| | |
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| | | using OpenCvSharp; |
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| | | using System; |
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| | | using System.Collections.Generic; |
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| | | using System.Linq; |
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| | | using System.Drawing; |
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| | | using System.Drawing.Imaging; |
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| | | using System.Runtime.InteropServices; |
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| | | using System.Text; |
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| | | using System.Threading; |
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| | | using System.Threading.Tasks; |
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| | | using LB_SmartVisionCameraSDK.PHM6000; |
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| | | using LB_VisionProcesses.Cameras; |
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| | | using LB_SmartVisionCommon; |
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| | | using LB_SmartVisionCameraDevice.PHM6000; |
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| | | |
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| | | namespace LB_VisionProcesses.Cameras.LBCameras |
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| | | { |
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| | |
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| | | /// LB3D工业相机实现类 |
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| | | /// 基于PHM6000系列封装 |
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| | | /// </summary> |
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| | | internal class LBCamera : BaseCamera |
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| | | public class LBCamera : BaseCamera |
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| | | { |
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| | | public override bool AutoBalanceWhite() |
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| | | private IntPtr _cameraHandle = IntPtr.Zero; |
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| | | private PHM6000SensorConfig _sensorConfig; |
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| | | private AcquisitionCallbackZA _acquisitionCallback; |
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| | | private AcquisitionCompletedCallback _acquisitionCompletedCallback; |
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| | | private bool _isConnected = false; |
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| | | |
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| | | // 图像缓冲 |
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| | | private List<byte[]> _lineDataBuffer = new List<byte[]>(); |
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| | | private readonly object _bufferLock = new object(); |
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| | | private int _currentLineCount = 0; |
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| | | |
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| | | public LBCamera() |
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| | | { |
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| | | return true; |
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| | | Brand = CameraBrand.LBCamera; |
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| | | _sensorConfig = new PHM6000SensorConfig(); |
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| | | } |
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| | | |
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| | | #region ICamera Implementation |
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| | | |
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| | | public override bool InitDevice(string sn, object handle = null) |
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| | | { |
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| | | IntPtr tempHandle = IntPtr.Zero; |
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| | | try |
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| | | { |
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| | | SN = sn; |
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| | | // 1. 创建临时句柄用于发现设备 |
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| | | tempHandle = PHM6000Profiler.CreateCameraEntry(); |
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| | | if (tempHandle == IntPtr.Zero) return false; |
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| | | |
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| | | // 2. 发现相机 |
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| | | int cameraCount = PHM6000Profiler.DiscoverCameras(tempHandle); |
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| | | if (cameraCount <= 0) |
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| | | { |
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| | | PHM6000Profiler.DestroyCameraEntry(tempHandle); |
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| | | return false; |
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| | | } |
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| | | |
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| | | string targetIp = string.Empty; |
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| | | int targetPort = 0; |
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| | | bool found = false; |
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| | | |
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| | | // 3. 遍历相机寻找匹配的SN |
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| | | for (int i = 0; i < cameraCount; i++) |
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| | | { |
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| | | byte[] moduleTypeBytes = new byte[64]; |
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| | | byte[] serialNumberBytes = new byte[64]; |
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| | | |
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| | | if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0) |
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| | | { |
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| | | string currentSn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0'); |
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| | | |
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| | | // 如果传入的 sn 是 IP 地址，则直接尝试匹配 IP |
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| | | // 或者匹配序列号 |
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| | | if (currentSn == sn || sn.Contains(currentSn)) // 简单匹配逻辑 |
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| | | { |
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| | | byte[] addressBytes = new byte[64]; |
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| | | int port = 0; |
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| | | if (PHM6000Profiler.GetCameraAddress(tempHandle, i, addressBytes, ref port) == 0) |
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| | | { |
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| | | targetIp = Encoding.UTF8.GetString(addressBytes).TrimEnd('\0'); |
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| | | targetPort = port; |
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| | | found = true; |
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| | | break; |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | |
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| | | // 销毁临时句柄 |
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| | | PHM6000Profiler.DestroyCameraEntry(tempHandle); |
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| | | tempHandle = IntPtr.Zero; |
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| | | |
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| | | if (!found) |
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| | | { |
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| | | // 如果没找到但 sn 本身看起来像 IP，尝试直接连接（兼容旧逻辑） |
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| | | if (System.Net.IPAddress.TryParse(sn, out _)) |
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| | | { |
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| | | targetIp = sn; |
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| | | targetPort = 5577; // 默认端口 |
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| | | } |
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| | | else |
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| | | { |
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| | | AsyncLogHelper.Error($"LBCamera: 未找到SN为 {sn} 的相机"); |
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| | | return false; |
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| | | } |
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| | | } |
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| | | |
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| | | // 4. 创建正式相机句柄并连接 |
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| | | _cameraHandle = PHM6000Profiler.CreateCameraEntry(); |
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| | | if (_cameraHandle == IntPtr.Zero) return false; |
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| | | |
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| | | var addr = Encoding.ASCII.GetBytes(targetIp); |
