验证3D相机亮度图无法获取

C3204

7 小时以前 98c0775fe3b61a37d90dd5756287f385a311adf0

 LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs

@@ -2,10 +2,15 @@
using LB_SmartVisionCameraSDK.PHM6000;
using LB_SmartVisionCommon;
using LB_VisionProcesses.Cameras;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using OpenVinoSharp.Extensions.model;
using SharpCompress.Common;
using Sunny.UI.Win32;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Drawing.Imaging;
using System.Reflection;
@@ -33,12 +38,11 @@
    {
        private IntPtr _cameraHandle = IntPtr.Zero;
        private PHM6000SensorConfig _sensorConfig;
        
        // 采集回调
        private AcquisitionCallbackZA _acquisitionCallback;
        private AcquisitionCompletedCallback _acquisitionCompletedCallback;
        
        private bool _isConnected = false;

        public bool _isConnected = false;
        private int _frameCount = 0; // 采集帧计数

        // 图像缓冲
@@ -96,11 +100,11 @@
                {
                    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');
                        

                        // 匹配SN或IP
                        if (currentSn == sn || sn.Contains(currentSn))
                        {
@@ -125,7 +129,7 @@
                    if (System.Net.IPAddress.TryParse(sn, out _))
                    {
                        targetIp = sn;
                        targetPort = 5577; 
                        targetPort = 5577;
                    }
                    else
                    {
@@ -140,7 +144,7 @@

                var addr = Encoding.ASCII.GetBytes(targetIp);
                int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, targetPort);
                

                if (result == 0)
                {
                    _isConnected = true;
@@ -149,11 +153,11 @@

                    // 初始化并注册采集回调 (获取数据用)
                    _acquisitionCallback = new AcquisitionCallbackZA(OnAcquisitionCallbackZA);
                    PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
                    PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, new IntPtr());

                    // 初始化并注册采集完成回调 (状态通知用)
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
                    _acquisitionCompletedCallback += OnAcquisitionCompleted;
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, new IntPtr());

                    // 强制应用当前配置（确保触发模式等参数正确，避免相机处于未知状态）
                    UpdateSensorConfig(_sensorConfig);
@@ -167,8 +171,8 @@
                    AsyncLogHelper.Error($"LBCamera[{SN}]: ConnectToCamera failed, result={result}");
                }
            }
            catch (Exception ex) 
            { 
            catch (Exception ex)
            {
                AsyncLogHelper.Error($"LBCamera: InitDevice异常 - {ex.Message}");
                if (tempHandle != IntPtr.Zero) PHM6000Profiler.DestroyCameraEntry(tempHandle);
            }
@@ -205,7 +209,7 @@
                        if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
                        {
                            string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
                            if (!string.IsNullOrEmpty(sn))
                            if (!string.IsNullOrEmpty(sn) && sn.Contains("L"))
                            {
                                cameraList.Add(sn);
                            }
@@ -247,7 +251,7 @@
        public bool StartSingleGrab()
        {
            if (!_isConnected) return false;
            

            _isContinuous = false;
            InitBuffer();
            AsyncLogHelper.Info($"LBCamera[{SN}]: 开始单次采集");
@@ -289,7 +293,7 @@
            _isContinuous = false;
            if (!_isConnected) return true;
            PHM6000Profiler.StopAcquisition(_cameraHandle);
            

            // 停止时如果有未显示的缓存数据，将其显示出来（支持显示不完整的帧）
            lock (_bufferLock)
            {
@@ -300,7 +304,7 @@
                    _currentLineCount = 0;
                }
            }
            

            isGrabbing = false;
            return true;
        }
@@ -322,16 +326,16 @@
        {
            if (!_isConnected) return false;

