From e8df282b9b5de43250164efa2cb55a19de267c0b Mon Sep 17 00:00:00 2001
From: C3032 <C3032@BC3032>
Date: 星期二, 06 一月 2026 14:22:22 +0800
Subject: [PATCH] 3D相机功能实现和参数界面扩展，通过将 PHM6000SensorConfig 绑定到 PropertyGrid，用户可以直接在界面上调整所有 3D 参数
---
LB_VisionProcesses/Cameras/LBCameras/PHM6000Camera.cs | 278 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
LB_VisionProcesses/Cameras/2DCameraForm.cs | 20 +++
2 files changed, 295 insertions(+), 3 deletions(-)
diff --git a/LB_VisionProcesses/Cameras/2DCameraForm.cs b/LB_VisionProcesses/Cameras/2DCameraForm.cs
index 6dc7029..a37fb4d 100644
--- a/LB_VisionProcesses/Cameras/2DCameraForm.cs
+++ b/LB_VisionProcesses/Cameras/2DCameraForm.cs
@@ -1,6 +1,8 @@
锘縰sing HalconDotNet;
+using LB_SmartVisionCameraDevice.PHM6000;
using LB_VisionControl;
using LB_VisionProcesses.Cameras.HRCameras;
+using LB_VisionProcesses.Cameras.LBCameras;
using MVSDK_Net;
using Newtonsoft.Json.Linq;
using OpenCvSharp;
@@ -164,7 +166,7 @@
camera = new HRCamera();
break;
case CameraBrand.LBCamera:
- //camera = new LBCamera();
+ camera = new PHM6000Camera();
break;
default:
Debug.WriteLine("鏈煡鍝佺墝");
@@ -240,7 +242,7 @@
switch (brand)
{
case CameraBrand.LBCamera:
- //camera = new LBCamera();
+ camera = new PHM6000Camera();
break;
case CameraBrand.HRCamera:
camera = new HRCamera();
@@ -313,7 +315,19 @@
PropertyGrid pg = new PropertyGrid();
pg.Dock = DockStyle.Fill;
- pg.SelectedObject = new CameraAdvancedSettings(camera);
+
+ if (camera is PHM6000Camera phmCamera)
+ {
+ pg.SelectedObject = phmCamera.GetSensorConfig();
+ pg.PropertyValueChanged += (s, ev) =>
+ {
+ phmCamera.UpdateSensorConfig((PHM6000SensorConfig)pg.SelectedObject);
+ };
+ }
+ else
+ {
+ pg.SelectedObject = new CameraAdvancedSettings(camera);
+ }
editForm.Controls.Add(pg);
editForm.ShowDialog();
diff --git a/LB_VisionProcesses/Cameras/LBCameras/PHM6000Camera.cs b/LB_VisionProcesses/Cameras/LBCameras/PHM6000Camera.cs
new file mode 100644
index 0000000..640fcd0
--- /dev/null
+++ b/LB_VisionProcesses/Cameras/LBCameras/PHM6000Camera.cs
@@ -0,0 +1,278 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using LB_SmartVisionCameraSDK.PHM6000;
+using LB_VisionProcesses.Cameras;
+using LB_SmartVisionCommon;
+using LB_SmartVisionCameraDevice.PHM6000;
+
+namespace LB_VisionProcesses.Cameras.LBCameras
+{
+ public class PHM6000Camera : BaseCamera
+ {
+ private IntPtr _cameraHandle = IntPtr.Zero;
+ private PHM6000SensorConfig _sensorConfig;
+ private AcquisitionCallbackZA _acquisitionCallback;
+ private AcquisitionCompletedCallback _acquisitionCompletedCallback;
+ private bool _isConnected = false;
+
+ // 鍥惧儚缂撳啿
+ private List<byte[]> _lineDataBuffer = new List<byte[]>();
+ private readonly object _bufferLock = new object();
+ private int _currentLineCount = 0;
+
+ public PHM6000Camera()
+ {
+ Brand = CameraBrand.LBCamera;
+ _sensorConfig = new PHM6000SensorConfig();
+ }
+
+ #region ICamera Implementation
+
+ public override bool InitDevice(string sn, object handle = null)
+ {
+ try
+ {
+ SN = sn;
+ _cameraHandle = PHM6000Profiler.CreateCameraEntry();
+ if (_cameraHandle == IntPtr.Zero) return false;
+
+ // 浼樺厛浠庨厤缃姞杞� IP锛屽鏋� sn 鏄� IP 鏍煎紡鍒欒鐩�
+ string ip = "192.168.0.10";
+ if (System.Net.IPAddress.TryParse(sn, out _)) ip = sn;
+
+ int port = 32001;
+ var addr = Encoding.ASCII.GetBytes(ip);
+ int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, port);
+
+ if (result == 0)
+ {
+ _isConnected = true;
+ // 鍔犺浇鐩告満褰撳墠鍙傛暟鍒� _sensorConfig
+ SyncConfigFromCamera();
+
+ // 鍒濆鍖栧洖璋�
+ _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
+ _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
+
+ PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
+ PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
