Display_D_HP/TeamAAS-VM/Core/Cameras/OptCamera.cs

using Cognex.VisionPro;
using Microsoft.Win32;
using NPOI.POIFS.Crypt.Dsig;
using NPOI.SS.Formula.Eval;
using SciCamera.Net;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.IO;
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 TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.Cameras
{
    public class OptCamera : ICamera, INotifyPropertyChanged
    {
        #region 字段
        private Thread m_hReceiveThread;
        // 用于序列化对同一相机实例的操作，防止同一实例被并发操作
        //private readonly SemaphoreSlim _operationSemaphore = new SemaphoreSlim(1, 1);
        // 用于保护状态变量（例如 IsGrabbing）的并发访问
        private readonly object _stateLock = new object();
        #endregion

        #region 属性

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

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

        public bool IsFindByIp { get; private set; }

        public string ModelName { get; private set; }

        public string SerialNumber { get; private set; }

        public string CameraIp { get; private set; }

        public CameraType CameraType { get; private set; }

        SciCam mvCameraAcq;

        public SciCam.SCI_DEVICE_INFO CameraInfo { get; private set; }

        public UInt32 ImageWidth { get; private set; }

        public UInt32 ImageHeight { get; private set; }

        public SciCam.SciCamPixelType PixelType { 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; }

        private bool IsHaveCamera = false;

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

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

        //当前的图像采集模式
        public SciCam.SciCamGrabStrategy CurrentGrabStrategy { get; private set; } = SciCam.SciCamGrabStrategy.SciCam_GrabStrategy_Latest;

        #endregion

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

        public OptCamera(Guid id, int index, string name, string serialNumber, string cameraip, bool isFindByIp)
        {
            ID = id;
            Name = serialNumber;
            Index = index;
            CameraIp = cameraip;
            SerialNumber = serialNumber;
            IsFindByIp = isFindByIp;
            mvCameraAcq = new SciCam();
            SciCam.SCI_DEVICE_INFO_LIST stDeviceList = new SciCam.SCI_DEVICE_INFO_LIST();    //设备列表
            uint nReVal = SciCam.DiscoveryDevices(ref stDeviceList, (uint)(SciCam.SciCamTLType.SciCam_TLType_Gige));
            if (nReVal != SciCam.SCI_CAMERA_OK)
            {
                return;
            }

            for (int i = 0; i < stDeviceList.count; i++)
            {
                SciCam.SCI_DEVICE_INFO device = stDeviceList.pDevInfo[i];
                SciCam.SciCamTLType devTlType = device.tlType;

                if (devTlType == SciCam.SciCamTLType.SciCam_TLType_Gige)
                {

                    SciCam.SCI_DEVICE_GIGE_INFO gigeDevInfo = (SciCam.SCI_DEVICE_GIGE_INFO)SciCam.ByteToStruct(device.info.gigeInfo, typeof(SciCam.SCI_DEVICE_GIGE_INFO));
                    uint ip1 = gigeDevInfo.ip;
                    int nIp1 = (int)(ip1 & 0x000000ff);
                    int nIp2 = (int)((ip1 & 0x0000ff00) >> 8);
                    int nIp3 = (int)((ip1 & 0x00ff0000) >> 16);
                    int nIp4 = (int)((ip1 & 0xff000000) >> 24);
                    string ip = string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);

                    if (IsFindByIp)
                    {
                        if (CameraIp == ip)
                        {
                            ManufacturerName = gigeDevInfo.manufactureName;
                            ModelName = gigeDevInfo.modelName;
                            SerialNumber = gigeDevInfo.serialNumber;
                            CameraType = CameraType.GIGE;
                            CameraInfo = device;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                    else
                    {
                        if (string.Equals(gigeDevInfo.serialNumber, serialNumber))
                        {
                            ManufacturerName = gigeDevInfo.manufactureName;
                            ModelName = gigeDevInfo.modelName;
                            SerialNumber = gigeDevInfo.serialNumber;
                            CameraType = CameraType.GIGE;
                            CameraInfo = device;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                }
            }
            IsConnected = false;
        }

        #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OPT");
                    return cameras.ToArray();
                }