            if (triggerEnum == TriggerSource.Software)
            {
                _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.固定频率;
                _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.软触发;
            }
            else
            {
                _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.编码器;
                _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.外部触发;
            }
            //if (triggerEnum == TriggerSource.Software)
            //{
            //    _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.固定频率;
            //    _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.软触发;
            //}
            //else
            //{
            //    _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.编码器;
            //    _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.外部触发;
            //}
            UpdateSensorConfig(_sensorConfig);
            return true;
        }
@@ -353,13 +357,45 @@
        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
        public override bool AutoBalanceWhite() => true;
        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) 
        public override void GetCamConfig(out CameraConfig config)
        {
            config = new CameraConfig(null);
            //UpdateSensorConfig(config);
        }
        public override bool GetImage(out Bitmap bitmap, int outtime = 14500)
        {
            bitmap = null;
            try
            {
                // 设置超时时间
                DateTime lastTime = DateTime.Now.AddMilliseconds(outtime);
                // 判断是否超时
                while (lastTime > DateTime.Now)// 设置超时时间为 3 秒
                {
                    if (CallBackImg != null)
                    {
                        lock (CallBackImg)
                        {
                            // 保存旧 Bitmap 并释放
                            bitmap = CallBackImg; // 创建副本
                        }

                        //// 释放旧资源
                        //CallBackImg.Dispose();
                        //CallBackImg = null;
                        return true;
                    }
                }

                return false;
            }
            catch { return bitmap == null ? false : true; }
        }
        public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000)
        {
            // 简单实现：软触发等待
            bitmap = null;
            if(!_isConnected) return false;
            if (!_isConnected) return false;

            // 计算理论最小耗时 (仅当使用固定频率触发时)
            int minTime = 0;
@@ -377,18 +413,20 @@
                actualTimeout = minTime + 3000; // 预留3秒余量
                AsyncLogHelper.Warn($"LBCamera: Provided timeout {outtime}ms is too short for {minTime}ms scan. Extended to {actualTimeout}ms.");
            }
            

            using (AutoResetEvent waitHandle = new AutoResetEvent(false))
            {
                Bitmap res = null;
                EventHandler<CameraEventArgs> handler = (s, e) => {
                    if(e.Bitmap != null) {
                         res = e.Bitmap.Clone() as Bitmap;
                         waitHandle.Set();
                EventHandler<CameraEventArgs> handler = (s, e) =>
                {
                    if (e.Bitmap != null)
                    {
                        res = e.Bitmap.Clone() as Bitmap;
                        waitHandle.Set();
                    }
                };
                ImageGrabbed += handler;
                

                if (StartSingleGrab())
                {
                    if (!waitHandle.WaitOne(actualTimeout))
@@ -402,10 +440,10 @@
                }

                ImageGrabbed -= handler;
                

                // 确保停止采集
                StopGrabbing();
                

                bitmap = res;
                return bitmap != null;
            }
@@ -419,22 +457,81 @@

        public void UpdateSensorConfig(PHM6000SensorConfig config)
        {
            _sensorConfig = config;
            if (!_isConnected) return;
            SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
            SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
            if (config.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
            //_sensorConfig = config;
            //if (!_isConnected) return;
            //SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
            //SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
            //PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
            //PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
            //PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
            //if (config.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
            //{
            //    PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
            //}

            int result = 0;
            var type = config.GetType();
            var propLineScan = type.GetProperty(nameof(config.LineScanTriggerSource));
            var val = (EnumLineScanTriggerSource)propLineScan.GetValue(config);
            var props = config.GetType().GetProperties();

