TeamAAS-VP-HeShuo/TeamAAS-VM/Core/Cameras/BaslerCamera.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using Cognex.VisionPro;
using Basler.Pylon;
using System.IO;
using System.Drawing.Imaging;
using System.Drawing;
using System.Diagnostics;
using ControlzEx.Standard;
using System.Windows.Media.Media3D;
using MvCamCtrl.NET;
using TeamAAS_VP.Models;
using Microsoft.Win32;
//using System.Drawing;
//using System.Drawing.Imaging;

namespace TeamAAS_VP.Core.Cameras
{
    public class BaslerCamera : Interfaces.ICamera, INotifyPropertyChanged
    {
        #region 字段
        private Basler.Pylon.Camera m_MyCamera;
        private Thread m_hReceiveThread;
        UInt32 m_nRowStep = 0;
        // The pixel data converter is used for converting grabbed images to a pixel format that can be displayed.
        private PixelDataConverter converter = new PixelDataConverter();
        #endregion

        #region 属性

        public CameraBrand CameraBrand { get => CameraBrand.Basler_Pylon; }

        public string Name { get; private set; }
        public Guid ID { get; private set; }
        public string ManufacturerName { get; private set; }

        public string ModelName { get; private set; }

        public string SerialNumber { get; private set; }

        public CameraType CameraType { get; private set; }

        public UInt32 ImageWidth { get; private set; }

        public UInt32 ImageHeight { get; private set; }

        private bool _IsGrabbing;

        /// <summary>
        /// 正在采集
        /// </summary>
        public bool IsGrabbing
        {
            get { return _IsGrabbing; }
            private set { SetProperty(ref _IsGrabbing, value); }
        }

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            private set { SetProperty(ref _Image, value); }
        }

        public bool IsConnected { get; private set; }

        public ICameraInfo CameraInfo { get; private set; }

        /// <summary>
        /// 采集用时
        /// </summary>
        public TimeSpan TotalTime { get; private set; }

        /// <summary>
        /// 错误信息
        /// </summary>
        public string ErrorMessage { get; private set; }

        #endregion

        #region 事件
        public event Action<ICogImage, TimeSpan, string> ImageCallbackEvent;
        public event Action<Guid, bool> CameraConnectChangedEvent;
        #endregion

        public BaslerCamera(Guid _ID, string _Name, string _SerialNumber)
        {
            ID = _ID;
            Name = _Name;
            SerialNumber = _SerialNumber;
            List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
            foreach (ICameraInfo cameraInfo in allCameraInfos)
            {
                if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                {
                    CameraInfo = cameraInfo;
                    m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                    ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                    ModelName = cameraInfo[CameraInfoKey.ModelName];
                    SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                    if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                    {
                        CameraType = CameraType.GIGE;
                    }
                    else
                    {
                        CameraType = CameraType.USB;
                    }
                    m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);    // 激活相机事件
                    m_MyCamera.CameraOpened += Configuration.AcquireContinuous;                   // 软触发打开
                    m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                    m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                    //m_MyCamera.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed;

                    break;
                }
            }
            IsConnected = false;
        }

        private void StreamGrabber_ImageGrabbed(object sender, ImageGrabbedEventArgs e)
        {
            Stopwatch sw = Stopwatch.StartNew();
            // Wait for an image and then retrieve it. A timeout of 5000 ms is used.
            IGrabResult grabResult = e.GrabResult;

            using (grabResult)
            {
                // Image grabbed successfully?
                if (grabResult != null && grabResult.GrabSucceeded)
                {
                    ErrorMessage = "";
                    byte[] pixelData = grabResult.PixelData as byte[];
                    IntPtr pixelPointer = Marshal.UnsafeAddrOfPinnedArrayElement(pixelData, 0);

                    IntPtr pTemp = IntPtr.Zero;
                    Basler.Pylon.PixelType enDstPixelType = Basler.Pylon.PixelType.Undefined;
                    UInt32 nSaveImageNeedSize = 0;
                    if (IsColorPixelFormat(grabResult.PixelTypeValue))
                    {
                        Bitmap bitmap = new Bitmap(grabResult.Width, grabResult.Height, PixelFormat.Format32bppRgb);
                        // Lock the bits of the bitmap.
                        BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, bitmap.PixelFormat);
                        converter.OutputPixelFormat = PixelType.BGRA8packed;
                        // Place the pointer to the buffer of the bitmap.
                        IntPtr ptrBmp = bmpData.Scan0;
                        converter.Convert(ptrBmp, bmpData.Stride * bitmap.Height, grabResult);
                        bitmap.UnlockBits(bmpData);
                        CogImage24PlanarColor colorImage = new CogImage24PlanarColor(bitmap);

