优化相机配置和图像获取逻辑

C3032

2026-01-08 116ed6b584bbdb40c5b65e7cb57e039b6ae57800

 LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs

@@ -1,9 +1,15 @@
using OpenCvSharp;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using LB_SmartVisionCameraSDK.PHM6000;
using LB_VisionProcesses.Cameras;
using LB_SmartVisionCommon;
using LB_SmartVisionCameraDevice.PHM6000;

namespace LB_VisionProcesses.Cameras.LBCameras
{
@@ -11,154 +17,517 @@
    /// LB3D工业相机实现类
    /// 基于PHM6000系列封装
    /// </summary>
    internal class LBCamera : BaseCamera
    public class LBCamera : BaseCamera
    {
        public override bool AutoBalanceWhite()
        private IntPtr _cameraHandle = IntPtr.Zero;
        private PHM6000SensorConfig _sensorConfig;
        private AcquisitionCallbackZA _acquisitionCallback;
        private AcquisitionCompletedCallback _acquisitionCompletedCallback;
        private bool _isConnected = false;

        // 图像缓冲
        private List<byte[]> _lineDataBuffer = new List<byte[]>();
        private readonly object _bufferLock = new object();
        private int _currentLineCount = 0;

        // 显示句柄和函数（与LLSystem示例保持一致）
        private IntPtr _lightPic = IntPtr.Zero;
        private IntPtr _deepPic = IntPtr.Zero;
        private IntPtr _pointPic = IntPtr.Zero;
        private IntPtr _outlinePic = IntPtr.Zero;

        public LBCamera()
        {
            return true;
            Brand = CameraBrand.LBCamera;
            _sensorConfig = new PHM6000SensorConfig();
        }

        #region ICamera Implementation

        public override bool InitDevice(string sn, object handle = null)
        {
            IntPtr tempHandle = IntPtr.Zero;
            try
            {
                SN = sn;
                // 1. 创建临时句柄用于发现设备
                tempHandle = PHM6000Profiler.CreateCameraEntry();
                if (tempHandle == IntPtr.Zero) return false;

                // 2. 发现相机
                int cameraCount = PHM6000Profiler.DiscoverCameras(tempHandle);
                if (cameraCount <= 0)
                {
                    PHM6000Profiler.DestroyCameraEntry(tempHandle);
                    return false;
                }

                string targetIp = string.Empty;
                int targetPort = 0;
                bool found = false;

                // 3. 遍历相机寻找匹配的SN
                for (int i = 0; i < cameraCount; i++)
                {
                    byte[] moduleTypeBytes = new byte[64];
                    byte[] serialNumberBytes = new byte[64];
                    
                    if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
                    {
                        string currentSn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
                        
                        // 如果传入的 sn 是 IP 地址，则直接尝试匹配 IP
                        // 或者匹配序列号
                        if (currentSn == sn || sn.Contains(currentSn)) // 简单匹配逻辑
                        {
                            byte[] addressBytes = new byte[64];
                            int port = 0;
                            if (PHM6000Profiler.GetCameraAddress(tempHandle, i, addressBytes, ref port) == 0)
                            {
                                targetIp = Encoding.UTF8.GetString(addressBytes).TrimEnd('\0');
                                targetPort = port;
                                found = true;
                                break;
                            }
                        }
                    }
                }

                // 销毁临时句柄
                PHM6000Profiler.DestroyCameraEntry(tempHandle);
                tempHandle = IntPtr.Zero;

                if (!found)
                {
                    // 如果没找到但 sn 本身看起来像 IP，尝试直接连接
                    if (System.Net.IPAddress.TryParse(sn, out _))
                    {
                        targetIp = sn;
                        targetPort = 5577; // 默认端口
                    }
                    else
                    {
                        AsyncLogHelper.Error($"LBCamera: 未找到SN为 {sn} 的相机");
                        return false;
                    }
                }

