优化相机采集逻辑与亮度图处理功能

C3032

2026-01-08 7279c77f318cd7e38af279dc98a1fecec33f5e30

 LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs

@@ -13,6 +13,15 @@

namespace LB_VisionProcesses.Cameras.LBCameras
{
    public class LBCameraEventArgs : CameraEventArgs
    {
        public bool IsComplete { get; set; }
        public LBCameraEventArgs(string sn, Bitmap bitmap, bool isComplete) : base(sn, bitmap)
        {
            IsComplete = isComplete;
        }
    }

    /// <summary>
    /// LB3D工业相机实现类
    /// 基于PHM6000系列封装
@@ -21,14 +30,22 @@
    {
        private IntPtr _cameraHandle = IntPtr.Zero;
        private PHM6000SensorConfig _sensorConfig;
        private AcquisitionCallbackZA _acquisitionCallback;
        private AcquisitionCompletedCallback _acquisitionCompletedCallback;
        private bool _isConnected = false;
        private int _frameCount = 0; // 采集帧计数

        // 图像缓冲
        private List<byte[]> _lineDataBuffer = new List<byte[]>();
        private readonly object _bufferLock = new object();
        private int _currentLineCount = 0;
        
        // 实时显示用的Bitmap
        private Bitmap _currentBitmap = null;
        private byte[] _rawPixelBuffer = null; // 用于存储像素数据，避免频繁LockBits
        private int _currentBitmapHeight = 0;
        private int _currentBitmapWidth = 0;
        private object _bitmapLock = new object();
        private DateTime _lastUpdateTime = DateTime.MinValue;

        // 显示句柄和函数（与LLSystem示例保持一致）
        private IntPtr _lightPic = IntPtr.Zero;
@@ -36,16 +53,71 @@
        private IntPtr _pointPic = IntPtr.Zero;
        private IntPtr _outlinePic = IntPtr.Zero;

        // 显示控制函数结构体
        private PILOT2D_FUNC _func2d;
        private VTK3D_FUNC _func3d;

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

            // 初始化2D显示函数
            _func2d = new PILOT2D_FUNC
            {
                AddBarycentreDataZA = Pilot2D.AddBarycentreDataZA,
                AddDepthData = Pilot2D.AddDepthData,
                AddIntensityData = Pilot2D.AddIntensityData,
                ClearAllPoints = Pilot2D.ClearAllPoints,
                RefreshPilot2D = Pilot2D.RefreshPilot2D,
                SetImageSize = Pilot2D.SetImageSize,
            };

            // 初始化3D显示函数
            _func3d = new VTK3D_FUNC
            {
                AddZAPoints = PHM6000Profiler.AddZAPoints,
                ClearPCLPoints = PHM6000Profiler.ClearPCLPoints,
                GetPointCloudBound = PHM6000Profiler.GetPointCloudBound,
                RenderPCLWindow = PHM6000Profiler.RenderPCLWindow,
                SetLookUpTableRange = PHM6000Profiler.SetLookUpTableRange,
                ShowCubeAxes = PHM6000Profiler.ShowCubeAxes,
                ShowLookUpTable = PHM6000Profiler.ShowLookUpTable,
                UpdatePCLPointColors = PHM6000Profiler.UpdatePCLPointColors,
            };
        }

        #region ICamera Implementation

        public override bool InitDevice(string sn, object handle = null)
        {
            // 如果已连接，仅检查是否需要更新显示句柄
            if (_isConnected && _cameraHandle != IntPtr.Zero)
            {
                if (handle != null && handle is IntPtr hPtr && hPtr != IntPtr.Zero)
                {
                    // 销毁旧的显示句柄
                    if (_lightPic != IntPtr.Zero)
                    {
                        Pilot2D.ClearAllPoints(_lightPic);
                        Pilot2D.DestroyPilot2DEntry(_lightPic);
                    }

                    // 创建新的显示句柄
                    _lightPic = Pilot2D.CreatePilot2DEntry(hPtr);
                    if (_lightPic != IntPtr.Zero)
                    {
                        var config = GetSensorConfig();
                        Pilot2D.SetImageSize(_lightPic, 4096, config.ScanLineCount > 0 ? config.ScanLineCount : 5000);
                        
                        // 更新相机绑定的显示句柄
                        PHM6000Profiler.SetShowHandles(_cameraHandle, _lightPic, IntPtr.Zero, IntPtr.Zero, IntPtr.Zero);
                        AsyncLogHelper.Info($"LBCamera[{SN}]: Display handle updated");
                    }
                }
                return true;
            }

