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

using Cognex.VisionPro;
using IKapCDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Core.IKapMethod;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.Cameras
{
    public class IKapCamera : ICamera, INotifyPropertyChanged
    {
        #region 字段
        private IKDevice _ikDevice;
        private Thread _receiveThread;
        private readonly SemaphoreSlim _operationSemaphore = new SemaphoreSlim(1, 1);
        private readonly object _stateLock = new object();
        private readonly object _imageLock = new object();
        private bool _isGrabbing;
        private ICogImage _currentImage;
        private bool _isConnected;
        private string _errorMessage;
        private TimeSpan _totalTime;
        private long _imageWidth;
        private long _imageHeight;
        private uint _imageSize;
        private IntPtr _userBuffer = IntPtr.Zero;

        // 新增：图像格式信息
        private uint _pixelFormat;           // 像素格式
        private int _pixelDepth;             // 像素深度（位）
        private int _channelDepth;           // 通道深度
        private uint _channels;              // 通道数
        private bool _isColor;               // 是否是彩色图像
        private int _bayerPattern;           // Bayer格式（0:非Bayer, 1:BGGR, 2:RGGB, 3:GBRG, 4:GRBG）
        private StringBuilder _pixelFormatString = new StringBuilder(128);
        #endregion

        #region 属性
        public string Name { get; private set; }
        public Guid ID { get; private set; }
        public int Index { get; set; }
        public CameraBrand CameraBrand => CameraBrand.IKap;
        public bool IsFindByIp { get; private set; }
        public string ManufacturerName { 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; }
        public bool Is3D => false;
        public UInt32 ImageWidth => (UInt32)_imageWidth;
        public UInt32 ImageHeight => (UInt32)_imageHeight;

        public bool IsGrabbing
        {
            get => _isGrabbing;
            private set => SetProperty(ref _isGrabbing, value);
        }

        public ICogImage Image
        {
            get => _currentImage;
            private set => SetProperty(ref _currentImage, value);
        }

        public bool IsConnected
        {
            get => _isConnected;
            private set => SetProperty(ref _isConnected, value);
        }

        public TimeSpan TotalTime
        {
            get => _totalTime;
            private set => SetProperty(ref _totalTime, value);
        }

        public string ErrorMessage
        {
            get => _errorMessage;
            private set => SetProperty(ref _errorMessage, value);
        }

        public int DeviceIndex { get; private set; }
        public int BoardIndex { get; private set; }
        public int DeviceType { get; private set; }
        #endregion

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

        #region 构造函数
        public IKapCamera(Guid id, int index, string name, string serialNumber, string cameraIp, bool isFindByIp)
        {
            ID = id;
            Name = name ?? serialNumber;
            Index = index;
            SerialNumber = serialNumber;
            CameraIp = cameraIp;
            IsFindByIp = isFindByIp;
            _ikDevice = new IKDevice();
            DeviceIndex = -1;
            BoardIndex = -1;
            _isColor = false;
            _pixelDepth = 8;
            _channels = 1;
        }

        public IKapCamera(Guid id, int deviceIndex, int boardIndex, string name, string serialNumber)
        {
            ID = id;
            Name = name;
            Index = deviceIndex;
            SerialNumber = serialNumber;
            DeviceIndex = deviceIndex;
            BoardIndex = boardIndex;
            IsFindByIp = false;
            _ikDevice = new IKDevice();
            _isColor = false;
            _pixelDepth = 8;
            _channels = 1;
        }
        #endregion

        #region 静态方法
        /// <summary>
        /// 获取所有IKap相机设备
        /// </summary>
        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();

            try
            {
                // 初始化IKap
                uint res = IKapC.ItkManInitialize();
                if (!CheckIKapC(res))
                {
                    LogHelper.WriteLogInfo("IKap初始化失败");
                    return cameras.ToArray();
                }

                // 获取设备数量
                uint deviceCount = 0;
                res = IKapC.ItkManGetDeviceCount(ref deviceCount);
                if (!CheckIKapC(res) || deviceCount == 0)
                {
                    return cameras.ToArray();
                }

                ITKDEV_INFO devInfo = new ITKDEV_INFO();
                ITKGIGEDEV_INFO gvDevInfo = new ITKGIGEDEV_INFO();
                ITK_U3V_DEV_INFO u3vDevInfo = new ITK_U3V_DEV_INFO();
                ITK_CXP_DEV_INFO cxpDevInfo = new ITK_CXP_DEV_INFO();
                ITK_CL_DEV_INFO clDevInfo = new ITK_CL_DEV_INFO();
                ITK_GVB_DEV_INFO gvbDevInfo = new ITK_GVB_DEV_INFO();

                for (uint i = 0; i < deviceCount; i++)
                {
                    res = IKapC.ItkManGetDeviceInfo(i, devInfo);
                    if (!CheckIKapC(res)) continue;