                // 4. 创建正式相机句柄并连接
                _cameraHandle = PHM6000Profiler.CreateCameraEntry();
                if (_cameraHandle == IntPtr.Zero) return false;

                var addr = Encoding.ASCII.GetBytes(targetIp);
                int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, targetPort);
                
                if (result == 0)
                {
                    _isConnected = true;
                    // 加载相机当前参数到 _sensorConfig
                    SyncConfigFromCamera();

                    // 初始化回调
                    _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    
                    //PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
                    
                    return true;
                }
            }
            catch (Exception ex) 
            { 
                AsyncLogHelper.Error($"LBCamera: InitDevice异常 - {ex.Message}");
                if (tempHandle != IntPtr.Zero) PHM6000Profiler.DestroyCameraEntry(tempHandle);
            }
            return false;
        }

        public override bool CloseDevice()
        {
            return true;
        }

        public override void GetCamConfig(out CameraConfig config)
        {
            throw new NotImplementedException();
        }

        public override bool GetExpouseTime(out double value)
        {
            value = 0;
            return true;
        }

        public override bool GetGain(out double gain)
        {
            gain = 0;
            return true;
        }

        public override bool GetImage(out Bitmap bitmap, int outtime = 3000)
        {
            throw new NotImplementedException();
        }

        public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000)
        {
            throw new NotImplementedException();
        }

        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus)
        {
            lineStatus = LineStatus.Hight;
            if (_isConnected && _cameraHandle != IntPtr.Zero)
            {
                StopGrabbing();
                PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
                _cameraHandle = IntPtr.Zero;
                _isConnected = false;
            }
            return true;
        }

        public override List<string> GetListEnum()
        {
            return new List<string>();
        }

        public override bool GetTriggerDelay(out double delay)
        {
            delay = 0;
            return true;
        }

        public override bool GetTriggerFliter(out double flitertime)
        {
            flitertime = 0;
            return true;
        }

        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
        {
            mode = TriggerMode.On;
            source = TriggerSource.Line0;
            return true;
        }

        public override bool GetTriggerPolarity(out TriggerPolarity polarity)
        {
            polarity = TriggerPolarity.RisingEdge;
            return true;
        }

        public override bool InitDevice(string SN, object Handle = null)
        {
            return true;
        }

        public override void SetCamConfig(CameraConfig config)
        {
            throw new NotImplementedException();
        }

        public override bool SetExpouseTime(double value)
        {
            return true;
        }

        public override bool SetGain(double gain)
        {
            return true;
        }

        public override bool SetLineMode(IOLines line, LineMode mode)
        {
            return true;
        }

        public override bool SetLineStatus(IOLines line, LineStatus linestatus)
        {
            return true;
        }

        public override bool SetTriggerDelay(double delay)
        {
            return true;
        }

        public override bool SetTriggerFliter(double flitertime)
        {
            return true;
        }

        public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0)
        {
            return true;
        }

        public override bool SetTriggerPolarity(TriggerPolarity polarity)
        {
            return true;
        }

        public override bool SoftTrigger()
        {
            return true;
            List<string> cameraList = new List<string>();
            IntPtr tempHandle = IntPtr.Zero;
            try
            {
                tempHandle = PHM6000Profiler.CreateCameraEntry();
                if (tempHandle != IntPtr.Zero)
                {
                    int count = PHM6000Profiler.DiscoverCameras(tempHandle);
                    for (int i = 0; i < count; i++)
                    {
                        byte[] moduleTypeBytes = new byte[64];
                        byte[] serialNumberBytes = new byte[64];
                        if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
                        {
                            string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
                            string type = Encoding.UTF8.GetString(moduleTypeBytes).TrimEnd('\0');
                            // 格式参考：PHM6000[SN123456]
                            if (!string.IsNullOrEmpty(sn))
                            {
                                cameraList.Add(sn);
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                AsyncLogHelper.Error($"LBCamera: GetListEnum异常 - {ex.Message}");
            }
            finally
            {
                if (tempHandle != IntPtr.Zero)
                    PHM6000Profiler.DestroyCameraEntry(tempHandle);
            }
            return cameraList;
        }

        public override bool StartGrabbing()
        {
            return true;
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 禁用行回调
            PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);