                SciCam.SCI_DEVICE_INFO_LIST stDeviceList = new SciCam.SCI_DEVICE_INFO_LIST();    //设备列表
                uint nReVal = SciCam.DiscoveryDevices(ref stDeviceList, (uint)(SciCam.SciCamTLType.SciCam_TLType_Gige));
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    return cameras.ToArray();
                }
                for (int i = 0; i < stDeviceList.count; i++)
                {
                    SciCam.SCI_DEVICE_INFO device = stDeviceList.pDevInfo[i];
                    SciCam.SciCamTLType devTlType = device.tlType;

                    if (devTlType == SciCam.SciCamTLType.SciCam_TLType_Gige)
                    {

                        SciCam.SCI_DEVICE_GIGE_INFO gigeDevInfo = (SciCam.SCI_DEVICE_GIGE_INFO)SciCam.ByteToStruct(device.info.gigeInfo, typeof(SciCam.SCI_DEVICE_GIGE_INFO));
                        uint ip1 = gigeDevInfo.ip;
                        int nIp1 = (int)(ip1 & 0x000000ff);
                        int nIp2 = (int)((ip1 & 0x0000ff00) >> 8);
                        int nIp3 = (int)((ip1 & 0x00ff0000) >> 16);
                        int nIp4 = (int)((ip1 & 0xff000000) >> 24);
                        string ip = string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = gigeDevInfo.name,
                            CameraBrand = CameraBrand.Opt,
                            CameraType = CameraType.GIGE,
                            ManufacturerName = gigeDevInfo.manufactureName,
                            Model = gigeDevInfo.modelName,
                            SerialNumber = gigeDevInfo.serialNumber,
                            CameraIp = ip,
                            IsFindByIp = true,
                        });
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("搜索OPT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 = "OPT Camera Viewer";
            //string softwareVersion = "4.0.0.3";
            //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.ToUpper().Trim() == softwareName.ToUpper())
            //                {
            //                    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, "");
            return (true, "4.0.0.3"); // TODO: Opt相机不检查软件安装
        }

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public bool OpenDevice()
        {
            //_operationSemaphore.Wait();
            uint nReVal = SciCam.SCI_CAMERA_OK;
            try
            {
                if (!IsHaveCamera)
                {
                    mvCameraAcq = new SciCam();
                    SciCam.SCI_DEVICE_INFO_LIST stDeviceList = new SciCam.SCI_DEVICE_INFO_LIST();    //设备列表
                    nReVal = SciCam.DiscoveryDevices(ref stDeviceList, (uint)(SciCam.SciCamTLType.SciCam_TLType_Gige));
                    if (nReVal != SciCam.SCI_CAMERA_OK)
                    {
                        return false;
                    }

                    for (int i = 0; i < stDeviceList.count; i++)
                    {
                        SciCam.SCI_DEVICE_INFO device = stDeviceList.pDevInfo[i];
                        SciCam.SciCamTLType devTlType = device.tlType;

                        if (devTlType == SciCam.SciCamTLType.SciCam_TLType_Gige)
                        {
                            SciCam.SCI_DEVICE_GIGE_INFO gigeDevInfo = (SciCam.SCI_DEVICE_GIGE_INFO)SciCam.ByteToStruct(device.info.gigeInfo, typeof(SciCam.SCI_DEVICE_GIGE_INFO));
                            uint ip1 = gigeDevInfo.ip;
                            int nIp1 = (int)(ip1 & 0x000000ff);
                            int nIp2 = (int)((ip1 & 0x0000ff00) >> 8);
                            int nIp3 = (int)((ip1 & 0x00ff0000) >> 16);
                            int nIp4 = (int)((ip1 & 0xff000000) >> 24);
                            string ip = string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);

