TeamAAS-2.5/TeamAAS.Core/TeamAAS.Camera/Images/GenImage.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.InteropServices;

namespace TeamAAS.Camera.Images
{
    [Serializable]
    /// <summary>
    /// 通用图像类 — 不依赖任何视觉库，仅保存原始像素数据。
    /// 可在各视觉库插件（VisionPro/Halcon/OpenCV等）中做类型转换。
    /// </summary>
    public class GenImage
    {
        public int Width { get; }
        public int Height { get; }
        public int Stride { get; }
        public PixelType Format { get; }
        public byte[] Data { get; }

        /// <summary>
        /// 元数据字典 — 存储设备参数、标定信息、采集时间等。
        /// 例如: "ExposureTime", "LaserPower", "ScanRate", "CalibrationDate" 等。
        /// </summary>
        public Dictionary<string, object> Metadata { get; }

        public int BitsPerPixel
        {
            get
            {
                switch (Format)
                {
                    case PixelType.Grey8: return 8;
                    case PixelType.Grey16: return 16;
                    case PixelType.RGB24:
                    case PixelType.BGR24: return 24;
                    case PixelType.BGRA32: return 32;
                    case PixelType.Depth16: return 16;
                    case PixelType.Depth16Conf8:
                    case PixelType.Depth16Intensity8: return 24;
                    default: return 8;
                }
            }
        }

        public int BytesPerPixel => BitsPerPixel / 8;
        public int ActualStride => Stride > 0 ? Stride : Width * BytesPerPixel;

        public GenImage(int width, int height, PixelType format, byte[] data, int stride = 0)
            : this(width, height, format, data, stride, null)
        {
        }

        public GenImage(int width, int height, PixelType format, byte[] data, int stride, Dictionary<string, object> metadata)
        {
            if (width <= 0) throw new ArgumentException("width must > 0", nameof(width));
            if (height <= 0) throw new ArgumentException("height must > 0", nameof(height));
            Width = width;
            Height = height;
            Format = format;
            Stride = stride;
            Data = data ?? throw new ArgumentNullException(nameof(data));
            Metadata = metadata ?? new Dictionary<string, object>();
        }

        public GenImage Clone()
        {
            var copy = new byte[Data.Length];
            Buffer.BlockCopy(Data, 0, copy, 0, Data.Length);
            return new GenImage(Width, Height, Format, copy, Stride, new Dictionary<string, object>(Metadata));
        }

        #region → Bitmap (标准像素格式)

        /// <summary>
        /// 转换为 System.Drawing.Bitmap（调用方负责 Dispose）。
        /// 深度图格式将自动使用伪彩映射。
        /// </summary>
        public Bitmap ToBitmap()
        {
            if (Format == PixelType.Depth16 || Format == PixelType.Depth16Conf8 || Format == PixelType.Depth16Intensity8)
                return ToBitmapPseudoColor();

            int srcStride = ActualStride;
            int dstBpp = BitsPerPixel == 16 ? 8 : BitsPerPixel;
            PixelFormat pf;
            switch (Format)
            {
                case PixelType.Grey8:
                case PixelType.Grey16:
                    pf = PixelFormat.Format8bppIndexed;
                    break;
                case PixelType.RGB24:
                case PixelType.BGR24:
                    pf = PixelFormat.Format24bppRgb;
                    break;
                case PixelType.BGRA32:
                    pf = PixelFormat.Format32bppArgb;
                    break;
                default:
                    pf = PixelFormat.Format8bppIndexed;
                    break;
            }

            int dstStride = ((Width * dstBpp + 31) / 32) * 4;
            var bmp = new Bitmap(Width, Height, pf);

            if (pf == PixelFormat.Format8bppIndexed)
            {
                var pal = bmp.Palette;
                for (int i = 0; i < 256; i++) pal.Entries[i] = Color.FromArgb(i, i, i);
                bmp.Palette = pal;
            }