            // 设置采集模式：1=扫描模式，1=连续模式
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
            if (result == 0)
            {
                isGrabbing = true;
                return true;
            }
            return false;
        }

        public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0)
        /// <summary>
        /// 单次采集模式（适用于线扫相机）
        /// 设置采集模式为扫描模式，单次触发
        /// </summary>
        public bool StartSingleGrab()
        {
            throw new NotImplementedException();
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 禁用行回调（与示例一致）
            PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);

            // 设置采集模式：1=扫描模式，0=单次模式
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 0);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
            if (result == 0)
            {
                isGrabbing = true;
                return true;
            }
            return false;
        }

        public override bool StartWith_SoftTriggerModel()
        /// <summary>
        /// 连续采集模式（适用于线扫相机）
        /// 设置采集模式为扫描模式，连续触发
        /// </summary>
        public bool StartContinuousGrab()
        {
            throw new NotImplementedException();
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 禁用行回调（与示例一致）
            PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);

            // 设置采集模式：1=扫描模式，1=连续模式
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
            if (result == 0)
            {
                isGrabbing = true;
                return true;
            }
            return false;
        }

        public override bool StopGrabbing()
        {
            if (!_isConnected) return true;
            PHM6000Profiler.StopAcquisition(_cameraHandle);
            isGrabbing = false;
            return true;
        }

        public override bool StartWith_SoftTriggerModel()
        {
            // 对于LBCamera（线扫相机），软件触发连续采集使用连续采集模式
            return StartContinuousGrab();
        }

        public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0)
        {
            // 对于LBCamera（线扫相机），硬件触发也使用连续采集模式
            // 外部硬件信号会触发相机开始采集
            return StartContinuousGrab();
        }

        public override bool SoftTrigger()
        {
            // 线扫相机通常不需要传统软触发，但在某些模式下可模拟
            return true;
        }

        #region 参数设置映射

        public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value);
        public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; }
        public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (float)gain);
        public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }

        // 其他接口占位实现
        public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true;
        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; }
        public override bool SetTriggerPolarity(TriggerPolarity polarity) => true;
        public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; }
        public override bool SetTriggerFliter(double flitertime) => true;
        public override bool GetTriggerFliter(out double flitertime) { flitertime = 0; return true; }
        public override bool SetTriggerDelay(double delay) => true;
        public override bool GetTriggerDelay(out double delay) { delay = 0; return true; }
        public override bool SetLineMode(IOLines line, LineMode mode) => true;
        public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true;
        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
        public override bool AutoBalanceWhite() => true;
        
        // 不实现的方法
        public override void SetCamConfig(CameraConfig config) { }
        public override void GetCamConfig(out CameraConfig config) { config = new CameraConfig(null); }
        public override bool GetImage(out Bitmap bitmap, int outtime = 3000) { bitmap = null; return false; }
        public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000)
        {
            bitmap = null;
            if (!_isConnected) return false;

            using (AutoResetEvent waitHandle = new AutoResetEvent(false))
            {
                Bitmap captured = null;
                EventHandler<CameraEventArgs> handler = (s, e) =>
                {
                    try
                    {
                        if (e.Bitmap != null)
                        {
                            captured = e.Bitmap.Clone() as Bitmap;
                        }
                    }
                    catch (Exception ex)
                    {
                        AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger clone error - {ex.Message}");
                    }
                    waitHandle.Set();
                };

                this.ImageGrabbed += handler;

                try
                {
                    if (StartSingleGrab())
                    {
                        if (waitHandle.WaitOne(outtime))
                        {
                            bitmap = captured;
                            return bitmap != null;
                        }
                    }
                }
                finally
                {
                    this.ImageGrabbed -= handler;
                    StopGrabbing();
                }
            }
            return false;
        }

        public PHM6000SensorConfig GetSensorConfig()
        {
            SyncConfigFromCamera();
            return _sensorConfig;
        }

        public void UpdateSensorConfig(PHM6000SensorConfig config)
        {
            _sensorConfig = config;
            // 简单示例：设置曝光和增益
            SetExpouseTime(config.ExposureTime);
            SetGain((double)config.AnalogGain);
            // 更多参数同步逻辑应在此处实现
        }

