From 7279c77f318cd7e38af279dc98a1fecec33f5e30 Mon Sep 17 00:00:00 2001
From: C3032 <C3032@BC3032>
Date: 星期四, 08 一月 2026 16:07:01 +0800
Subject: [PATCH] 优化相机采集逻辑与亮度图处理功能
---
LB_SmartVision/VisionForm.cs | 2
LB_VisionProcesses/Cameras/BaseCamera.cs | 19 +
LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs | 370 +++++++++++++++++++--------------
LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs | 5
LB_SmartVisionCameraSDK/PHM6000/PHM6000Profiler.cs | 29 ++
LB_SmartVision/Forms/Pages/CameraPage/CameraForm.cs | 4
LB_VisionProcesses/Cameras/2DCameraForm.cs | 207 +++++++++++++++---
LB_VisionProcesses/Cameras/ICamera.cs | 9
8 files changed, 449 insertions(+), 196 deletions(-)
diff --git a/LB_SmartVision/Forms/Pages/CameraPage/CameraForm.cs b/LB_SmartVision/Forms/Pages/CameraPage/CameraForm.cs
index bec33a9..61d8f3d 100644
--- a/LB_SmartVision/Forms/Pages/CameraPage/CameraForm.cs
+++ b/LB_SmartVision/Forms/Pages/CameraPage/CameraForm.cs
@@ -85,7 +85,9 @@
else
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Line0);
- camera.StartGrabbing();
+ // 娉ㄩ噴鎺夎嚜鍔ㄥ惎鍔ㄩ噰闆嗛�昏緫,闃叉鍏抽棴绐椾綋鍚庣浉鏈鸿嚜鍔ㄨ繛缁噰闆�
+ // 鐢ㄦ埛闇�瑕佹墜鍔ㄧ偣鍑�"鍚姩閲囬泦"鎸夐挳鎵嶄細鍚姩鐩告満
+ // camera.StartGrabbing();
Unsubscribe();
}
diff --git a/LB_SmartVision/VisionForm.cs b/LB_SmartVision/VisionForm.cs
index ede0177..0655293 100644
--- a/LB_SmartVision/VisionForm.cs
+++ b/LB_SmartVision/VisionForm.cs
@@ -699,7 +699,7 @@
}
}
camera.SN = CameraConnectionString.Key;
- if (!camera.InitDevice(CameraConnectionString.Key, this.Handle))
+ if (!camera.InitDevice(CameraConnectionString.Key, IntPtr.Zero))
{
LogInfo($"鍒濆鍖栫浉鏈篬{CameraConnectionString.Key}]澶辫触", LogInfoType.ERROR);
if (camera != null)
diff --git a/LB_SmartVisionCameraSDK/PHM6000/PHM6000Profiler.cs b/LB_SmartVisionCameraSDK/PHM6000/PHM6000Profiler.cs
index 44cdddf..fdee162 100644
--- a/LB_SmartVisionCameraSDK/PHM6000/PHM6000Profiler.cs
+++ b/LB_SmartVisionCameraSDK/PHM6000/PHM6000Profiler.cs
@@ -874,6 +874,35 @@
/// <param name="KeepImageSize">鍥惧儚澶у皬鏄惁淇濇寔</param>
[DllImport("PHM6000API", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetTransformParameter")]
public static extern void SetTransformParameter(IntPtr pHandle, float fAngle, int xOffset, int yOffset, int hMirror, int vMirror, int KeepImageSize = 0);
+
+ #region PointCloud3D Functions
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddZAPoints")]
+ public static extern int AddZAPoints(IntPtr pInstance, IntPtr points, int nCount, float fStepX, float fStepY, int nDownSample);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "ClearPCLPoints")]
+ public static extern int ClearPCLPoints(IntPtr pInstance);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetPointCloudBound")]
+ public static extern int GetPointCloudBound(IntPtr pInstance, ref double pMin, ref double pMax);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "RenderPCLWindow")]