            var rect = new Rectangle(0, 0, Width, Height);
            var bmpData = bmp.LockBits(rect, ImageLockMode.WriteOnly, pf);
            try
            {
                IntPtr dstScan = bmpData.Scan0;
                int copyBytes = Math.Min(srcStride, dstStride);

                if (Format == PixelType.Grey16)
                {
                    for (int y = 0; y < Height; y++)
                    {
                        int srcOff = y * srcStride;
                        int dstOff = y * dstStride;
                        for (int x = 0; x < Width; x++)
                        {
                            Marshal.WriteByte(dstScan, dstOff + x, Data[srcOff + x * 2 + 1]);
                        }
                    }
                }
                else if (Format == PixelType.RGB24)
                {
                    for (int y = 0; y < Height; y++)
                    {
                        int srcOff = y * srcStride;
                        int dstOff = y * dstStride;
                        for (int x = 0; x < Width; x++)
                        {
                            int si = srcOff + x * 3;
                            int di = dstOff + x * 3;
                            Marshal.WriteByte(dstScan, di, Data[si + 2]);
                            Marshal.WriteByte(dstScan, di + 1, Data[si + 1]);
                            Marshal.WriteByte(dstScan, di + 2, Data[si]);
                        }
                    }
                }
                else
                {
                    for (int y = 0; y < Height; y++)
                    {
                        Marshal.Copy(Data, y * srcStride, dstScan + y * dstStride, copyBytes);
                    }
                }
            }
            finally
            {
                bmp.UnlockBits(bmpData);
            }
            return bmp;
        }

        #endregion

        #region → Bitmap (深度图伪彩)

        /// <summary>
        /// 深度图伪彩显示 — 将 Depth16/Depth16Conf8/Depth16Intensity8 映射为彩色 Bitmap。
        /// 使用 Jet colormap (蓝→青→绿→黄→红) 进行深度可视化。
        /// </summary>
        public Bitmap ToBitmapPseudoColor(ushort minDepth = 0, ushort maxDepth = 0)
        {
            if (Format != PixelType.Depth16 && Format != PixelType.Depth16Conf8 && Format != PixelType.Depth16Intensity8)
                return ToBitmap();

            int srcStride = ActualStride;
            int bpp = BytesPerPixel;

            if (maxDepth <= minDepth)
                maxDepth = FindMaxDepth();

            int dstStride = ((Width * 24 + 31) / 32) * 4;
            var bmp = new Bitmap(Width, Height, PixelFormat.Format24bppRgb);
            var rect = new Rectangle(0, 0, Width, Height);
            var bmpData = bmp.LockBits(rect, ImageLockMode.WriteOnly, PixelFormat.Format24bppRgb);

            try
            {
                IntPtr dstScan = bmpData.Scan0;
                float range = (float)(maxDepth - minDepth);
                if (range < 1) range = 1;

                for (int y = 0; y < Height; y++)
                {
                    int srcOff = y * srcStride;
                    int dstOff = y * dstStride;
                    for (int x = 0; x < Width; x++)
                    {
                        ushort depth = (ushort)(Data[srcOff + x * bpp] | (Data[srcOff + x * bpp + 1] << 8));
                        float t = (depth - minDepth) / range;
                        if (t < 0) t = 0;
                        if (t > 1) t = 1;

                        Color jet = JetColormap(t);
                        Marshal.WriteByte(dstScan, dstOff + x * 3, jet.B);
                        Marshal.WriteByte(dstScan, dstOff + x * 3 + 1, jet.G);
                        Marshal.WriteByte(dstScan, dstOff + x * 3 + 2, jet.R);
                    }
                }
            }
            finally
            {
                bmp.UnlockBits(bmpData);
            }
            return bmp;
        }

        private ushort FindMaxDepth()
        {
            int bpp = BytesPerPixel;
            ushort max = 0;
            for (int y = 0; y < Height; y++)
            {
                int rowOff = y * ActualStride;
                for (int x = 0; x < Width; x++)
                {
                    ushort d = (ushort)(Data[rowOff + x * bpp] | (Data[rowOff + x * bpp + 1] << 8));
                    if (d > max) max = d;
                }
            }
            return max;
        }