                        Image = colorImage.ScaleImage((int)bitmap.Width, (int)bitmap.Height);
                    }
                    else if (IsMonoPixelFormat(grabResult.PixelTypeValue))
                    {
                        enDstPixelType = Basler.Pylon.PixelType.Mono8;
                        nSaveImageNeedSize = (uint)grabResult.Width * (uint)grabResult.Height * 3;
                        if (grabResult.PixelTypeValue == Basler.Pylon.PixelType.Mono8)
                        {
                            pTemp = pixelPointer;
                        }
                        else
                        {
                            // 其他格式Mono转为Mono8
                            Basler.Pylon.PixelDataConverter converter = new PixelDataConverter();
                            converter.OutputPixelFormat = Basler.Pylon.PixelType.RGB8packed;
                            converter.Convert(pTemp, nSaveImageNeedSize, grabResult);
                        }
                        Image = ConvertToICogImage((uint)grabResult.Height, (uint)grabResult.Width, pTemp, enDstPixelType);
                    }
                    TotalTime = sw.Elapsed;
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                }
                else
                {
                    TotalTime = sw.Elapsed;
                    ErrorMessage = grabResult.ErrorDescription;
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);

                }
            }
        }

        #region 方法

        /// <summary>
        /// 获取设备
        /// </summary>
        /// <returns></returns>
        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();
            try
            {
                if (!CheckSoftwareInstalled().isInstalled)
                {
                    LogHelper.WriteLogInfo("未安装pylon 7");
                    return cameras.ToArray();
                }
                List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
                foreach (ICameraInfo cameraInfo in allCameraInfos)
                {
                    if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.GIGE,
                            Id = Guid.NewGuid(),
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("usb"))
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.USB,
                            Id = Guid.NewGuid(),
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("link"))
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.Link,
                            Id = Guid.NewGuid(),
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.Unknown,
                            Id = Guid.NewGuid(),
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("搜索巴斯勒相机列表时出错！", ex);
            }

            return cameras.ToArray();
        }

        /// <summary>
        /// 检查相机软件是否安装
        /// </summary>
        /// <returns></returns>
        public static (bool isInstalled, string version) CheckSoftwareInstalled()
        {
            string softwareName = "pylon 7 Camera Software";
            string softwareVersion = "7.5.0.15658";
            string[] registryPaths = new[]
            {
                @"SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall",
                @"SOFTWARE\WOW6432Node\Microsoft\Windows\CurrentVersion\Uninstall"
            };
            foreach (var path in registryPaths)
            {
                using (RegistryKey key = Registry.LocalMachine.OpenSubKey(path))
                {
                    if (key == null) continue;

                    foreach (string subKeyName in key.GetSubKeyNames())
                    {
                        using (RegistryKey subKey = key.OpenSubKey(subKeyName))
                        {
                            string displayName = subKey.GetValue("DisplayName")?.ToString();
                            if (displayName != null && displayName.Contains(softwareName))
                            {
                                string version = subKey.GetValue("DisplayVersion")?.ToString();
                                Version v1 = new Version(version);
                                Version v2 = new Version(softwareVersion);
                                if (v1 >= v2)
                                {
                                    return (true, version);
                                }
                                else
                                {
                                    return (false, version);
                                }
                            }
                        }
                    }
                }
            }
            return (false, "");
        }

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public bool OpenDevice()
        {
            if (m_MyCamera == null)
            {
                List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
                foreach (ICameraInfo cameraInfo in allCameraInfos)
                {
                    if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                    {
                        CameraInfo = cameraInfo;
                        m_MyCamera = new Basler.Pylon.Camera(CameraInfo);
                        ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                        ModelName = cameraInfo[CameraInfoKey.ModelName];
                        SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                        if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                        {
                            CameraType = CameraType.GIGE;
                        }
                        else
                        {
                            CameraType = CameraType.USB;
                        }
                        m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);    // 激活相机事件
                        m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                        m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                        m_MyCamera.CameraOpened += Configuration.AcquireContinuous;                   // 软触发打开