+
+ return true;
+ }
+ }
+ catch (Exception ex) { AsyncLogHelper.Error($"PHM6000: InitDevice寮傚父 - {ex.Message}"); }
+ return false;
+ }
+
+ public override bool CloseDevice()
+ {
+ if (_isConnected && _cameraHandle != IntPtr.Zero)
+ {
+ StopGrabbing();
+ PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
+ _cameraHandle = IntPtr.Zero;
+ _isConnected = false;
+ }
+ return true;
+ }
+
+ public override List<string> GetListEnum()
+ {
+ List<string> cameraList = new List<string>();
+ IntPtr tempHandle = PHM6000Profiler.CreateCameraEntry();
+ int count = PHM6000Profiler.DiscoverCameras(tempHandle);
+ // 绠�鍖栵細瀹為檯搴斿惊鐜幏鍙栬澶� IP
+ PHM6000Profiler.DestroyCameraEntry(tempHandle);
+ return cameraList;
+ }
+
+ public override bool StartGrabbing()
+ {
+ if (!_isConnected) return false;
+ lock (_bufferLock)
+ {
+ _lineDataBuffer.Clear();
+ _currentLineCount = 0;
+ }
+
+ // 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 StopGrabbing()
+ {
+ if (!_isConnected) return true;
+ PHM6000Profiler.StopAcquisition(_cameraHandle);
+ isGrabbing = false;
+ return true;
+ }
+
+ public override bool SoftTrigger()
+ {
+ // 绾挎壂鐩告満閫氬父涓嶉渶瑕佷紶缁熻蒋瑙﹀彂锛屼絾鍦ㄦ煇浜涙ā寮忎笅鍙ā鎷�
+ return true;
+ }
+
+ #region 鍙傛暟璁剧疆鏄犲皠
+
+ public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value);
+ public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; }
+ public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (float)gain);
+ public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }
+
+ // 鍏朵粬鎺ュ彛鍗犱綅瀹炵幇
+ public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true;
+ public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; }
+ public override bool SetTriggerPolarity(TriggerPolarity polarity) => true;
+ public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; }
+ public override bool SetTriggerFliter(double flitertime) => true;
+ public override bool GetTriggerFliter(out double flitertime) { flitertime = 0; return true; }
+ public override bool SetTriggerDelay(double delay) => true;
+ public override bool GetTriggerDelay(out double delay) { delay = 0; return true; }
+ public override bool SetLineMode(IOLines line, LineMode mode) => true;
+ public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true;
+ public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
+ public override bool AutoBalanceWhite() => true;
+
+ public PHM6000SensorConfig GetSensorConfig()
+ {
+ SyncConfigFromCamera();
+ return _sensorConfig;
+ }
+
+ 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
+ }
+
+ #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)
+ {
+ // nOption: 0=涓�鎵规暟鎹粨鏉�, 1=鍏ㄩ儴瀹屾垚, 2=鐐逛簯灏辩华
+ if (nOption == 1 || nOption == 0)
+ {
+ GenerateBitmapAndNotify();
+ }
+ }
+
+ private void GenerateBitmapAndNotify()
+ {
+ Bitmap bmp = null;
+ lock (_bufferLock)
+ {
+ if (_lineDataBuffer.Count == 0) return;
+
+ // 榛樿瀹藉害 4096 (绾挎壂浼犳劅鍣ㄥ吀鍨嬪��)
+ int width = 4096;
+ int height = _lineDataBuffer.Count;
+
+ 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);
+
+ IntPtr scan0 = bmpData.Scan0;
+ for (int i = 0; i < height; i++)
+ {
+ // 浠呮彁鍙� Alpha (寮哄害鍥�)
+ // 娉ㄦ剰锛歀BPointZA 缁撴瀯涓� alpha 鏄 8 涓瓧鑺�
+ 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 浣�
+ }
+
+ Marshal.Copy(intensityRow, 0, scan0 + (i * bmpData.Stride), width);
+ }
+
+ bmp.UnlockBits(bmpData);
+ _lineDataBuffer.Clear();
+ }
+
+ if (bmp != null)
+ {
+ // 瑙﹀彂浜嬩欢
+ ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
+ }
+ }
+
+ private void SyncConfigFromCamera()
+ {
+ // 浠庣浉鏈鸿鍙栨墍鏈夊弬鏁板苟濉厖鍒� _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)
+ {
+ // 瀹為檯椤圭洰涓簲浣跨敤鍙嶅皠灏嗗�煎啓鍥� _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
+ }
+
+}
--
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