            IntPtr tempHandle = IntPtr.Zero;
            try
            {
@@ -125,14 +197,41 @@
                    // 加载相机当前参数到 _sensorConfig
                    SyncConfigFromCamera();

                    // 创建亮度图显示句柄（类似LLSystem示例）
                    IntPtr hPtr = IntPtr.Zero;
                    if (handle is IntPtr p) hPtr = p;
                    
                    if (hPtr != IntPtr.Zero)
                    {
                        _lightPic = Pilot2D.CreatePilot2DEntry(hPtr);
                        if (_lightPic != IntPtr.Zero)
                        {
                            // 设置图像尺寸，宽度4096，高度根据配置
                            var config = GetSensorConfig();
                            Pilot2D.SetImageSize(_lightPic, 4096, config.ScanLineCount > 0 ? config.ScanLineCount : 5000);
                        }
                    }

                    // 初始化回调
                    _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    
                    //PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
                    // 注册采集完成回调（类似LLSystem示例）
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
                    

                    // 设置2D和3D显示函数（类似LLSystem示例）
                    PHM6000Profiler.SetPilot2dFunc(_cameraHandle, _func2d);
                    PHM6000Profiler.SetVTK3dFunc(_cameraHandle, _func3d);

                    // 设置显示句柄（类似LLSystem示例的SetShowHandles）
                    PHM6000Profiler.SetShowHandles(_cameraHandle, _lightPic, IntPtr.Zero, IntPtr.Zero, IntPtr.Zero);

                    AsyncLogHelper.Info($"LBCamera[{SN}]: Connected and initialized successfully with SDK auto-display mode");

                    return true;
                }
                else
                {
                    AsyncLogHelper.Error($"LBCamera[{SN}]: ConnectToCamera failed, result={result}");
                }
            }
            catch (Exception ex) 
@@ -148,9 +247,20 @@
            if (_isConnected && _cameraHandle != IntPtr.Zero)
            {
                StopGrabbing();

                // 销毁显示句柄
                if (_lightPic != IntPtr.Zero)
                {
                    Pilot2D.ClearAllPoints(_lightPic);
                    Pilot2D.DestroyPilot2DEntry(_lightPic);
                    _lightPic = IntPtr.Zero;
                }

                PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
                _cameraHandle = IntPtr.Zero;
                _isConnected = false;

                AsyncLogHelper.Info($"LBCamera[{SN}]: Closed and cleaned up");
            }
            return true;
        }
@@ -194,79 +304,90 @@
            return cameraList;
        }

        public override bool StartGrabbing()
        private void InitBuffer()
        {
            if (!_isConnected) return false;
            lock (_bufferLock)
            lock (_bitmapLock)
            {
                _lineDataBuffer.Clear();
                _currentBitmapHeight = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
                // 宽度暂时未知，将在第一行数据到达时初始化
                _currentBitmapWidth = 0;
                if (_currentBitmap != null)
                {
                    _currentBitmap.Dispose();
                    _currentBitmap = null;
                }
                _rawPixelBuffer = null;
                _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 StartGrabbing()
        {
            // 线扫相机默认使用连续采集模式
            // 参考LLSystem示例的ContinuousScan方法：SetAcquisitionMode(1, 1)
            return StartSingleGrab();
        }

        /// <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
        /// 参考LLSystem示例的StartScan方法：SetAcquisitionMode(1, 0)
        /// 使用SDK自动显示模式，不手动处理数据
        /// </summary>
        public bool StartSingleGrab()
        {
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 禁用行回调（与示例一致）
            AsyncLogHelper.Info($"LBCamera[{SN}]: Starting single grab mode");

            // 使用SDK自动显示模式，类似LLSystem示例
            // 不设置AcquisitionCallbackZA，让SDK自动处理图像显示
            PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);

            // 设置采集模式：1=扫描模式，0=单次模式
            // 设置采集模式：1=扫描模式，0=单次模式（与LLSystem示例保持一致）
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 0);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);

            if (result == 0)
            {
                isGrabbing = true;
                AsyncLogHelper.Info($"LBCamera[{SN}]: Single grab started successfully");
                return true;
            }
            else
            {
                AsyncLogHelper.Error($"LBCamera[{SN}]: Failed to start single grab, result={result}");
            }
            return false;
        }

        /// <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
        /// 参考LLSystem示例的ContinuousScan方法：SetAcquisitionMode(1, 1)
        /// 使用SDK自动显示模式，不手动处理数据
        /// </summary>
        public bool StartContinuousGrab()
        public override bool StartContinuousGrab()
        {
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentLineCount = 0;
            }