                            if (IsFindByIp)
                            {
                                if (CameraIp == ip)
                                {
                                    ManufacturerName = gigeDevInfo.manufactureName;
                                    ModelName = gigeDevInfo.modelName;
                                    SerialNumber = gigeDevInfo.serialNumber;
                                    CameraType = CameraType.GIGE;
                                    CameraInfo = device;
                                    IsHaveCamera = true;
                                    break;
                                }
                            }
                            else
                            {
                                if (string.Equals(gigeDevInfo.serialNumber, SerialNumber))
                                {
                                    ManufacturerName = gigeDevInfo.manufactureName;
                                    ModelName = gigeDevInfo.modelName;
                                    SerialNumber = gigeDevInfo.serialNumber;
                                    CameraType = CameraType.GIGE;
                                    CameraInfo = device;
                                    IsHaveCamera = true;
                                    break;
                                }
                            }
                        }
                    }
                    if (!IsHaveCamera)
                    {
                        throw new Exception("没有发现相机");
                    }
                }
                SciCam.SCI_DEVICE_INFO sCI_DEVICE_INFO = CameraInfo;
                nReVal = mvCameraAcq.CreateDevice(ref sCI_DEVICE_INFO);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    Console.WriteLine("Creat Device Fail! nRet:{0}", nReVal);
                    throw new Exception("Creat Device Fail!");
                }
                // ch:打开设备 | en:Open device
                nReVal = mvCameraAcq.OpenDevice();
                // ch:设置触发模式为off | en:Set trigger mode as off
                nReVal = mvCameraAcq.SetEnumValueByStringEx(SciCam.SciCamDeviceXmlType.SciCam_DeviceXml_Camera, "TriggerMode", "Off");
                nReVal = mvCameraAcq.SetEnumValueByString("TriggerSource", "Software");
                // ch:注册事件回调 | en:Register event callback
                //nReVal = mvCameraAcq.RegisterPayloadCallBack(new SciCam.fnOnPayloadDelegate(ImageCallBack), IntPtr.Zero, true);
                // ch:设置采集策略 | en:Set Grab Strategy
                nReVal = mvCameraAcq.SetGrabStrategy(CurrentGrabStrategy);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    Console.WriteLine("Register Event CallBack fail! nRet {0}", nReVal);
                }
                if (!IsConnected)
                {
                    CameraConnectChangedEvent?.Invoke(ID, true);
                }
                mvCameraAcq.SetGrabTimeout(2000);
                IsConnected = mvCameraAcq.IsDeviceOpen();
                if (IsConnected)
                {
                    mvCameraAcq.StartGrabbing();
                }
                return IsConnected;
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 打开相机异步
        /// </summary>
        /// <returns></returns>
        public Task<bool> OpenDeviceAsync()
        {
            return Task.Run(() =>
            {
                return OpenDevice();
            });
        }

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseDevice()
        {
            // ch:关闭设备 | en:Close Device
            //_operationSemaphore.Wait();
            try
            {
                mvCameraAcq.StopGrabbing();
                mvCameraAcq.CloseDevice();
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 采集单张图片
        /// </summary>
        /// <param name="lastImageOnly">true:采集一张新图像，false:返回最后一张图像</param>
        /// <returns></returns>
        public ICogImage Grab(bool lastImageOnly = true)
        {
            //_operationSemaphore.Wait();
            uint nReVal = SciCam.SCI_CAMERA_OK;
            IntPtr payload = IntPtr.Zero;
            try
            {
                Stopwatch sw = Stopwatch.StartNew();
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (!mvCameraAcq.IsDeviceOpen())
                        {
                            OpenDevice();
                        }

                        //如果仅仅采集最后一帧，则清空缓存
                        if (lastImageOnly)
                        {
                            //判断当前的模式是否为最新模式，如果不是则设置为最新模式
                            if (CurrentGrabStrategy != SciCam.SciCamGrabStrategy.SciCam_GrabStrategy_Upcoming)
                            {
                                CurrentGrabStrategy = SciCam.SciCamGrabStrategy.SciCam_GrabStrategy_Upcoming;
                                nReVal = mvCameraAcq.SetGrabStrategy(CurrentGrabStrategy);
                            }
                        }
                        else
                        {
                            //判断当前的模式是否为顺序模式，如果不是则设置为顺序模式
                            if (CurrentGrabStrategy != SciCam.SciCamGrabStrategy.SciCam_GrabStrategy_Latest)
                            {
                                CurrentGrabStrategy = SciCam.SciCamGrabStrategy.SciCam_GrabStrategy_Latest;
                                nReVal = mvCameraAcq.SetGrabStrategy(CurrentGrabStrategy);
                            }
                        }
                        //if (!mvCameraAcq.IsGrabbing())
                        //{
                        //    mvCameraAcq.StartGrabbing();
                        //}
                        //nReVal = mvCameraAcq.StartGrabbing();
                        //mvCameraAcq.ClearPayloadBuffer();
                        // ch:发送软触发命令 | en:Send Trigger Software command
                        //nReVal = mvCameraAcq.SetCommandValueEx(SciCam.SciCamDeviceXmlType.SciCam_DeviceXml_Camera, "TriggerSoftware");
                        nReVal = mvCameraAcq.Grab(ref payload);
                        if (nReVal == SciCam.SCI_CAMERA_OK)
                        {
                            Image = GetConvertedInfo(payload);
                            mvCameraAcq.FreePayload(payload);
                            //nReVal = mvCameraAcq.StopGrabbing();
                            TotalTime = sw.Elapsed;
                            ErrorMessage = $"{i + 1}";
                            return Image;
                        }
                        else
                        {
                            //nReVal = mvCameraAcq.FreePayload(payload);
                            //nReVal = mvCameraAcq.StopGrabbing();
                            //_operationSemaphore.Release();
                            CloseDevice();
                            OpenDevice();
                            ErrorMessage = "图像采集失败！";
                        }
                    }
                    catch (Exception ex)
                    {
                        //_operationSemaphore.Release();
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        // ch:采集回调接口 | en:Grab Callback interface     
        void ImageCallBack(IntPtr payload, IntPtr tag)
        {
            if (payload == IntPtr.Zero) return;
            uint nReVal = SciCam.SCI_CAMERA_OK;