                        break;
                    }
                }
                if (m_MyCamera == null)
                {
                    throw new Exception("没有识别到相机");
                }
            }

            if (!m_MyCamera.IsOpen)
            {
                m_MyCamera.Open();
                m_MyCamera.Parameters[PLCamera.TriggerSource].SetValue(PLCamera.TriggerSource.Software);
                m_MyCamera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
                m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.On);
            }
            IsConnected = m_MyCamera.IsConnected;

            return IsConnected;
        }

        private void M_MyCamera_CameraClosed(object sender, EventArgs e)
        {
            CameraConnectChangedEvent?.Invoke(ID, false);
        }

        private void M_MyCamera_CameraOpened(object sender, EventArgs e)
        {
            CameraConnectChangedEvent?.Invoke(ID, true);
        }

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseDevice()
        {
            if (m_MyCamera != null)
            {
                if (m_MyCamera.IsOpen)
                {
                    m_MyCamera.Close();
                    m_MyCamera.CameraOpened -= Configuration.AcquireContinuous;                   // 软触发打开
                    m_MyCamera.CameraOpened -= M_MyCamera_CameraOpened;
                    m_MyCamera.CameraClosed -= M_MyCamera_CameraClosed;
                    IsConnected = m_MyCamera.IsConnected;
                    m_MyCamera.Dispose();
                }
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab()
        {
            Stopwatch sw = Stopwatch.StartNew();
            if (m_MyCamera == null)
            {
                throw new Exception("相机未连接");
            }
            if (!m_MyCamera.IsOpen)
            {
                m_MyCamera.Open();
                m_MyCamera.Parameters[PLCamera.TriggerSource].SetValue(PLCamera.TriggerSource.Software);
                m_MyCamera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
                m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.On);

            }
            if (!m_MyCamera.StreamGrabber.IsGrabbing)
            {
                // Start grabbing.
                m_MyCamera.StreamGrabber.Start();
            }

            bool Succeed = false;
            IGrabResult grabResult = null;
            for (int i = 0; i < 5; i++)
            {
                try
                {
                    m_MyCamera.ExecuteSoftwareTrigger();
                    // Wait for an image and then retrieve it. A timeout of 5000 ms is used.
                    grabResult = m_MyCamera.StreamGrabber.RetrieveResult(1000, TimeoutHandling.ThrowException);
                    if (grabResult != null && grabResult.GrabSucceeded)
                    {
                        ErrorMessage = "";
                        Succeed = true;
                        break;
                    }
                    else
                    {
                        ErrorMessage = grabResult.ErrorDescription;
                    }
                }
                catch (Exception ex)
                {
                    ErrorMessage = ex.Message;
                    m_MyCamera.Close();
                    m_MyCamera.CameraOpened -= M_MyCamera_CameraOpened;
                    m_MyCamera.CameraClosed -= M_MyCamera_CameraClosed;
                    m_MyCamera.Open();
                    m_MyCamera.Parameters[PLCamera.TriggerSource].SetValue(PLCamera.TriggerSource.Software);
                    m_MyCamera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
                    m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.On);
                    IsConnected = m_MyCamera.IsConnected;
                }
                finally
                {
                    //m_MyCamera.StreamGrabber.Stop();
                }
            }

            if (!Succeed)
            {
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            //m_MyCamera.StreamGrabber.Stop();

            if (IsColorPixelFormat(grabResult.PixelTypeValue))
            {
                Bitmap bitmap = new Bitmap(grabResult.Width, grabResult.Height, PixelFormat.Format32bppRgb);
                // Lock the bits of the bitmap.
                BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, bitmap.PixelFormat);
                converter.OutputPixelFormat = PixelType.BGRA8packed;
                // Place the pointer to the buffer of the bitmap.
                IntPtr ptrBmp = bmpData.Scan0;
                converter.Convert(ptrBmp, bmpData.Stride * bitmap.Height, grabResult);
                bitmap.UnlockBits(bmpData);
                CogImage24PlanarColor colorImage = new CogImage24PlanarColor(bitmap);

                Image = colorImage.ScaleImage((int)bitmap.Width, (int)bitmap.Height);
            }
            else if (IsMonoPixelFormat(grabResult.PixelTypeValue))
            {
                byte[] pixelData = grabResult.PixelData as byte[];
                IntPtr pixelPointer = Marshal.UnsafeAddrOfPinnedArrayElement(pixelData, 0);