            // 禁用行回调（与示例一致）
            AsyncLogHelper.Info($"LBCamera[{SN}]: Starting continuous grab mode");

            // 使用SDK自动显示模式，类似LLSystem示例
            // 不设置AcquisitionCallbackZA，让SDK自动处理图像显示
            PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);

            // 设置采集模式：1=扫描模式，1=连续模式
            // 设置采集模式：1=扫描模式，1=连续模式（与LLSystem示例保持一致）
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);

            if (result == 0)
            {
                isGrabbing = true;
                AsyncLogHelper.Info($"LBCamera[{SN}]: Continuous grab started successfully");
                return true;
            }
            else
            {
                AsyncLogHelper.Error($"LBCamera[{SN}]: Failed to start continuous grab, result={result}");
            }
            return false;
        }
@@ -279,17 +400,20 @@
            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
            // 对于LBCamera（线扫相机），软件触发连续采集
            // 参考LLSystem示例的ContinuousScan方法：SetAcquisitionMode(1, 1)
            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
            // 参考LLSystem示例的ContinuousScan方法：SetAcquisitionMode(1, 1)
            // 外部硬件信号会触发相机开始采集
            return StartContinuousGrab();
            return StartSingleGrab();
        }

        public override bool SoftTrigger()
@@ -328,35 +452,38 @@
            bitmap = null;
            if (!_isConnected) return false;

            // 对于线扫相机，使用SDK自动显示模式
            // 注意：SDK自动显示模式下，我们无法直接获取Bitmap
            // 但SDK会自动将图像显示到_lightPic句柄对应的控件上
            // 我们只需要启动单次采集，等待采集完成即可

            using (AutoResetEvent waitHandle = new AutoResetEvent(false))
            {
                Bitmap captured = null;
                bool captured = false;
                EventHandler<CameraEventArgs> handler = (s, e) =>
                {
                    try
                    // 对于线扫相机，仅当IsComplete为true时才表示采集完成
                    if (e is LBCameraEventArgs args && args.IsComplete)
                    {
                        if (e.Bitmap != null)
                        {
                            captured = e.Bitmap.Clone() as Bitmap;
                        }
                        captured = true;
                        waitHandle.Set();
                    }
                    catch (Exception ex)
                    {
                        AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger clone error - {ex.Message}");
                    }
                    waitHandle.Set();
                };

                this.ImageGrabbed += handler;

                try
                {
                    // 使用单次采集模式（与LLSystem示例保持一致）
                    if (StartSingleGrab())
                    {
                        // 等待采集完成
                        if (waitHandle.WaitOne(outtime))
                        {
                            bitmap = captured;
                            return bitmap != null;
                            // 由于SDK自动显示，我们无法返回Bitmap
                            // 但采集已完成，图像已显示到界面上
                            bitmap = null;  // SDK自动显示模式下不返回Bitmap
                            return captured;
                        }
                    }
                }
@@ -378,121 +505,57 @@
        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
            
            if (!_isConnected) return;

            // 基础图像参数
            SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
            SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
            
            // 扫描控制参数 - 决定单次采集的数据量
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
            
            // 触发设置 - 决定采集速度
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
            
            // 如果是软触发(固定频率)，设置频率
            if (config.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
            {
                PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
            }
            
            // 确保参数生效
            PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
        }

        #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();
                }
        }
            // nOption含义:
            // 0 = 一批数据结束
            // 1 = 全部采集完成（仅单次模式）
            // 2 = 对应数据处理完成（每次采集完成都会触发）

        private void RetrieveDataAndGenerateImage()
        {
            if (_cameraHandle == IntPtr.Zero) return;
            // 记录回调信息
            AsyncLogHelper.Info($"LBCamera[{SN}]: OnAcquisitionCompleted called, nOption={nOption}");

            try
            if (nOption == 2)
            {
                List<byte[]> lineBuffers = new List<byte[]>();
                ulong index = 0;
                IntPtr ptr = IntPtr.Zero;
                // 连续采集模式下，每完成一帧SDK都会自动继续采集下一帧
                // SDK会自动处理图像显示到_lightPic句柄
                // 我们只需要统计采集次数
                _frameCount++;

                // 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++;
                }
                AsyncLogHelper.Info($"LBCamera[{SN}]: Frame {_frameCount} completed (continuous mode, SDK auto-display)");

                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}");
                // 触发事件通知UI更新（但不传递Bitmap，因为SDK自动显示）
                ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, null, true));
            }
        }

@@ -527,7 +590,6 @@
            }
            return false;
        }

        #endregion
    }
}