            SciCam.SCI_CAM_PAYLOAD_ATTRIBUTE attribute = new SciCam.SCI_CAM_PAYLOAD_ATTRIBUTE();
            nReVal = SciCam.PayloadGetAttribute(payload, ref attribute);
            if (nReVal != SciCam.SCI_CAMERA_OK || !attribute.isComplete)
            {
                Console.WriteLine("Failed to get image attributes or frame is incomplete! nRet:{0}", nReVal);
            }
            else
            {
                Image = GetConvertedInfo(payload);
                ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                //Console.WriteLine("Get One Frame: Width[{0}], Height[{1}], nFrameNum[{2}]",
                //attribute.imgAttr.width, attribute.imgAttr.height, attribute.frameID);
            }
        }

        /// <summary>
        /// 开始采集图像
        /// </summary>
        public void StartGrabbing()
        {
            lock (_stateLock)
            {
                if (IsGrabbing)
                    return;
                IsGrabbing = true;
            }
            m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
            m_hReceiveThread.Start();
        }

        /// <summary>
        /// 停止采集图像
        /// </summary>
        public void StopGrabbing()
        {
            try
            {
                lock (_stateLock)
                {
                    IsGrabbing = false;
                }
                if (m_hReceiveThread != null)
                {
                    m_hReceiveThread.Abort();
                    m_hReceiveThread = null;
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="ExposureTime"></param>
        /// <returns></returns>
        public bool SetExposureTime(float ExposureTime)
        {
            //_operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.IsDeviceOpen())
                    return false;
                uint nReVal = SciCam.SCI_CAMERA_OK;
                nReVal = mvCameraAcq.SetIntValue("ExposureTime", (int)ExposureTime);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    mvCameraAcq.SetFloatValue("ExposureTime", ExposureTime);
                }
                return true;
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            //_operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.IsDeviceOpen())
                    return 0;

                uint nReVal = SciCam.SCI_CAMERA_OK;
                SciCam.SCI_NODE_VAL_INT iNodeVal = new SciCam.SCI_NODE_VAL_INT();
                nReVal = mvCameraAcq.GetIntValue("ExposureTime", ref iNodeVal);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    SciCam.SCI_NODE_VAL_FLOAT fNodeVal = new SciCam.SCI_NODE_VAL_FLOAT();
                    nReVal = mvCameraAcq.GetFloatValue("ExposureTime", ref fNodeVal);
                    if (nReVal == SciCam.SCI_CAMERA_OK)
                    {
                        return (float)fNodeVal.dVal;
                    }
                    else
                    {
                        return 0;
                    }
                }
                else
                {
                    return (float)iNodeVal.nVal;
                }
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            //_operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.IsDeviceOpen())
                    return false;
                uint nReVal = SciCam.SCI_CAMERA_OK;
                nReVal = mvCameraAcq.SetIntValue("Gain", (int)Gain);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    mvCameraAcq.SetFloatValue("Gain", Gain);
                }
                return true;
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            //_operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.IsDeviceOpen())
                    return 0;
                uint nReVal = SciCam.SCI_CAMERA_OK;
                SciCam.SCI_NODE_VAL_INT iNodeVal = new SciCam.SCI_NODE_VAL_INT();
                nReVal = mvCameraAcq.GetIntValue("Gain", ref iNodeVal);
                if (nReVal != SciCam.SCI_CAMERA_OK)
                {
                    SciCam.SCI_NODE_VAL_FLOAT fNodeVal = new SciCam.SCI_NODE_VAL_FLOAT();
                    nReVal = mvCameraAcq.GetFloatValue("Gain", ref fNodeVal);
                    if (nReVal == SciCam.SCI_CAMERA_OK)
                    {
                        return (float)fNodeVal.dVal;
                    }
                    else
                    {
                        return 0;
                    }
                }
                else
                {
                    return (float)iNodeVal.nVal;
                }
            }
            finally
            {
                //_operationSemaphore.Release();
            }
        }