                IntPtr pTemp = IntPtr.Zero;
                Basler.Pylon.PixelType enDstPixelType = Basler.Pylon.PixelType.Undefined;
                UInt32 nSaveImageNeedSize = 0;

                enDstPixelType = Basler.Pylon.PixelType.Mono8;
                nSaveImageNeedSize = (uint)grabResult.Width * (uint)grabResult.Height * 3;
                if (grabResult.PixelTypeValue == Basler.Pylon.PixelType.Mono8)
                {
                    pTemp = pixelPointer;
                }
                else
                {
                    // 其他格式Mono转为Mono8
                    Basler.Pylon.PixelDataConverter converter = new PixelDataConverter();
                    converter.OutputPixelFormat = Basler.Pylon.PixelType.RGB8packed;
                    converter.Convert(pTemp, nSaveImageNeedSize, grabResult);
                }
                Image = ConvertToICogImage((uint)grabResult.Height, (uint)grabResult.Width, pTemp, enDstPixelType);
            }
            GC.Collect();
            grabResult.Dispose();
            TotalTime = sw.Elapsed;
            return Image;
        }

        private void InvertColors(IGrabResult result)
        {
            byte pixelSize = 255;
            byte[] data = (byte[])result.PixelData;
            for (long i = 0; i < data.Length; i++)
            {
                data[i] = (byte)((int)pixelSize - (int)data[i]);
            }
        }

        /// <summary>
        /// 转换成ICogImage图像
        /// </summary>
        /// <param name="nHeight"></param>
        /// <param name="nWidth"></param>
        /// <param name="pImageBuf"></param>
        /// <param name="enPixelType"></param>
        /// <returns></returns>
        public ICogImage ConvertToICogImage(UInt32 nHeight, UInt32 nWidth, IntPtr pImageBuf, Basler.Pylon.PixelType enPixelType)
        {
            // ch: 显示 || display
            try
            {
                if (enPixelType == Basler.Pylon.PixelType.Mono8)
                {
                    CogImage8Root cogImage8Root = new CogImage8Root();
                    cogImage8Root.Initialize((Int32)nWidth, (Int32)nHeight, pImageBuf, (Int32)nWidth, null);

                    CogImage8Grey cogImage8Grey = new CogImage8Grey();
                    cogImage8Grey.SetRoot(cogImage8Root);
                    return cogImage8Grey.ScaleImage((int)nWidth, (int)nHeight);
                }
                else
                {
                    CogImage8Root image0 = new CogImage8Root();
                    IntPtr ptr0 = new IntPtr(pImageBuf.ToInt64());
                    image0.Initialize((int)nWidth, (int)nHeight, ptr0, (int)nWidth, null);

                    CogImage8Root image1 = new CogImage8Root();
                    IntPtr ptr1 = new IntPtr(pImageBuf.ToInt64() + m_nRowStep);
                    image1.Initialize((int)nWidth, (int)nHeight, ptr1, (int)nWidth, null);

                    CogImage8Root image2 = new CogImage8Root();
                    IntPtr ptr2 = new IntPtr(pImageBuf.ToInt64() + m_nRowStep * 2);
                    image2.Initialize((int)nWidth, (int)nHeight, ptr2, (int)nWidth, null);

                    CogImage24PlanarColor colorImage = new CogImage24PlanarColor();
                    colorImage.SetRoots(image0, image1, image2);
                    return colorImage.ScaleImage((int)nWidth, (int)nHeight);
                }
            }
            catch (System.Exception)
            {
                return null;
            }
        }

        /// <summary>
        /// 开始采集图像
        /// </summary>
        public void StartGrabbing()
        {
            if (m_MyCamera == null)
            {
                throw new Exception("相机未连接");
            }
            if (!m_MyCamera.IsOpen)
            {
                throw new Exception("相机未打开");
            }

            m_MyCamera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);
            //m_MyCamera.StreamGrabber.Start(GrabStrategy.OneByOne, GrabLoop.ProvidedByStreamGrabber);
            if (IsGrabbing)
                return;

            if (!m_MyCamera.StreamGrabber.IsGrabbing)
            {
                // Start grabbing.
                m_MyCamera.StreamGrabber.Start();
            }

            IsGrabbing = true;
            m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
            m_hReceiveThread.Start();
        }

        /// <summary>
        /// 停止采集图像
        /// </summary>
        public void StopGrabbing()
        {
            try
            {
                //m_MyCamera.StreamGrabber.Stop();
                IsGrabbing = false;