+ public static extern void RenderPCLWindow(IntPtr pInstance, int nWidth, int nHeight);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetLookUpTableRange")]
+ public static extern void SetLookUpTableRange(IntPtr pInstance, double fMin, double fMax);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "ShowCubeAxes")]
+ public static extern void ShowCubeAxes(IntPtr pInstance, int bInit);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "ShowLookUpTable")]
+ public static extern void ShowLookUpTable(IntPtr pInstance, double x, double y, double xWide, double yWide);
+
+ [DllImport("PointCloud3D", CallingConvention = CallingConvention.StdCall, EntryPoint = "UpdatePCLPointColors")]
+ public static extern int UpdatePCLPointColors(IntPtr pInstance, string szColoring);
+
+ #endregion
+
/// <summary>
/// 灏嗙粨鏋勪綋鎸囬拡杞崲涓篸ouble锛堟ā鎷烠++鐨�(double)(int64)&鎿嶄綔锛�
/// </summary>
diff --git a/LB_VisionProcesses/Cameras/2DCameraForm.cs b/LB_VisionProcesses/Cameras/2DCameraForm.cs
index 107eba5..adccb8b 100644
--- a/LB_VisionProcesses/Cameras/2DCameraForm.cs
+++ b/LB_VisionProcesses/Cameras/2DCameraForm.cs
@@ -252,7 +252,18 @@
return;
}
- if (cmbSN.Items.Count > 0 && camera.InitDevice(cmbSN.Text.ToString(), this.Handle))
+ IntPtr displayHandle = onlinePictureBox.Handle;
+ if (brand == CameraBrand.LBCamera)
+ {
+ onlinePictureBox.Visible = false;
+ displayHandle = this.panel_Picture.Handle;
+ }
+ else
+ {
+ onlinePictureBox.Visible = true;
+ }
+
+ if (cmbSN.Items.Count > 0 && camera.InitDevice(cmbSN.Text.ToString(), displayHandle))
{
camera.ImageGrabbed -= GetImageBllComplete;
camera.ImageGrabbed += GetImageBllComplete;
@@ -295,8 +306,10 @@
if (camera.CloseDevice())
{
+ onlinePictureBox.Visible = true;
MessageBox.Show(camera.SN + "鏂紑鎴愬姛");
this.panel_Picture.Controls.Clear();
+ this.panel_Picture.Controls.Add(onlinePictureBox);
}
}
@@ -382,28 +395,42 @@
/// <summary>
/// 鐩告満鍥炶皟杩愯
+ /// 娉ㄦ剰锛氬浜嶭BCamera锛�3D绾挎壂鐩告満锛夛紝浣跨敤SDK鑷姩鏄剧ず妯″紡
+ /// SDK浼氳嚜鍔ㄥ皢鍥惧儚鏄剧ず鍒板搴旂殑鎺т欢涓婏紝姝ゅ洖璋冨彧鐢ㄤ簬缁熻閲囬泦娆℃暟
/// </summary>
/// <param name="CCDName"></param>
/// <param name="image"></param>
private void GetImageBllComplete(object sender, CameraEventArgs e)
{
+ // 瀵逛簬LBCamera锛圫DK鑷姩鏄剧ず妯″紡锛夛紝Bitmap涓簄ull锛屾垜浠彧闇�瑕佺粺璁�
+ if (camera.Brand == CameraBrand.LBCamera)
+ {
+ if (e is LBCameraEventArgs args && args.IsComplete)
+ {
+ total.iImageCount++;
+ // 涓嶉渶瑕佹洿鏂皁nlinePictureBox.Image锛孲DK浼氳嚜鍔ㄦ樉绀�
+ }
+ return;
+ }
+
+ // 瀵逛簬2D鐩告満锛堟墜鍔ㄥ鐞嗘ā寮忥級
if (e.Bitmap == null)
return;
- lock (e.Bitmap)
+ lock (e.Bitmap)
+ {
+ if (this.InvokeRequired) // 妫�鏌ユ槸鍚﹂渶瑕佸湪UI绾跨▼涓婅皟鐢�
{
- if (this.InvokeRequired) // 妫�鏌ユ槸鍚﹂渶瑕佸湪UI绾跨▼涓婅皟鐢�
- {
- this.Invoke(new Action(() =>
- {
- onlinePictureBox.Image = e.Bitmap;
- })); // 閫掑綊璋冪敤鑷韩锛屼絾杩欐鍦║I绾跨▼涓�
- }
- else
+ this.Invoke(new Action(() =>
{
onlinePictureBox.Image = e.Bitmap;
- }
+ })); // 閫掑綊璋冪敤鑷韩锛屼絾杩欐鍦║I绾跨▼涓�
}
+ else