                    CameraInfo cameraInfo = new CameraInfo
                    {
                        CameraNo = (int)i + 1,
                        CameraBrand = CameraBrand.IKap,
                        Model = devInfo.ModelName,
                        SerialNumber = devInfo.SerialNumber ?? "",
                        CameraName = devInfo.FullName,
                        ManufacturerName = devInfo.VendorName,
                        IsFindByIp = false
                    };

                    if (devInfo.DeviceClass.CompareTo("GigEVision") == 0)
                    {
                        res = IKapC.ItkManGetGigEDeviceInfo(i, gvDevInfo);
                        if (CheckIKapC(res))
                        {
                            cameraInfo.CameraType = CameraType.GIGE;
                            cameraInfo.CameraIp = gvDevInfo.Ip;
                            cameraInfo.IsFindByIp = true;
                        }
                    }
                    else if (devInfo.DeviceClass.CompareTo("USB3Vision") == 0)
                    {
                        res = IKapC.ItkManGetU3VDeviceInfo(i, u3vDevInfo);
                        if (CheckIKapC(res))
                        {
                            cameraInfo.CameraType = CameraType.USB;
                        }
                    }
                    else if (devInfo.DeviceClass.CompareTo("GigEVisionBoard") == 0)
                    {
                        res = IKapC.ItkManGetGVBDeviceInfo(i, gvbDevInfo);
                        if (CheckIKapC(res))
                        {
                            cameraInfo.CameraType = CameraType.GIGE;
                            cameraInfo.CameraIp = gvbDevInfo.Ip;
                            cameraInfo.IsFindByIp = true;
                        }
                    }

                    cameras.Add(cameraInfo);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("搜索IKap相机列表时出错！", ex);
            }

            return cameras.ToArray();
        }

        /// <summary>
        /// 检查IKap SDK返回状态
        /// </summary>
        private static bool CheckIKapC(uint res)
        {
            if (res != IKapC.ITKSTATUS_OK)
            {
                LogHelper.WriteLogInfo($"IKap错误码: {res:X8}");
                return false;
            }
            return true;
        }
        #endregion

        #region 公共方法
        /// <summary>
        /// 打开相机
        /// </summary>
        public bool OpenDevice()
        {
            _operationSemaphore.Wait();
            try
            {
                if (_ikDevice == null)
                {
                    _ikDevice = new IKDevice();
                }

                if (_ikDevice.isOpen())
                {
                    IsConnected = true;
                    return true;
                }
                // 初始化IKap
                uint res = IKapC.ItkManInitialize();
                if (!CheckIKapC(res))
                {
                    LogHelper.WriteLogInfo("IKap初始化失败");
                    return false;
                }

                // 查找并打开设备（代码保持不变）
                bool deviceFound = false;
                uint deviceCount = 0;
                res = IKapC.ItkManGetDeviceCount(ref deviceCount);
                if (!CheckIKapC(res))
                {
                    ErrorMessage = "获取设备数量失败";
                    return false;
                }

                ITKDEV_INFO devInfo = new ITKDEV_INFO();
                for (uint i = 0; i < deviceCount; i++)
                {
                    res = IKapC.ItkManGetDeviceInfo(i, devInfo);
                    if (!CheckIKapC(res)) continue;

                    if (IsFindByIp && !string.IsNullOrEmpty(CameraIp))
                    {
                        if (devInfo.DeviceClass.CompareTo("GigEVision") == 0)
                        {
                            ITKGIGEDEV_INFO gvDevInfo = new ITKGIGEDEV_INFO();
                            res = IKapC.ItkManGetGigEDeviceInfo(i, gvDevInfo);
                            if (CheckIKapC(res))
                            {
                                string deviceIp = gvDevInfo.Ip;
                                if (deviceIp == CameraIp)
                                {
                                    DeviceIndex = (int)i;
                                    BoardIndex = 0;
                                    deviceFound = true;
                                    break;
                                }
                            }
                        }
                    }
                    else if (!string.IsNullOrEmpty(SerialNumber) && devInfo.SerialNumber == SerialNumber)
                    {
                        DeviceIndex = (int)i;
                        BoardIndex = 0;
                        deviceFound = true;
                        break;
                    }
                    else if (DeviceIndex >= 0 && (int)i == DeviceIndex)
                    {
                        deviceFound = true;
                        break;
                    }
                }

                if (!deviceFound)
                {
                    ErrorMessage = "未找到匹配的相机设备";
                    return false;
                }

                bool opened = _ikDevice.openDevice(DeviceIndex, BoardIndex);
                if (!opened)
                {
                    ErrorMessage = "打开设备失败";
                    return false;
                }

