panoramaResult.Dispose();
#endregion