+ {
+ onlinePictureBox.Image = e.Bitmap;
+ }
+ }
total.iImageCount++;
try
{
@@ -426,23 +453,121 @@
Task.Factory.StartNew(() =>
{
- //camera.GetCamConfig(out CameraConfig OriCamConfig);
-
+ // 璁剧疆鏇濆厜鍜屽鐩�
camera.SetExpouseTime(Convert.ToDouble(txtExp.Text));
camera.SetGain(Convert.ToDouble(txtGain.Text));
- camera.GetImageWithSoftTrigger(out Bitmap bitmap);
+ bool success = false;
+ Bitmap bitmap = null;
- this.BeginInvoke(new Action(() =>
+ // 璋冪敤鍩虹被鎺ュ彛鐨勫崟娆￠噰闆嗘柟娉�
+ // LBCamera閲嶅啓浜哠tartSingleGrab鏂规硶锛屽叾浠栫浉鏈鸿皟鐢ㄨ繑鍥瀎alse
+ success = camera.StartSingleGrab();
+
+ if (success)
{
- if (bitmap != null)
- this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
- else
- this.lblCapTime.Text = "-1ms";
- }));
+ // 瀵逛簬LBCamera锛圫DK鑷姩鏄剧ず妯″紡锛夛紝绛夊緟閲囬泦瀹屾垚鍗冲彲
+ // 瀵逛簬2D鐩告満锛岀瓑寰匓itmap浜嬩欢
+ if (camera.Brand == CameraBrand.LBCamera)
+ {
+ // SDK鑷姩鏄剧ず妯″紡涓嬶紝绛夊緟閲囬泦瀹屾垚
+ using (AutoResetEvent waitHandle = new AutoResetEvent(false))
+ {
+ bool captured = false;
+ EventHandler<CameraEventArgs> handler = (s, evt) =>
+ {
+ if (evt is LBCameraEventArgs args && args.IsComplete)
+ {
+ captured = true;
+ waitHandle.Set();
+ }
+ };
- //澶嶅師鍘熼�氳鍙ｈ缃�
- //camera.SetCamConfig(OriCamConfig);
+ camera.ImageGrabbed += handler;
+ try
+ {
+ // 绛夊緟5绉掕秴鏃�
+ if (waitHandle.WaitOne(5000))
+ {
+ // SDK鑷姩鏄剧ず妯″紡锛屼笉杩斿洖Bitmap
+ // 浣嗛噰闆嗗凡瀹屾垚
+ }
+ this.BeginInvoke(new Action(() =>
+ {
+ this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
+ }));
+ }
+ finally
+ {
+ camera.ImageGrabbed -= handler;
+ camera.StopGrabbing();
+ }
+ }
+ }
+ else
+ {
+ // 瀵逛簬2D鐩告満锛岀瓑寰呭浘鍍忔暟鎹�
+ using (AutoResetEvent waitHandle = new AutoResetEvent(false))
+ {
+ Bitmap captured = null;
+ EventHandler<CameraEventArgs> handler = (s, evt) =>
+ {
+ // 瀵逛簬2D鐩告満锛岀洿鎺ユ帴鏀跺浘鍍�
+ if (!(evt is LBCameraEventArgs) && evt.Bitmap != null)
+ {
+ captured = evt.Bitmap.Clone() as Bitmap;
+ waitHandle.Set();
+ }
+ };
+
+ camera.ImageGrabbed += handler;
+ try
+ {
+ // 绛夊緟5绉掕秴鏃�
+ if (waitHandle.WaitOne(5000))
+ {
+ bitmap = captured;
+ }
+ }
+ finally
+ {
+ camera.ImageGrabbed -= handler;
+ camera.StopGrabbing();
+ }
+ }
+
+ this.BeginInvoke(new Action(() =>
+ {
+ if (bitmap != null)
+ {
+ this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
+ onlinePictureBox.Image = bitmap;
+ }
+ else
+ {
+ this.lblCapTime.Text = "-1ms";
+ }
+ }));
+ }
+ }
+ else
+ {
+ // 濡傛灉StartSingleGrab澶辫触锛屽洖閫�鍒颁紶缁熺殑GetImageWithSoftTrigger
+ camera.GetImageWithSoftTrigger(out bitmap);
+
+ this.BeginInvoke(new Action(() =>
+ {
+ if (bitmap != null)
+ {
+ this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
+ onlinePictureBox.Image = bitmap;
+ }
+ else
+ {
+ this.lblCapTime.Text = "-1ms";
+ }
+ }));
+ }
});
}
@@ -453,12 +578,12 @@
total.Clear();
- // 灏濊瘯灏嗚緭鍏ュ瓧绗︿覆杞崲涓烘灇涓惧��
- if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
- {
- camera.StopGrabbing();
- camera.StartWith_HardTriggerModel();
- }