        private void GetStreamThreadProc()
        {
            while (IsGrabbing)
            {
                try
                {
                    Grab(false);
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                }
                catch (Exception)
                {

                }
                Thread.Sleep(10);
            }
            IsGrabbing = false;
        }

        private ICogImage GetConvertedInfo(IntPtr payload)
        {
            if (payload == IntPtr.Zero)
            {
                return null;
            }

            SciCam.SCI_CAM_PAYLOAD_ATTRIBUTE payloadAttribute = new SciCam.SCI_CAM_PAYLOAD_ATTRIBUTE();
            uint nReVal = SciCam.PayloadGetAttribute(payload, ref payloadAttribute);
            if (nReVal != SciCam.SCI_CAMERA_OK)
            {
                return null;
            }

            bool imgIsComplete = payloadAttribute.isComplete;
            SciCam.SciCamPayloadMode payloadMode = payloadAttribute.payloadMode;
            SciCam.SciCamPixelType imgPixelType = payloadAttribute.imgAttr.pixelType;
            ulong imgWidth = payloadAttribute.imgAttr.width;
            ulong imgHeight = payloadAttribute.imgAttr.height;
            ulong framID = payloadAttribute.frameID;

            if (!imgIsComplete || payloadMode != SciCam.SciCamPayloadMode.SciCam_PayloadMode_2D)
            {
                return null;
            }

            IntPtr imgData = IntPtr.Zero;
            nReVal = SciCam.PayloadGetImage(payload, ref imgData);
            if (nReVal != SciCam.SCI_CAMERA_OK)
            {
                return null;
            }

            long destImgSize = 0;

            if (imgPixelType == SciCam.SciCamPixelType.Mono1p ||
                imgPixelType == SciCam.SciCamPixelType.Mono2p ||
                imgPixelType == SciCam.SciCamPixelType.Mono4p ||
                imgPixelType == SciCam.SciCamPixelType.Mono8s ||
                imgPixelType == SciCam.SciCamPixelType.Mono8 ||
                imgPixelType == SciCam.SciCamPixelType.Mono10 ||
                imgPixelType == SciCam.SciCamPixelType.Mono10p ||
                imgPixelType == SciCam.SciCamPixelType.Mono12 ||
                imgPixelType == SciCam.SciCamPixelType.Mono12p ||
                imgPixelType == SciCam.SciCamPixelType.Mono14 ||
                imgPixelType == SciCam.SciCamPixelType.Mono16 ||
                imgPixelType == SciCam.SciCamPixelType.Mono10Packed ||
                imgPixelType == SciCam.SciCamPixelType.Mono12Packed ||
                imgPixelType == SciCam.SciCamPixelType.Mono14p)
            {
                nReVal = SciCam.PayloadConvertImage(ref payloadAttribute.imgAttr, imgData, SciCam.SciCamPixelType.Mono8, IntPtr.Zero, ref destImgSize, true);
                if (nReVal == SciCam.SCI_CAMERA_OK)
                {
                    IntPtr destImg = Marshal.AllocHGlobal((int)destImgSize);
                    try
                    {
                        nReVal = SciCam.PayloadConvertImage(ref payloadAttribute.imgAttr, imgData, SciCam.SciCamPixelType.Mono8, destImg, ref destImgSize, true);
                        if (nReVal == SciCam.SCI_CAMERA_OK)
                        {
                            byte[] bBitmap = new byte[destImgSize];
                            Marshal.Copy(destImg, bBitmap, 0, (int)destImgSize);
                            Bitmap bitMap = new Bitmap((int)imgWidth, (int)imgHeight, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
                            System.Drawing.Imaging.BitmapData bitmapData = bitMap.LockBits(new Rectangle(0, 0, (int)imgWidth, (int)imgHeight), System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
                            Marshal.Copy(bBitmap, 0, bitmapData.Scan0, (int)destImgSize);
                            bitMap.UnlockBits(bitmapData);