            //排除Y轴
            props = props.Where(d => d.Name != nameof(PHM6000SensorConfig.YResolution)).ToArray();
            //排除不需要的项
            if (val == EnumLineScanTriggerSource.固定频率)
            {
                PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
                props = props.Where(d => d.Name != nameof(PHM6000SensorConfig.EncoderTriggerDirection) && d.Name != nameof(PHM6000SensorConfig.EncoderTriggerInterval) && d.Name != nameof(PHM6000SensorConfig.EncoderTriggerSignalCountingMode)).ToArray();
            }
            else
            {
                props = props.Where(d => d.Name != nameof(PHM6000SensorConfig.SoftwareTriggerRate)).ToArray();
            }
            foreach (var p in props)
            {
                //跳过自定义参数
                var iscustomAttr = p.GetCustomAttribute<IsCustomAttribute>();
                if (iscustomAttr != null) continue;
                //判断是6030传感器还是普通传感器
                if (SN.StartsWith("LX030") && p.Name == nameof(config.AnalogGain))
                {
                    continue;
                }
                if (!SN.StartsWith("LX030") && p.Name == nameof(config.AnalogGainFor6030))
                {
                    continue;
                }
                var id = Convert.ToInt32(Enum.Parse(typeof(EnumNameId), p.Name));
                if (p.PropertyType == typeof(int))
                {
                    var value = Convert.ToInt32(p.GetValue(config));
                    result = PHM6000Profiler.SetProfilerParameter(_cameraHandle, id, value, 0, 0);
                }
                else if (p.PropertyType == typeof(float))
                {
                    var value = Convert.ToDouble(p.GetValue(config));
                    result = PHM6000Profiler.SetProfilerParameter(_cameraHandle, id, 0, value, 0);
                }
                else
                {
                    var value = Convert.ToInt32(p.GetValue(config));
                    result = PHM6000Profiler.SetProfilerParameter(_cameraHandle, id, 0, 0, value);
                }
                if (result == -1)
                {
                    var disattr = p.GetCustomAttribute<DisplayNameAttribute>();
                    var name = disattr?.DisplayName ?? p.Name;
                    throw new Exception($"设置参数{name}时不成功！");
                }
            }
            var finalResult = PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
            if (finalResult != 0)
            {
            }
            PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
        }

        #endregion
        

        #endregion

        #region Callbacks
@@ -469,7 +566,7 @@
                // 提取灰度(Intensity/Alpha)数据填充到 _rawPixelBuffer
                // LBPointZA结构: float(4) + res(3) + alpha(1). Alpha在偏移7
                int bufferOffset = _currentLineCount * _currentBitmapWidth;
                

                for (int i = 0; i < points; i++)
                {
                    if (bufferOffset + i < _rawPixelBuffer.Length)
@@ -484,13 +581,15 @@
                if (_currentLineCount >= _currentBitmapHeight)
                {
                    CreateAndFireBitmap();
                    

                    // 重置，准备下一帧 (如果是连续采集)
                    _currentLineCount = 0;
                    // _rawPixelBuffer 可以复用，不需要置空
                }
            }
        }
        private Bitmap bitmap1;
        private int nWidth = 0, nHeight = 0;

        private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
        {
@@ -503,7 +602,7 @@
                {
                    // 如果在连续模式下收到结束信号，尝试自动重启采集
                    AsyncLogHelper.Info($"LBCamera[{SN}]: Continuous mode frame ended, restarting...");
                    Task.Run(() => 
                    Task.Run(() =>
                    {
                        if (_isContinuous && _isConnected)
                        {
@@ -529,6 +628,87 @@
                        }
                    }
                }
            }
            else if (nOption == 2)
            {
                AsyncLogHelper.Info($"LBCamera[{SN}]: Processing End...");
                IntPtr INTPTRImage = PHM6000Profiler.GetIntensityData(_cameraHandle, ref nWidth, ref nHeight);
                bitmap1 = IntensityPtrToMatCloned(INTPTRImage, nWidth, nHeight);
            }
        }

        public Bitmap ConvertIntensityToBitmap(IntPtr dataPtr, int width, int height)
        {

            if (dataPtr == IntPtr.Zero || width <= 0 || height <= 0)
                throw new InvalidOperationException("获取强度数据失败或尺寸无效。");

            // 创建 8bpp 索引位图
            Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format8bppIndexed);

            // 设置灰度调色板（必须，否则显示异常）
            ColorPalette palette = bitmap.Palette;
            for (int i = 0; i < 256; i++)
            {
                palette.Entries[i] = Color.FromArgb(i, i, i);
            }
            bitmap.Palette = palette;

            // 锁定位图数据
            BitmapData bmpData = bitmap.LockBits(
                new Rectangle(0, 0, width, height),
                ImageLockMode.WriteOnly,
                PixelFormat.Format8bppIndexed);

            try
            {
                int srcStride = width;                     // 源数据每行字节数（无填充）
                int dstStride = bmpData.Stride;             // 位图每行字节数（可能对齐）
                int copyBytesPerRow = Math.Min(srcStride, dstStride);