        #endregion

        #endregion

        #region Private Callback & Helpers

        private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points)
        {
                // 实时回调处理：累积行数据
                if (!isGrabbing) return;

                int lineSize = points * Marshal.SizeOf(typeof(LBPointZA));
                byte[] lineData = new byte[lineSize];
                Marshal.Copy(buffer, lineData, 0, lineSize);

                lock (_bufferLock)
                {
                    _lineDataBuffer.Add(lineData);
                    _currentLineCount++;
                }
        }

        private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
        {
                // 根据SDK文档：nOption为0时表示一批数据结束，为1时表示全部采集完成
                // 为了兼容性，也处理nOption == 2（点云就绪）
                // 此时使用主动获取方式替代可能会导致crash的GenerateIntensityMap
                if (nOption == 0 || nOption == 1 || nOption == 2)
                {
                    RetrieveDataAndGenerateImage();
                }
        }

        private void RetrieveDataAndGenerateImage()
        {
            if (_cameraHandle == IntPtr.Zero) return;

            try
            {
                List<byte[]> lineBuffers = new List<byte[]>();
                ulong index = 0;
                IntPtr ptr = IntPtr.Zero;

                // 像示例一样通过索引获取行数据
                while ((ptr = PHM6000Profiler.GetLineDataByIndex(_cameraHandle, index)) != IntPtr.Zero)
                {
                    try
                    {
                        LBLineDataZA lineData = PHM6000Profiler.ConvertToLBLineDataZA(ptr);
                        
                        // 提取强度数据 (Alpha通道)
                        if (lineData.data != null && lineData.data.Length > 0)
                        {
                            int lineWidth = lineData.data.Length;
                            byte[] intensityLine = new byte[lineWidth];
                            for (int i = 0; i < lineWidth; i++)
                            {
                                intensityLine[i] = lineData.data[i].alpha;
                            }
                            lineBuffers.Add(intensityLine);
                        }
                    }
                    catch (Exception ex)
                    {
                        // 忽略单行转换错误
                    }
                    index++;
                }

                if (lineBuffers.Count == 0) return;

                int height = lineBuffers.Count;
                int width = lineBuffers[0].Length;

                if (width <= 0 || height <= 0) return;

                Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
                
                // 设置灰度调色板
                ColorPalette palette = bmp.Palette;
                for (int i = 0; i < 256; i++) palette.Entries[i] = Color.FromArgb(i, i, i);
                bmp.Palette = palette;

                BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
                
                try
                {
                    int stride = bmpData.Stride;
                    IntPtr scan0 = bmpData.Scan0;

                    for (int y = 0; y < height; y++)
                    {
                        if (lineBuffers[y].Length == width) // 确保宽度一致
                        {
                            Marshal.Copy(lineBuffers[y], 0, scan0 + y * stride, width);
                        }
                    }
                }
                finally
                {
                    bmp.UnlockBits(bmpData);
                }

                // 触发事件通知 UI 更新亮度图
                ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
            }
            catch (Exception ex)
            {
                AsyncLogHelper.Error($"LBCamera: 生成图像异常 - {ex.Message}");
            }
        }

        private void SyncConfigFromCamera()
        {
            // 从相机读取所有参数并填充到 _sensorConfig
            foreach (EnumNameId id in Enum.GetValues(typeof(EnumNameId)))
            {
                int iVal = 0; double dVal = 0; int eVal = 0;
                if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
                {
                    // 实际项目中应使用反射将值写回 _sensorConfig
                }
            }
        }

        private bool SetParam(EnumNameId id, float value)
        {
            if (!_isConnected) return false;
            return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, value, 0) == 0;
        }

        private bool GetParam(EnumNameId id, out float value)
        {
            value = 0;
            if (!_isConnected) return false;
            int iVal = 0; double dVal = 0; int eVal = 0;
            if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
            {
                value = (float)dVal;
                return true;
            }
            return false;
        }

        #endregion
    }
}