+ // 鍋滄褰撳墠閲囬泦
+ camera.StopGrabbing();
+
+ // 璋冪敤鍩虹被鎺ュ彛鐨勮繛缁噰闆嗘柟娉�
+ // LBCamera浼氳皟鐢⊿tartContinuousGrab鏂规硶锛屽叾浠栫浉鏈轰娇鐢ㄥ師鏈夌殑StartWith_HardTriggerModel
+ camera.StartContinuousGrab();
startGrabtime = DateTime.Now;
@@ -473,18 +598,15 @@
total.Clear();
- // 灏濊瘯灏嗚緭鍏ュ瓧绗︿覆杞崲涓烘灇涓惧��
- if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
- {
- Task.Factory.StartNew(() =>
- {
- camera.StopGrabbing();
- camera.StartWith_SoftTriggerModel();
+ // 鍋滄褰撳墠閲囬泦
+ camera.StopGrabbing();
- });
- }
+ // 璋冪敤鍩虹被鎺ュ彛鐨勮繛缁噰闆嗘柟娉�
+ // LBCamera浼氳皟鐢⊿tartContinuousGrab鏂规硶锛屽叾浠栫浉鏈轰娇鐢ㄥ師鏈夌殑StartWith_SoftTriggerModel
+ camera.StartContinuousGrab();
startGrabtime = DateTime.Now;
+
cmbSN.Enabled = false;
cmbBrand.Enabled = false;
}
@@ -655,6 +777,10 @@
private void CameraForm_FormClosed(object sender, FormClosedEventArgs e)
{
+ onlinePictureBox.Visible = true;
+ this.panel_Picture.Controls.Clear();
+ this.panel_Picture.Controls.Add(onlinePictureBox);
+
this.onlinePictureBox.Image = null;
if (camera != null)
{
@@ -667,7 +793,12 @@
else
camera.SetTriggerMode(TriggerMode.On, actualSource);
- camera.StartGrabbing();
+ // LBCamera鍦⊿tartGrabbing鏃朵細鐩存帴寮�鍚縺鍏夊拰閲囬泦锛屽洜姝ゅ叧闂獥鍙ｆ椂涓嶅簲鑷姩閲嶅惎閲囬泦
+ // 鍏朵粬鐩告満(濡�2D鐩告満)閫氬父闇�瑕佷繚鎸丟rabbing鐘舵�佷互鎺ユ敹瑙﹀彂
+ if (camera.Brand != CameraBrand.LBCamera)
+ {
+ camera.StartGrabbing();
+ }
}
//璺緞涓虹┖璇存槑涓烘祴璇曟ā寮忥紝闇�瑕侀噴鏀剧浉鏈�
diff --git a/LB_VisionProcesses/Cameras/BaseCamera.cs b/LB_VisionProcesses/Cameras/BaseCamera.cs
index 4f9d877..215aff7 100644
--- a/LB_VisionProcesses/Cameras/BaseCamera.cs
+++ b/LB_VisionProcesses/Cameras/BaseCamera.cs
@@ -186,12 +186,29 @@
#region protected abstract
/// <summary>
- /// 寮�濮嬮噰鍥�
+ /// 寮�濮嬮噰鍥撅紙榛樿杩炵画閲囬泦锛�
/// </summary>
/// <returns></returns>
public abstract bool StartGrabbing();
/// <summary>
+ /// 鍗曟閲囬泦妯″紡锛堥�傜敤浜庣嚎鎵浉鏈猴級
+ /// </summary>
+ /// <returns></returns>
+ public virtual bool StartSingleGrab()
+ {
+ // 榛樿瀹炵幇锛氭櫘閫氱浉鏈轰笉鏀寔鍗曟閲囬泦锛岀洿鎺ヨ繑鍥瀎alse
+ // 绾挎壂鐩告満闇�瑕侀噸鍐欐鏂规硶
+ return false;
+ }
+
+ /// <summary>
+ /// 杩炵画閲囬泦妯″紡
+ /// </summary>
+ /// <returns></returns>
+ public abstract bool StartContinuousGrab();
+
+ /// <summary>
/// 鍋滄閲囧浘
/// </summary>
/// <returns></returns>
diff --git a/LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs b/LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs
index 48d15c7..685b06d 100644
--- a/LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs
+++ b/LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs
@@ -1247,6 +1247,11 @@
config.Params.Inputs.Add("澧炵泭", gain);
}
+ public override bool StartContinuousGrab()
+ {
+ return true;
+ }
+
#endregion
}
}
diff --git a/LB_VisionProcesses/Cameras/ICamera.cs b/LB_VisionProcesses/Cameras/ICamera.cs
index e173d9c..27c6c3a 100644
--- a/LB_VisionProcesses/Cameras/ICamera.cs
+++ b/LB_VisionProcesses/Cameras/ICamera.cs
@@ -79,11 +79,18 @@
bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000);