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| | | int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, targetPort); |
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| | | |
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| | | if (result == 0) |
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| | | { |
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| | | _isConnected = true; |
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| | | // 加载相机当前参数到 _sensorConfig |
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| | | SyncConfigFromCamera(); |
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| | | |
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| | | // 初始化回调 |
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| | | _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived); |
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| | | _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted); |
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| | | |
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| | | PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero); |
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| | | PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero); |
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| | | |
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| | | return true; |
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| | | } |
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| | | } |
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| | | catch (Exception ex) |
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| | | { |
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| | | AsyncLogHelper.Error($"LBCamera: InitDevice异常 - {ex.Message}"); |
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| | | if (tempHandle != IntPtr.Zero) PHM6000Profiler.DestroyCameraEntry(tempHandle); |
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| | | } |
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| | | return false; |
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| | | } |
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| | | |
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| | | public override bool CloseDevice() |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool GetExpouseTime(out double value) |
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| | | { |
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| | | value = 0; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool GetGain(out double gain) |
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| | | { |
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| | | gain = 0; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) |
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| | | { |
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| | | lineStatus = LineStatus.Hight; |
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| | | if (_isConnected && _cameraHandle != IntPtr.Zero) |
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| | | { |
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| | | StopGrabbing(); |
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| | | PHM6000Profiler.DestroyCameraEntry(_cameraHandle); |
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| | | _cameraHandle = IntPtr.Zero; |
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| | | _isConnected = false; |
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| | | } |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override List<string> GetListEnum() |
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| | | { |
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| | | return new List<string>(); |
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| | | List<string> cameraList = new List<string>(); |
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| | | IntPtr tempHandle = IntPtr.Zero; |
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| | | try |
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| | | { |
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| | | tempHandle = PHM6000Profiler.CreateCameraEntry(); |
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| | | if (tempHandle != IntPtr.Zero) |
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| | | { |
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| | | int count = PHM6000Profiler.DiscoverCameras(tempHandle); |
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| | | for (int i = 0; i < count; i++) |
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| | | { |
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| | | byte[] moduleTypeBytes = new byte[64]; |
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| | | byte[] serialNumberBytes = new byte[64]; |
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| | | if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0) |
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| | | { |
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| | | string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0'); |
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| | | string type = Encoding.UTF8.GetString(moduleTypeBytes).TrimEnd('\0'); |
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| | | // 格式参考：PHM6000[SN123456] |
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| | | if (!string.IsNullOrEmpty(sn)) |
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| | | { |
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| | | cameraList.Add(sn); |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | } |
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| | | catch (Exception ex) |
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| | | { |
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| | | AsyncLogHelper.Error($"LBCamera: GetListEnum异常 - {ex.Message}"); |
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| | | } |
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| | | finally |
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| | | { |
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| | | if (tempHandle != IntPtr.Zero) |
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| | | PHM6000Profiler.DestroyCameraEntry(tempHandle); |
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| | | } |
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| | | return cameraList; |
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| | | } |
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| | | |
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| | | public override bool GetTriggerDelay(out double delay) |
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| | | public override bool StartGrabbing() |
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| | | { |
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| | | delay = 0; |
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| | | return true; |
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| | | if (!_isConnected) return false; |
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| | | lock (_bufferLock) |
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| | | { |
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| | | _lineDataBuffer.Clear(); |
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| | | _currentLineCount = 0; |
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| | | } |
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| | | |
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| | | // 设置采集模式：1=扫描模式，1=连续模式 |
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| | | PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1); |
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| | | int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0); |
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| | | if (result == 0) |
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| | | { |
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| | | isGrabbing = true; |
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| | | return true; |
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| | | } |
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| | | return false; |
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| | | } |
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| | | |
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| | | public override bool GetTriggerFliter(out double flitertime) |
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| | | public override bool StopGrabbing() |
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| | | { |
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| | | flitertime = 0; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) |
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| | | { |
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| | | mode = TriggerMode.On; |
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| | | source = TriggerSource.Line0; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool GetTriggerPolarity(out TriggerPolarity polarity) |
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| | | { |
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| | | polarity = TriggerPolarity.RisingEdge; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool InitDevice(string SN, object Handle = null) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetExpouseTime(double value) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetGain(double gain) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetLineMode(IOLines line, LineMode mode) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetLineStatus(IOLines line, LineStatus linestatus) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetTriggerDelay(double delay) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetTriggerFliter(double flitertime) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) |