        private static Color JetColormap(float t)
        {
            float r, g, b;
            if (t < 0.125f) { r = 0; g = 0; b = 0.5f + 4f * t; }
            else if (t < 0.375f) { r = 0; g = 4f * (t - 0.125f); b = 1f; }
            else if (t < 0.625f) { r = 4f * (t - 0.375f); g = 1f; b = 1f - 4f * (t - 0.375f); }
            else if (t < 0.875f) { r = 1f; g = 1f - 4f * (t - 0.625f); b = 0; }
            else { r = 1f - 4f * (t - 0.875f); g = 0; b = 0; }
            return Color.FromArgb(
                (int)(Math.Max(0, Math.Min(1, r)) * 255),
                (int)(Math.Max(0, Math.Min(1, g)) * 255),
                (int)(Math.Max(0, Math.Min(1, b)) * 255));
        }

        #endregion

        #region ← Bitmap

        /// <summary>
        /// 从 System.Drawing.Bitmap 创建 GenImage。
        /// </summary>
        public static GenImage FromBitmap(Bitmap bmp)
        {
            if (bmp == null) throw new ArgumentNullException(nameof(bmp));

            PixelType format;
            switch (bmp.PixelFormat)
            {
                case PixelFormat.Format8bppIndexed: format = PixelType.Grey8; break;
                case PixelFormat.Format24bppRgb: format = PixelType.BGR24; break;
                case PixelFormat.Format32bppArgb:
                case PixelFormat.Format32bppRgb: format = PixelType.BGRA32; break;
                default:
                    using (var c = new Bitmap(bmp.Width, bmp.Height, PixelFormat.Format24bppRgb))
                    using (var g = Graphics.FromImage(c))
                    {
                        g.DrawImage(bmp, 0, 0, bmp.Width, bmp.Height);
                        return FromBitmap(c);
                    }
            }

            int bpp = Image.GetPixelFormatSize(bmp.PixelFormat) / 8;
            int stride = bmp.Width * bpp;
            var data = new byte[stride * bmp.Height];
            var rect = new Rectangle(0, 0, bmp.Width, bmp.Height);
            var bd = bmp.LockBits(rect, ImageLockMode.ReadOnly, bmp.PixelFormat);
            try
            {
                int srcStride = bd.Stride;
                if (srcStride == stride)
                    Marshal.Copy(bd.Scan0, data, 0, data.Length);
                else
                    for (int y = 0; y < bmp.Height; y++)
                        Marshal.Copy(bd.Scan0 + y * srcStride, data, y * stride, stride);
            }
            finally
            {
                bmp.UnlockBits(bd);
            }
            return new GenImage(bmp.Width, bmp.Height, format, data, stride);
        }

        #endregion

        #region 工厂方法

        public static GenImage CreateGrey8(int width, int height)
            => new GenImage(width, height, PixelType.Grey8, new byte[width * height]);

        public static GenImage CreateDepth16(int width, int height)
            => new GenImage(width, height, PixelType.Depth16, new byte[width * height * 2]);

        public static GenImage FromIntPtr(int width, int height, PixelType format, IntPtr buffer, int bufferStride = 0)
        {
            int bpp;
            switch (format)
            {
                case PixelType.Grey8: bpp = 1; break;
                case PixelType.Grey16:
                case PixelType.Depth16: bpp = 2; break;
                case PixelType.RGB24:
                case PixelType.BGR24:
                case PixelType.Depth16Conf8:
                case PixelType.Depth16Intensity8: bpp = 3; break;
                case PixelType.BGRA32: bpp = 4; break;
                default: bpp = 1; break;
            }
            int stride = bufferStride > 0 ? bufferStride : width * bpp;
            var data = new byte[stride * height];
            Marshal.Copy(buffer, data, 0, data.Length);
            return new GenImage(width, height, format, data, stride);
        }