/// <summary>
- /// 杞Е鍙�
+ /// 杞Е鍙戝崟娆�
/// </summary>
/// <returns></returns>
bool SoftTrigger();
+ /// <summary>
+ /// 杩炵画閲囬泦妯″紡
+ /// </summary>
+ /// <returns></returns>
+ bool StartContinuousGrab();
+
+
#endregion
#region SettingConfig
diff --git a/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs b/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs
index a5128a4..c989044 100644
--- a/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs
+++ b/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宸ヤ笟鐩告満瀹炵幇绫�
/// 鍩轰簬PHM6000绯诲垪灏佽
@@ -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; // 閲囬泦甯ц鏁�
// 鍥惧儚缂撳啿
private List<byte[]> _lineDataBuffer = new List<byte[]>();
private readonly object _bufferLock = new object();
private int _currentLineCount = 0;
+
+ // 瀹炴椂鏄剧ず鐢ㄧ殑Bitmap
+ private Bitmap _currentBitmap = null;
+ private byte[] _rawPixelBuffer = null; // 鐢ㄤ簬瀛樺偍鍍忕礌鏁版嵁锛岄伩鍏嶉绻丩ockBits
+ private int _currentBitmapHeight = 0;
+ private int _currentBitmapWidth = 0;
+ private object _bitmapLock = new object();
+ private DateTime _lastUpdateTime = DateTime.MinValue;
// 鏄剧ず鍙ユ焺鍜屽嚱鏁帮紙涓嶭LSystem绀轰緥淇濇寔涓�鑷达級
private IntPtr _lightPic = IntPtr.Zero;
@@ -36,16 +53,71 @@
private IntPtr _pointPic = IntPtr.Zero;
private IntPtr _outlinePic = IntPtr.Zero;
+ // 鏄剧ず鎺у埗鍑芥暟缁撴瀯浣�
+ private PILOT2D_FUNC _func2d;
+ private VTK3D_FUNC _func3d;
+
public LBCamera()
{
Brand = CameraBrand.LBCamera;
_sensorConfig = new PHM6000SensorConfig();
+
+ // 鍒濆鍖�2D鏄剧ず鍑芥暟
+ _func2d = new PILOT2D_FUNC
+ {
+ AddBarycentreDataZA = Pilot2D.AddBarycentreDataZA,
+ AddDepthData = Pilot2D.AddDepthData,
+ AddIntensityData = Pilot2D.AddIntensityData,
+ ClearAllPoints = Pilot2D.ClearAllPoints,
+ RefreshPilot2D = Pilot2D.RefreshPilot2D,
+ SetImageSize = Pilot2D.SetImageSize,
+ };
+
+ // 鍒濆鍖�3D鏄剧ず鍑芥暟
+ _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)
{
+ // 濡傛灉宸茶繛鎺ワ紝浠呮鏌ユ槸鍚﹂渶瑕佹洿鏂版樉绀哄彞鏌�
+ if (_isConnected && _cameraHandle != IntPtr.Zero)
+ {
+ if (handle != null && handle is IntPtr hPtr && hPtr != IntPtr.Zero)
+ {
+ // 閿�姣佹棫鐨勬樉绀哄彞鏌�
+ if (_lightPic != IntPtr.Zero)
+ {
+ Pilot2D.ClearAllPoints(_lightPic);
+ Pilot2D.DestroyPilot2DEntry(_lightPic);
+ }
+
+ // 鍒涘缓鏂扮殑鏄剧ず鍙ユ焺
+ _lightPic = Pilot2D.CreatePilot2DEntry(hPtr);
+ if (_lightPic != IntPtr.Zero)
+ {
+ var config = GetSensorConfig();
+ Pilot2D.SetImageSize(_lightPic, 4096, config.ScanLineCount > 0 ? config.ScanLineCount : 5000);
+
+ // 鏇存柊鐩告満缁戝畾鐨勬樉绀哄彞鏌�
+ 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 @@
// 鍔犺浇鐩告満褰撳墠鍙傛暟鍒� _sensorConfig
SyncConfigFromCamera();
+ // 鍒涘缓浜害鍥炬樉绀哄彞鏌勶紙绫讳技LLSystem绀轰緥锛�
+ IntPtr hPtr = IntPtr.Zero;
+ if (handle is IntPtr p) hPtr = p;
+
+ if (hPtr != IntPtr.Zero)
+ {
+ _lightPic = Pilot2D.CreatePilot2DEntry(hPtr);
+ if (_lightPic != IntPtr.Zero)
+ {
+ // 璁剧疆鍥惧儚灏哄锛屽搴�4096锛岄珮搴︽牴鎹厤缃�
+ var config = GetSensorConfig();