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| | | { |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SetTriggerPolarity(TriggerPolarity polarity) |
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| | | { |
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| | | if (!_isConnected) return true; |
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| | | PHM6000Profiler.StopAcquisition(_cameraHandle); |
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| | | isGrabbing = false; |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool SoftTrigger() |
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| | | { |
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| | | // 线扫相机通常不需要传统软触发，但在某些模式下可模拟 |
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| | | return true; |
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| | | } |
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| | | |
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| | | public override bool StartGrabbing() |
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| | | #region 参数设置映射 |
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| | | |
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| | | public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value); |
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| | | public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; } |
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| | | public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (float)gain); |
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| | | public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; } |
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| | | |
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| | | // 其他接口占位实现 |
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| | | public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true; |
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| | | public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; } |
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| | | public override bool SetTriggerPolarity(TriggerPolarity polarity) => true; |
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| | | public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; } |
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| | | public override bool SetTriggerFliter(double flitertime) => true; |
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| | | public override bool GetTriggerFliter(out double flitertime) { flitertime = 0; return true; } |
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| | | public override bool SetTriggerDelay(double delay) => true; |
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| | | public override bool GetTriggerDelay(out double delay) { delay = 0; return true; } |
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| | | public override bool SetLineMode(IOLines line, LineMode mode) => true; |
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| | | public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true; |
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| | | public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; } |
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| | | public override bool AutoBalanceWhite() => true; |
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| | | |
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| | | public PHM6000SensorConfig GetSensorConfig() |
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| | | { |
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| | | return true; |
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| | | SyncConfigFromCamera(); |
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| | | return _sensorConfig; |
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| | | } |
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| | | |
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| | | public override bool StopGrabbing() |
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| | | public void UpdateSensorConfig(PHM6000SensorConfig config) |
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| | | { |
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| | | return true; |
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| | | _sensorConfig = config; |
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| | | // 简单示例：设置曝光和增益 |
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| | | SetExpouseTime(config.ExposureTime); |
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| | | SetGain((double)config.AnalogGain); |
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| | | // 更多参数同步逻辑应在此处实现 |
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| | | } |
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| | | |
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| | | #endregion |
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| | | |
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| | | #endregion |
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| | | |
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| | | #region Private Callback & Helpers |
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| | | |
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| | | private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points) |
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| | | { |
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| | | // 实时回调处理：累积行数据 |
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| | | if (!isGrabbing) return; |
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| | | |
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| | | int lineSize = points * Marshal.SizeOf(typeof(LBPointZA)); |
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| | | byte[] lineData = new byte[lineSize]; |
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| | | Marshal.Copy(buffer, lineData, 0, lineSize); |
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| | | |
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| | | lock (_bufferLock) |
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| | | { |
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| | | _lineDataBuffer.Add(lineData); |
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| | | _currentLineCount++; |
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| | | } |
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| | | } |
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| | | |
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| | | private void OnAcquisitionCompleted(IntPtr pInstance, int nOption) |
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| | | { |
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| | | // nOption: 0=一批数据结束, 1=全部完成, 2=点云就绪 |
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| | | if (nOption == 1 || nOption == 0) |
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| | | { |
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| | | GenerateIntensityMap(); |
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| | | } |
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| | | } |
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| | | |
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| | | private void GenerateIntensityMap() |
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| | | { |
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| | | if (_cameraHandle == IntPtr.Zero) return; |
|---|
| | | |
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| | | int width = 0; |
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| | | int height = 0; |
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| | | |
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| | | // 直接从 SDK 获取合并后的强度数据指针 (unsigned char*) |
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| | | IntPtr pIntensity = PHM6000Profiler.GetIntensityData(_cameraHandle, ref width, ref height); |
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| | | |
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| | | if (pIntensity == IntPtr.Zero || width <= 0 || height <= 0) return; |
|---|
| | | |
|---|
| | | try |
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| | | { |
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| | | 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; |
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| | | |
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| | | BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed); |
|---|
| | | |
|---|
| | | // 高性能内存拷贝 |
|---|
| | | int size = width * height; |
|---|
| | | byte[] managedData = new byte[size]; |
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| | | Marshal.Copy(pIntensity, managedData, 0, size); |
|---|
| | | Marshal.Copy(managedData, 0, bmpData.Scan0, size); |
|---|
| | | |
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| | | bmp.UnlockBits(bmpData); |
|---|
| | | |
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| | | // 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: 生成亮度图异常 - {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 |
|---|
| | | } |
|---|
| | | } |
|---|