                Thread.Sleep(1000);
                if (m_hReceiveThread != null)
                {
                    m_hReceiveThread.Abort();
                    m_hReceiveThread = null;
                }
                if (m_MyCamera != null && m_MyCamera.StreamGrabber.IsGrabbing)
                {
                    m_MyCamera.StreamGrabber.Stop();
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="ExposureTime"></param>
        /// <returns></returns>
        public bool SetExposureTime(float ExposureTime)
        {
            if (m_MyCamera == null)
            {
                return false;
            }
            if (m_MyCamera.Parameters.Contains(PLCamera.ExposureTimeAbs))
            {
                m_MyCamera.Parameters[PLCamera.ExposureTimeAbs].SetValue(ExposureTime);
            }
            else
                m_MyCamera.Parameters[PLCamera.ExposureTime].SetValue(ExposureTime);
            return true;
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            if (m_MyCamera == null)
            {
                return 0;
            }
            if (m_MyCamera.Parameters.Contains(PLCamera.ExposureTimeAbs))
            {
                return (float)m_MyCamera.Parameters[PLCamera.ExposureTimeAbs].GetValue();
            }
            else
                return (float)m_MyCamera.Parameters[PLCamera.ExposureTime].GetValue();
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            if (m_MyCamera == null)
            {
                return false;
            }
            if (m_MyCamera.Parameters.Contains(PLCamera.Gain))
            {
                m_MyCamera.Parameters[PLCamera.Gain].SetValue(Gain);
            }
            else if (m_MyCamera.Parameters.Contains(PLCamera.GainRaw))
            {
                m_MyCamera.Parameters[PLCamera.GainRaw].SetValue((int)Gain);
            }
            else if (m_MyCamera.Parameters.Contains(PLCamera.GainAbs))
            {
                m_MyCamera.Parameters[PLCamera.GainAbs].SetValue(Gain);
            }
            return true;
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            if (m_MyCamera.Parameters.Contains(PLCamera.Gain))
            {
                return (float)m_MyCamera.Parameters[PLCamera.Gain].GetValue();
            }
            else
                return (float)m_MyCamera.Parameters[PLCamera.GainAbs].GetValue();
        }

        private void GetStreamThreadProc()
        {
            while (IsGrabbing)
            {
                Stopwatch sw = Stopwatch.StartNew();
                try
                {
                    if (!m_MyCamera.IsConnected)
                    {
                        m_MyCamera.Close();
                        m_MyCamera.CameraOpened -= M_MyCamera_CameraOpened;
                        m_MyCamera.CameraClosed -= M_MyCamera_CameraClosed;
                        m_MyCamera = new Basler.Pylon.Camera(CameraInfo);
                        m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                        m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                    }
                    if (!m_MyCamera.IsOpen)
                    {
                        m_MyCamera.Open();
                        IsConnected = m_MyCamera.IsConnected;
                    }

                    m_MyCamera.ExecuteSoftwareTrigger();
                    // Wait for an image and then retrieve it. A timeout of 5000 ms is used.
                    IGrabResult grabResult = m_MyCamera.StreamGrabber.RetrieveResult(1000, TimeoutHandling.ThrowException);
                    using (grabResult)
                    {
                        // Image grabbed successfully?
                        if (grabResult != null && grabResult.GrabSucceeded)
                        {
                            ErrorMessage = "";
                            byte[] pixelData = grabResult.PixelData as byte[];
                            IntPtr pixelPointer = Marshal.UnsafeAddrOfPinnedArrayElement(pixelData, 0);

                            IntPtr pTemp = IntPtr.Zero;
                            Basler.Pylon.PixelType enDstPixelType = Basler.Pylon.PixelType.Undefined;
                            UInt32 nSaveImageNeedSize = 0;
                            if (IsColorPixelFormat(grabResult.PixelTypeValue))
                            {
                                Bitmap bitmap = new Bitmap(grabResult.Width, grabResult.Height, PixelFormat.Format32bppRgb);
                                // Lock the bits of the bitmap.
                                BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, bitmap.PixelFormat);
                                converter.OutputPixelFormat = PixelType.BGRA8packed;
                                // Place the pointer to the buffer of the bitmap.
                                IntPtr ptrBmp = bmpData.Scan0;
                                converter.Convert(ptrBmp, bmpData.Stride * bitmap.Height, grabResult);
                                bitmap.UnlockBits(bmpData);
                                CogImage24PlanarColor colorImage = new CogImage24PlanarColor(bitmap);