+ Pilot2D.SetImageSize(_lightPic, 4096, config.ScanLineCount > 0 ? config.ScanLineCount : 5000);
+ }
+ }
+
// 鍒濆鍖栧洖璋�
- _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
_acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
- //PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
+ // 娉ㄥ唽閲囬泦瀹屾垚鍥炶皟锛堢被浼糒LSystem绀轰緥锛�
PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
-
+
+ // 璁剧疆2D鍜�3D鏄剧ず鍑芥暟锛堢被浼糒LSystem绀轰緥锛�
+ PHM6000Profiler.SetPilot2dFunc(_cameraHandle, _func2d);
+ PHM6000Profiler.SetVTK3dFunc(_cameraHandle, _func3d);
+
+ // 璁剧疆鏄剧ず鍙ユ焺锛堢被浼糒LSystem绀轰緥鐨凷etShowHandles锛�
+ 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();
+
+ // 閿�姣佹樉绀哄彞鏌�
+ if (_lightPic != IntPtr.Zero)
+ {
+ Pilot2D.ClearAllPoints(_lightPic);
+ Pilot2D.DestroyPilot2DEntry(_lightPic);
+ _lightPic = IntPtr.Zero;
+ }
+
PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
_cameraHandle = IntPtr.Zero;
_isConnected = false;
+
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Closed and cleaned up");
}
return true;
}
@@ -194,79 +304,90 @@
return cameraList;
}
- public override bool StartGrabbing()
+ private void InitBuffer()
{
- if (!_isConnected) return false;
- lock (_bufferLock)
+ lock (_bitmapLock)
{
- _lineDataBuffer.Clear();
+ _currentBitmapHeight = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
+ // 瀹藉害鏆傛椂鏈煡锛屽皢鍦ㄧ涓�琛屾暟鎹埌杈炬椂鍒濆鍖�
+ _currentBitmapWidth = 0;
+ if (_currentBitmap != null)
+ {
+ _currentBitmap.Dispose();
+ _currentBitmap = null;
+ }
+ _rawPixelBuffer = null;
_currentLineCount = 0;
}
+ }
- // 绂佺敤琛屽洖璋�
- PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
-
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�1=杩炵画妯″紡
- PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
- int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
- if (result == 0)
- {
- isGrabbing = true;
- return true;
- }
- return false;
+ public override bool StartGrabbing()
+ {
+ // 绾挎壂鐩告満榛樿浣跨敤杩炵画閲囬泦妯″紡
+ // 鍙傝�僉LSystem绀轰緥鐨凜ontinuousScan鏂规硶锛歋etAcquisitionMode(1, 1)
+ return StartSingleGrab();
}
/// <summary>
/// 鍗曟閲囬泦妯″紡锛堥�傜敤浜庣嚎鎵浉鏈猴級
- /// 璁剧疆閲囬泦妯″紡涓烘壂鎻忔ā寮忥紝鍗曟瑙﹀彂
+ /// 鍙傝�僉LSystem绀轰緥鐨凷tartScan鏂规硶锛歋etAcquisitionMode(1, 0)
+ /// 浣跨敤SDK鑷姩鏄剧ず妯″紡锛屼笉鎵嬪姩澶勭悊鏁版嵁
/// </summary>
public bool StartSingleGrab()
{
if (!_isConnected) return false;
- lock (_bufferLock)
- {
- _lineDataBuffer.Clear();
- _currentLineCount = 0;
- }
- // 绂佺敤琛屽洖璋冿紙涓庣ず渚嬩竴鑷达級
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Starting single grab mode");
+
+ // 浣跨敤SDK鑷姩鏄剧ず妯″紡锛岀被浼糒LSystem绀轰緥
+ // 涓嶈缃瓵cquisitionCallbackZA锛岃SDK鑷姩澶勭悊鍥惧儚鏄剧ず
PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�0=鍗曟妯″紡
+ // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�0=鍗曟妯″紡锛堜笌LLSystem绀轰緥淇濇寔涓�鑷达級
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>
/// 杩炵画閲囬泦妯″紡锛堥�傜敤浜庣嚎鎵浉鏈猴級
- /// 璁剧疆閲囬泦妯″紡涓烘壂鎻忔ā寮忥紝杩炵画瑙﹀彂
+ /// 鍙傝�僉LSystem绀轰緥鐨凜ontinuousScan鏂规硶锛歋etAcquisitionMode(1, 1)
+ /// 浣跨敤SDK鑷姩鏄剧ず妯″紡锛屼笉鎵嬪姩澶勭悊鏁版嵁