        #endregion

        #region 元数据便捷访问

        public void SetMetadata(string key, object value) => Metadata[key] = value;

        public T GetMetadata<T>(string key, T defaultValue = default)
        {
            if (Metadata.TryGetValue(key, out var val) && val is T typed)
                return typed;
            return defaultValue;
        }

        #endregion

        #region 图像处理

        /// <summary>
        /// 对图像应用 Gamma 校正（直接修改像素数据）。
        /// 仅支持 Grey8、Grey16、RGB24、BGR24、BGRA32 格式。
        /// gamma=1.0 时不做任何操作；gamma>1.0 提亮暗部；gamma<1.0 压暗暗部。
        /// </summary>
        public void ApplyGamma(float gamma)
        {
            if (Math.Abs(gamma - 1.0f) < 0.001f) return;

            switch (Format)
            {
                case PixelType.Grey8:
                    ApplyGammaGrey8(gamma);
                    break;
                case PixelType.Grey16:
                    ApplyGammaGrey16(gamma);
                    break;
                case PixelType.RGB24:
                case PixelType.BGR24:
                case PixelType.BGRA32:
                    ApplyGammaColor(gamma);
                    break;
            }
        }

        private void ApplyGammaGrey8(float gamma)
        {
            int stride = ActualStride;
            for (int y = 0; y < Height; y++)
            {
                int rowOff = y * stride;
                for (int x = 0; x < Width; x++)
                {
                    float norm = Data[rowOff + x] / 255f;
                    float corrected = (float)Math.Pow(norm, gamma);
                    Data[rowOff + x] = (byte)Math.Max(0, Math.Min(255, corrected * 255f));
                }
            }
        }

        private void ApplyGammaGrey16(float gamma)
        {
            int stride = ActualStride;
            for (int y = 0; y < Height; y++)
            {
                int rowOff = y * stride;
                for (int x = 0; x < Width; x++)
                {
                    int pxOff = rowOff + x * 2;
                    ushort val = (ushort)(Data[pxOff] | (Data[pxOff + 1] << 8));
                    float norm = val / 65535f;
                    float corrected = (float)Math.Pow(norm, gamma);
                    ushort outVal = (ushort)Math.Max(0, Math.Min(65535, corrected * 65535f));
                    Data[pxOff] = (byte)(outVal & 0xFF);
                    Data[pxOff + 1] = (byte)(outVal >> 8);
                }
            }
        }

        private void ApplyGammaColor(float gamma)
        {
            int stride = ActualStride;
            int channels = BytesPerPixel;
            int colorChannels = Format == PixelType.BGRA32 ? 3 : channels;
            for (int y = 0; y < Height; y++)
            {
                int rowOff = y * stride;
                for (int x = 0; x < Width; x++)
                {
                    int pxOff = rowOff + x * channels;
                    for (int c = 0; c < colorChannels; c++)
                    {
                        float norm = Data[pxOff + c] / 255f;
                        float corrected = (float)Math.Pow(norm, gamma);
                        Data[pxOff + c] = (byte)Math.Max(0, Math.Min(255, corrected * 255f));
                    }
                }
            }
        }

        #endregion
    }

    /// <summary>
    /// 通用图像像素格式
    /// </summary>
    public enum PixelType
    {
        /// <summary>8-bit 灰度</summary>
        Grey8,
        /// <summary>16-bit 灰度</summary>
        Grey16,
        /// <summary>24-bit RGB 交错</summary>
        RGB24,
        /// <summary>24-bit BGR 交错</summary>
        BGR24,
        /// <summary>32-bit BGRA 交错</summary>
        BGRA32,

        /// <summary>16-bit 深度图 (单通道)</summary>
        Depth16,
        /// <summary>16-bit 深度 + 8-bit 置信度 (3 字节/像素)</summary>
        Depth16Conf8,
        /// <summary>16-bit 深度 + 8-bit 强度 (3 字节/像素)</summary>
        Depth16Intensity8
    }
}