                                Image = colorImage.ScaleImage((int)bitmap.Width, (int)bitmap.Height);
                            }
                            else if (IsMonoPixelFormat(grabResult.PixelTypeValue))
                            {
                                enDstPixelType = Basler.Pylon.PixelType.Mono8;
                                nSaveImageNeedSize = (uint)grabResult.Width * (uint)grabResult.Height * 3;
                                if (grabResult.PixelTypeValue == Basler.Pylon.PixelType.Mono8)
                                {
                                    pTemp = pixelPointer;
                                }
                                else
                                {
                                    // 其他格式Mono转为Mono8
                                    Basler.Pylon.PixelDataConverter converter = new PixelDataConverter();
                                    converter.OutputPixelFormat = Basler.Pylon.PixelType.RGB8packed;
                                    converter.Convert(pTemp, nSaveImageNeedSize, grabResult);
                                }
                                Image = ConvertToICogImage((uint)grabResult.Height, (uint)grabResult.Width, pTemp, enDstPixelType);
                            }
                            TotalTime = sw.Elapsed;
                            ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                        }
                        else
                        {
                            TotalTime = sw.Elapsed;
                            ErrorMessage = grabResult.ErrorDescription;
                            ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);

                        }
                    }
                }
                catch (Exception ex)
                {
                    TotalTime = sw.Elapsed;
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ex.Message);
                }
                Thread.Sleep(10);
                GC.Collect();
            }
            IsGrabbing = false;
        }

        /// <summary>
        /// 图像是否为彩色
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsColorPixelFormat(Basler.Pylon.PixelType enType)
        {
            switch (enType)
            {
                case Basler.Pylon.PixelType.RGB8packed:
                case Basler.Pylon.PixelType.BGR8packed:
                case Basler.Pylon.PixelType.RGBA8packed:
                case Basler.Pylon.PixelType.BGRA8packed:
                case Basler.Pylon.PixelType.YUV422packed:
                case Basler.Pylon.PixelType.YUV422_YUYV_Packed:
                case Basler.Pylon.PixelType.BayerGR8:
                case Basler.Pylon.PixelType.BayerRG8:
                case Basler.Pylon.PixelType.BayerGB8:
                case Basler.Pylon.PixelType.BayerBG8:
                case Basler.Pylon.PixelType.BayerGB10:
                case Basler.Pylon.PixelType.BayerGB10pp:
                case Basler.Pylon.PixelType.BayerBG10:
                case Basler.Pylon.PixelType.BayerBG10pp:
                case Basler.Pylon.PixelType.BayerRG10:
                case Basler.Pylon.PixelType.BayerRG10pp:
                case Basler.Pylon.PixelType.BayerGR10:
                case Basler.Pylon.PixelType.BayerGR10pp:
                case Basler.Pylon.PixelType.BayerGB12:
                case Basler.Pylon.PixelType.BayerGB12p:
                case Basler.Pylon.PixelType.BayerBG12:
                case Basler.Pylon.PixelType.BayerBG12Packed:
                case Basler.Pylon.PixelType.BayerRG12:
                case Basler.Pylon.PixelType.BayerRG12Packed:
                case Basler.Pylon.PixelType.BayerGR12:
                case Basler.Pylon.PixelType.BayerGR12Packed:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 图像是否为Mono格式
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsMonoPixelFormat(Basler.Pylon.PixelType enType)
        {
            switch (enType)
            {
                case Basler.Pylon.PixelType.Mono8:
                case Basler.Pylon.PixelType.Mono10:
                case Basler.Pylon.PixelType.Mono10packed:
                case Basler.Pylon.PixelType.Mono12:
                case Basler.Pylon.PixelType.Mono12packed:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 将相机抓取到的图像转换成Bitmap位图
        /// </summary>
        /// <param name="grabResult"></param>
        /// <returns></returns>
        //Bitmap GrabResult2Bmp(IGrabResult grabResult)
        //{
        //    Bitmap bitmap = new Bitmap(grabResult.Width, grabResult.Height, PixelFormat.Format32bppRgb);  // 转bit图
        //    BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, bitmap.PixelFormat);            
        //    PixelDataConverter converter = new PixelDataConverter();            
        //    converter.OutputPixelFormat = PixelType.BGRA8packed;            
        //    IntPtr ptrBmp = bmpData.Scan0;            
        //    converter.Convert(ptrBmp, bmpData.Stride * bitmap.Height, grabResult);            
        //    bitmap.UnlockBits(bmpData);            
        //    return (Bitmap)bitmap.Clone();        
        //}
        #endregion

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }
        #endregion
    }
}