/// </summary>
- public bool StartContinuousGrab()
+ public override bool StartContinuousGrab()
{
if (!_isConnected) return false;
- lock (_bufferLock)
- {
- _lineDataBuffer.Clear();
- _currentLineCount = 0;
- }
- // 绂佺敤琛屽洖璋冿紙涓庣ず渚嬩竴鑷达級
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Starting continuous grab mode");
+
+ // 浣跨敤SDK鑷姩鏄剧ず妯″紡锛岀被浼糒LSystem绀轰緥
+ // 涓嶈缃瓵cquisitionCallbackZA锛岃SDK鑷姩澶勭悊鍥惧儚鏄剧ず
PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�1=杩炵画妯″紡
+ // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�1=杩炵画妯″紡锛堜笌LLSystem绀轰緥淇濇寔涓�鑷达級
PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
+
if (result == 0)
{
isGrabbing = true;
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Continuous grab started successfully");
return true;
+ }
+ else
+ {
+ AsyncLogHelper.Error($"LBCamera[{SN}]: Failed to start continuous grab, result={result}");
}
return false;
}
@@ -279,17 +400,20 @@
return true;
}
+
public override bool StartWith_SoftTriggerModel()
{
- // 瀵逛簬LBCamera锛堢嚎鎵浉鏈猴級锛岃蒋浠惰Е鍙戣繛缁噰闆嗕娇鐢ㄨ繛缁噰闆嗘ā寮�
+ // 瀵逛簬LBCamera锛堢嚎鎵浉鏈猴級锛岃蒋浠惰Е鍙戣繛缁噰闆�
+ // 鍙傝�僉LSystem绀轰緥鐨凜ontinuousScan鏂规硶锛歋etAcquisitionMode(1, 1)
return StartContinuousGrab();
}
public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0)
{
// 瀵逛簬LBCamera锛堢嚎鎵浉鏈猴級锛岀‖浠惰Е鍙戜篃浣跨敤杩炵画閲囬泦妯″紡
+ // 鍙傝�僉LSystem绀轰緥鐨凜ontinuousScan鏂规硶锛歋etAcquisitionMode(1, 1)
// 澶栭儴纭欢淇″彿浼氳Е鍙戠浉鏈哄紑濮嬮噰闆�
- return StartContinuousGrab();
+ return StartSingleGrab();
}
public override bool SoftTrigger()
@@ -328,35 +452,38 @@
bitmap = null;
if (!_isConnected) return false;
+ // 瀵逛簬绾挎壂鐩告満锛屼娇鐢⊿DK鑷姩鏄剧ず妯″紡
+ // 娉ㄦ剰锛歋DK鑷姩鏄剧ず妯″紡涓嬶紝鎴戜滑鏃犳硶鐩存帴鑾峰彇Bitmap
+ // 浣哠DK浼氳嚜鍔ㄥ皢鍥惧儚鏄剧ず鍒癬lightPic鍙ユ焺瀵瑰簲鐨勬帶浠朵笂
+ // 鎴戜滑鍙渶瑕佸惎鍔ㄥ崟娆￠噰闆嗭紝绛夊緟閲囬泦瀹屾垚鍗冲彲
+
using (AutoResetEvent waitHandle = new AutoResetEvent(false))
{
- Bitmap captured = null;
+ bool captured = false;
EventHandler<CameraEventArgs> handler = (s, e) =>
{
- try
+ // 瀵逛簬绾挎壂鐩告満锛屼粎褰揑sComplete涓簍rue鏃舵墠琛ㄧず閲囬泦瀹屾垚
+ if (e is LBCameraEventArgs args && args.IsComplete)
{
- if (e.Bitmap != null)
- {
- captured = e.Bitmap.Clone() as Bitmap;
- }
+ captured = true;
+ waitHandle.Set();
}
- catch (Exception ex)
- {
- AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger clone error - {ex.Message}");
- }
- waitHandle.Set();
};
this.ImageGrabbed += handler;
try
{
+ // 浣跨敤鍗曟閲囬泦妯″紡锛堜笌LLSystem绀轰緥淇濇寔涓�鑷达級
if (StartSingleGrab())
{
+ // 绛夊緟閲囬泦瀹屾垚
if (waitHandle.WaitOne(outtime))
{
- bitmap = captured;
- return bitmap != null;
+ // 鐢变簬SDK鑷姩鏄剧ず锛屾垜浠棤娉曡繑鍥濨itmap
+ // 浣嗛噰闆嗗凡瀹屾垚锛屽浘鍍忓凡鏄剧ず鍒扮晫闈笂
+ bitmap = null; // SDK鑷姩鏄剧ず妯″紡涓嬩笉杩斿洖Bitmap
+ return captured;
}
}
}
@@ -378,121 +505,57 @@
public void UpdateSensorConfig(PHM6000SensorConfig config)
{
_sensorConfig = config;
- // 绠�鍗曠ず渚嬶細璁剧疆鏇濆厜鍜屽鐩�
- SetExpouseTime(config.ExposureTime);
- SetGain((double)config.AnalogGain);
- // 鏇村鍙傛暟鍚屾閫昏緫搴斿湪姝ゅ瀹炵幇
+
+ if (!_isConnected) return;
+
+ // 鍩虹鍥惧儚鍙傛暟
+ SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
+ SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
+
+ // 鎵弿鎺у埗鍙傛暟 - 鍐冲畾鍗曟閲囬泦鐨勬暟鎹噺
+ PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
+
+ // 瑙﹀彂璁剧疆 - 鍐冲畾閲囬泦閫熷害
+ PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
+ PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
+
+ // 濡傛灉鏄蒋瑙﹀彂(鍥哄畾棰戠巼)锛岃缃鐜�
+ if (config.LineScanTriggerSource == EnumLineScanTriggerSource.鍥哄畾棰戠巼)
+ {
+ PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
+ }
+
+ // 纭繚鍙傛暟鐢熸晥
+ PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
}
#endregion
-
+
#endregion
#region Private Callback & Helpers
- private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points)
- {
- // 瀹炴椂鍥炶皟澶勭悊锛氱疮绉鏁版嵁
- 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)
{
- // 鏍规嵁SDK鏂囨。锛歯Option涓�0鏃惰〃绀轰竴鎵规暟鎹粨鏉燂紝涓�1鏃惰〃绀哄叏閮ㄩ噰闆嗗畬鎴�
- // 涓轰簡鍏煎鎬э紝涔熷鐞唍Option == 2锛堢偣浜戝氨缁級
- // 姝ゆ椂浣跨敤涓诲姩鑾峰彇鏂瑰紡鏇夸唬鍙兘浼氬鑷碿rash鐨凣enerateIntensityMap
- if (nOption == 0 || nOption == 1 || nOption == 2)
- {
- RetrieveDataAndGenerateImage();
- }
- }
+ // nOption鍚箟:
+ // 0 = 涓�鎵规暟鎹粨鏉�
+ // 1 = 鍏ㄩ儴閲囬泦瀹屾垚锛堜粎鍗曟妯″紡锛�
+ // 2 = 瀵瑰簲鏁版嵁澶勭悊瀹屾垚锛堟瘡娆￠噰闆嗗畬鎴愰兘浼氳Е鍙戯級
- private void RetrieveDataAndGenerateImage()
- {
- if (_cameraHandle == IntPtr.Zero) return;
+ // 璁板綍鍥炶皟淇℃伅
+ AsyncLogHelper.Info($"LBCamera[{SN}]: OnAcquisitionCompleted called, nOption={nOption}");
- try
+ if (nOption == 2)
{
- List<byte[]> lineBuffers = new List<byte[]>();
- ulong index = 0;
- IntPtr ptr = IntPtr.Zero;
+ // 杩炵画閲囬泦妯″紡涓嬶紝姣忓畬鎴愪竴甯DK閮戒細鑷姩缁х画閲囬泦涓嬩竴甯�
+ // SDK浼氳嚜鍔ㄥ鐞嗗浘鍍忔樉绀哄埌_lightPic鍙ユ焺
+ // 鎴戜滑鍙渶瑕佺粺璁￠噰闆嗘鏁�
+ _frameCount++;
- // 鍍忕ず渚嬩竴鏍烽�氳繃绱㈠紩鑾峰彇琛屾暟鎹�
- while ((ptr = PHM6000Profiler.GetLineDataByIndex(_cameraHandle, index)) != IntPtr.Zero)
- {
- try
- {
- LBLineDataZA lineData = PHM6000Profiler.ConvertToLBLineDataZA(ptr);
-
- // 鎻愬彇寮哄害鏁版嵁 (Alpha閫氶亾)
- if (lineData.data != null && lineData.data.Length > 0)
- {
- int lineWidth = lineData.data.Length;
- byte[] intensityLine = new byte[lineWidth];
- for (int i = 0; i < lineWidth; i++)
- {
- intensityLine[i] = lineData.data[i].alpha;
- }
- lineBuffers.Add(intensityLine);
- }
- }
- catch (Exception ex)
- {
- // 蹇界暐鍗曡杞崲閿欒
- }
- index++;
- }
+ AsyncLogHelper.Info($"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);
-
- // 璁剧疆鐏板害璋冭壊鏉�
- 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) // 纭繚瀹藉害涓�鑷�
- {
- Marshal.Copy(lineBuffers[y], 0, scan0 + y * stride, width);
- }
- }
- }
- finally
- {
- bmp.UnlockBits(bmpData);
- }
-
- // 瑙﹀彂浜嬩欢閫氱煡 UI 鏇存柊浜害鍥�
- ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
- }
- catch (Exception ex)
- {
- AsyncLogHelper.Error($"LBCamera: 鐢熸垚鍥惧儚寮傚父 - {ex.Message}");
+ // 瑙﹀彂浜嬩欢閫氱煡UI鏇存柊锛堜絾涓嶄紶閫払itmap锛屽洜涓篠DK鑷姩鏄剧ず锛�
+ ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, null, true));
}
}
@@ -527,7 +590,6 @@
}
return false;
}
-
#endregion
}
}
--
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