                            //设置调色板
                            System.Drawing.Imaging.ColorPalette palette = bitMap.Palette;
                            for (int i = 0; i < 256; i++)
                            {
                                palette.Entries[i] = Color.FromArgb(i, i, i);
                            }
                            bitMap.Palette = palette;
                            //显示图片
                            return TransformICogImage((uint)imgHeight, (uint)imgWidth, destImg, SciCam.SciCamPixelType.Mono8);
                        }
                    }
                    catch (Exception ex)
                    {

                    }
                    finally
                    {
                        Marshal.FreeHGlobal(destImg);
                    }
                }
            }
            else
            {
                nReVal = SciCam.PayloadConvertImage(ref payloadAttribute.imgAttr, imgData, SciCam.SciCamPixelType.RGB8, IntPtr.Zero, ref destImgSize, true);
                if (nReVal == SciCam.SCI_CAMERA_OK)
                {
                    IntPtr destImg = Marshal.AllocHGlobal((int)destImgSize);
                    try
                    {
                        nReVal = SciCam.PayloadConvertImage(ref payloadAttribute.imgAttr, imgData, SciCam.SciCamPixelType.RGB8, destImg, ref destImgSize, true);
                        if (nReVal == SciCam.SCI_CAMERA_OK)
                        {
                            IntPtr pTemp = IntPtr.Zero;
                            Byte[] byteArrImageData = new Byte[imgWidth * imgHeight * 3];
                            unsafe
                            {
                                byte* pBufForSaveImage = (byte*)destImg;
                                UInt32 nSupWidth = ((UInt32)imgWidth + (UInt32)3) & 0xfffffffc;
                                for (int nRow = 0; nRow < (int)imgHeight; nRow++)
                                {
                                    for (int col = 0; col < (int)imgWidth; col++)
                                    {
                                        byteArrImageData[nRow * nSupWidth + col] = pBufForSaveImage[nRow * (int)imgWidth * 3 + (3 * col)];
                                        byteArrImageData[(int)imgWidth * (int)imgHeight + nRow * nSupWidth + col] = pBufForSaveImage[nRow * (int)imgWidth * 3 + (3 * col + 1)];
                                        byteArrImageData[(int)imgWidth * (int)imgHeight * 2 + nRow * nSupWidth + col] = pBufForSaveImage[nRow * (int)imgWidth * 3 + (3 * col + 2)];
                                    }
                                }

                                pTemp = Marshal.UnsafeAddrOfPinnedArrayElement(byteArrImageData, 0);
                            }
                            //显示图片
                            return TransformICogImage((uint)imgHeight, (uint)imgWidth, pTemp, SciCam.SciCamPixelType.RGB8);
                        }
                    }
                    catch (Exception ex)
                    {

                    }
                    finally
                    {
                        Marshal.FreeHGlobal(destImg);
                    }
                }
            }
            return null;
        }

        private ICogImage TransformICogImage(UInt32 nHeight, UInt32 nWidth, IntPtr pImageBuf, SciCam.SciCamPixelType enPixelType)
        {
            try
            {
                ICogImage image;
                if (enPixelType == SciCam.SciCamPixelType.Mono8)
                {
                    CogImage8Root cogImage8Root = new CogImage8Root();
                    cogImage8Root.Initialize((Int32)nWidth, (Int32)nHeight, pImageBuf, (Int32)nWidth, null);

                    CogImage8Grey cogImage8Grey = new CogImage8Grey();
                    cogImage8Grey.SetRoot(cogImage8Root);
                    image = cogImage8Grey.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                    return image;
                }
                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() + nWidth * nHeight);
                    image1.Initialize((int)nWidth, (int)nHeight, ptr1, (int)nWidth, null);

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

                    CogImage24PlanarColor colorImage = new CogImage24PlanarColor();
                    //colorImage.SetRoots(image0, image1, image2);
                    colorImage.SetRoots(image2, image1, image0);

                    image = colorImage.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                    return image;
                }
            }
            catch (System.Exception)
            {
                return null;
            }
        }
        #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
    }
}