                IntPtr srcRowPtr = dataPtr;
                IntPtr dstRowPtr = bmpData.Scan0;

                // 逐行复制，处理可能的步幅差异
                for (int y = 0; y < height; y++)
                {
                    // 使用 Buffer.MemoryCopy 或 Marshal.Copy 按行复制
                    unsafe
                    {
                        Buffer.MemoryCopy(
                            srcRowPtr.ToPointer(),
                            dstRowPtr.ToPointer(),
                            dstStride,          // 目标缓冲区剩余大小（至少一行）
                            copyBytesPerRow);    // 实际复制字节数
                    }

                    // 移动到下一行
                    srcRowPtr = IntPtr.Add(srcRowPtr, srcStride);
                    dstRowPtr = IntPtr.Add(dstRowPtr, dstStride);
                }
            }
            finally
            {
                bitmap.UnlockBits(bmpData);
            }

            return bitmap;
        }


        public static Bitmap IntensityPtrToMatCloned(IntPtr dataPtr, int width, int height)
        {

            if (dataPtr == IntPtr.Zero || width <= 0 || height <= 0)
            {
                throw new Exception("Failed to get intensity data.");
            }

            // 先创建引用外部数据的 Mat
            using (Mat temp = Mat.FromPixelData(height, width, MatType.CV_8UC1, dataPtr, width))
            {
                // 克隆一份独立内存的 Mat
                return temp.ToBitmap();
            }
        }

@@ -578,8 +758,10 @@
                bmp.UnlockBits(bmpData);
                bmpData = null; // 标记已解锁



                _frameCount++;
                AsyncLogHelper.Info($"LBCamera[{SN}]: 生成第 {_frameCount} 帧 ({width}x{height})");
                AsyncLogHelper.Info($"LBCamera[{SN}]: 生成第 {_frameCount} 帧 ({nWidth}x{nHeight})");

                // 3. 获取/创建线程安全队列
                var queue = CollectedImages.GetOrAdd(SN, new ConcurrentQueue<Bitmap>());
@@ -624,9 +806,9 @@
                // 强制资源释放，绝对杜绝泄漏
                if (bmpData != null)
                {
                    try { bmp?.UnlockBits(bmpData); } catch { }
                    try { bitmap1?.UnlockBits(bmpData); } catch { }
                }
                // 注意：bmp 已入队，不能在这里释放，由调用者释放
                //注意：bmp 已入队，不能在这里释放，由调用者释放
            }
        }

@@ -676,6 +858,11 @@
                                    TriggerRunMessageReceived?.Invoke(SN, source.ToString());
                                    AsyncLogHelper.Info($"LBCamera[{SN}]: 硬触发事件 - {source}");
                                }
                                else
                                {
                                    TriggerRunMessageReceived?.Invoke(SN, source.ToString());
                                    AsyncLogHelper.Info($"LBCamera[{SN}]: 硬触发事件 - {source}");
                                }
                            }
                        }
                        catch (Exception ex)
@@ -708,12 +895,16 @@

                    if (Enum.TryParse(typeof(EnumNameId), p.Name, out object nameIdObj))
                    {
                        EnumNameId nameId = (EnumNameId)nameIdObj;
                        //EnumNameId nameId = (EnumNameId)nameIdObj;
                        var nameId = Enum.Parse(typeof(EnumNameId), p.Name);
                        int intValue = 0;
                        double doubleValue = 0;
                        int enumValue = 0;
                        
                        if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)nameId, ref intValue, ref doubleValue, ref enumValue) == 0)
                        var id = Convert.ToInt32(nameId);
                        var rst = PHM6000Profiler.GetProfilerParameter(_cameraHandle, id, ref intValue, ref doubleValue, ref enumValue);


                        if (rst == 0)
                        {
                            if (p.PropertyType == typeof(int))
                            {
@@ -729,7 +920,14 @@
                            }
                            else // Enum or other types
                            {
                                p.SetValue(_sensorConfig, enumValue);
                                if (p.Name.Equals("ROI"))
                                {

                                }
                                else
                                {
                                    p.SetValue(_sensorConfig, enumValue);
                                }
                            }
                        }
                    }