Merge branch 'feature/Camera3D'

C3032

2026-01-06 7d40453bb5702b1898bc9fe57afbdb3f2e629918

Merge branch 'feature/Camera3D'

 LB_VisionProcesses/Cameras/LBCameras/PHM6000Camera.cs

@@ -187,24 +187,28 @@
        private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
        {
            // nOption: 0=一批数据结束, 1=全部完成, 2=点云就绪
            // 根据需求变更，我们只处理亮度图。Option 1 或 0 表示 2D 数据就绪。
            if (nOption == 1 || nOption == 0)
            {
                GenerateBitmapAndNotify();
                GenerateIntensityMap();
            }
        }

        private void GenerateBitmapAndNotify()
        private void GenerateIntensityMap()
        {
            Bitmap bmp = null;
            lock (_bufferLock)
            if (_cameraHandle == IntPtr.Zero) return;

            int width = 0;
            int height = 0;
            
            // 直接从 SDK 获取合并后的强度数据指针 (unsigned char*)
            IntPtr pIntensity = PHM6000Profiler.GetIntensityData(_cameraHandle, ref width, ref height);
            
            if (pIntensity == IntPtr.Zero || width <= 0 || height <= 0) return;

            try
            {
                if (_lineDataBuffer.Count == 0) return;

                // 默认宽度 4096 (线扫传感器典型值)
                int width = 4096; 
                int height = _lineDataBuffer.Count;

                bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
                Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
                
                // 设置灰度调色板
                ColorPalette palette = bmp.Palette;
@@ -213,31 +217,21 @@

                BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
                
                IntPtr scan0 = bmpData.Scan0;
                for (int i = 0; i < height; i++)
                {
                    // 仅提取 Alpha (强度图)
                    // 注意：LBPointZA 结构中 alpha 是第 8 个字节
                    byte[] lineBytes = _lineDataBuffer[i];
                    byte[] intensityRow = new byte[width];
                    
                    for (int x = 0; x < Math.Min(width, lineBytes.Length / 8); x++)
                    {
                        intensityRow[x] = lineBytes[x * 8 + 7]; // alpha 位
                    }
                    
                    Marshal.Copy(intensityRow, 0, scan0 + (i * bmpData.Stride), width);
                }
                // 高性能内存拷贝
                int size = width * height;
                byte[] managedData = new byte[size];
                Marshal.Copy(pIntensity, managedData, 0, size);
                Marshal.Copy(managedData, 0, bmpData.Scan0, size);
                
                bmp.UnlockBits(bmpData);
                _lineDataBuffer.Clear();
            }

            if (bmp != null)
            {
                // 触发事件
                // 触发事件通知 UI 更新亮度图
                ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
            }
            catch (Exception ex)
            {
                AsyncLogHelper.Error($"PHM6000: 生成亮度图异常 - {ex.Message}");
            }
        }

        private void SyncConfigFromCamera()