                /* 获取采集卡图像宽度 */
                int width = 0;
                var ret = IKapBoardDotNet.IKapBoard.IKapGetInfo(_ikDevice.m_pBoard, (uint)IKapBoardDotNet.IKapBoard.IKP_IMAGE_WIDTH, ref width);
                /* 获取采集卡图像高度 */
                int height = 0;
                ret = IKapBoardDotNet.IKapBoard.IKapGetInfo(_ikDevice.m_pBoard, (uint)IKapBoardDotNet.IKapBoard.IKP_IMAGE_HEIGHT, ref height);


                // 获取图像尺寸和格式信息
                _imageWidth = _ikDevice.m_nWidth = width;
                _imageHeight = _ikDevice.m_nHeight = height;

                // 获取图像格式信息
                GetImageFormatInfo();

                ManufacturerName = _ikDevice.m_devName ?? "";
                ModelName = _ikDevice.m_devName ?? "";

                IsConnected = true;
                CameraConnectChangedEvent?.Invoke(ID, true);
                ErrorMessage = "";

                return true;
            }
            catch (Exception ex)
            {
                ErrorMessage = ex.Message;
                LogHelper.WriteLogError("打开IKap相机失败", ex);
                return false;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

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

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseDevice()
        {
            _operationSemaphore.Wait();
            try
            {
                StopGrabbing();

                if (_ikDevice != null && _ikDevice.isOpen())
                {
                    _ikDevice.closeDevice();
                }

                // 释放用户缓冲区
                if (_userBuffer != IntPtr.Zero)
                {
                    Marshal.FreeHGlobal(_userBuffer);
                    _userBuffer = IntPtr.Zero;
                }

                IsConnected = false;
                CameraConnectChangedEvent?.Invoke(ID, false);
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        // 注意：需要更新 Grab 方法中的图像获取部分
        public ICogImage Grab(bool isRealtime = true)
        {
            _operationSemaphore.Wait();
            try
            {
                Stopwatch sw = Stopwatch.StartNew();

                if (!IsConnected)
                {
                    if (!OpenDevice())
                    {
                        return null;
                    }
                }

                _ikDevice.releaseStream();
                // 创建流
                if (!_ikDevice.createStream())
                {
                    ErrorMessage = "创建流失败";
                    return null;
                }

                //开始采集前执行关闭操作，防止相机已经处于采集状态
                if (!_ikDevice.stopGrab())
                    return null;

                // 开始采集单帧
                if (!_ikDevice.startGrab(1))
                {
                    ErrorMessage = "开始采集失败";
                    return null;
                }

                // 等待采集完成
                _ikDevice.waitGrab();

                // 获取图像数据
                lock (_imageLock)
                {
                    if (_ikDevice.m_pUserBuffer != IntPtr.Zero && _ikDevice.m_bUpdateImage)
                    {
                        // 使用新的图像转换方法
                        Image = ConvertBufferToCogImage(_ikDevice.m_pUserBuffer);
                        _ikDevice.m_bUpdateImage = false;
                    }
                }

                // 停止采集
                _ikDevice.stopGrab();
                _ikDevice.releaseStream();

                TotalTime = sw.Elapsed;

                if (Image == null)
                {
                    ErrorMessage = "采集图像为空";
                }
                else
                {
                    ErrorMessage = "";
                }

                return Image;
            }
            catch (Exception ex)
            {
                ErrorMessage = ex.Message;
                LogHelper.WriteLogError("采集图像失败", ex);
                return null;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }


        // 注意：需要更新 Grab 方法中的图像获取部分
        public  ICogImage Grab2(bool isRealtime = true)
        {
            _operationSemaphore.Wait();
            try
            {
                Stopwatch sw = Stopwatch.StartNew();

                if (!IsConnected)
                {
                    if (!OpenDevice())
                    {
                        return null;
                    }
                }

                _ikDevice.releaseStream();
                // 创建流
                if (!_ikDevice.createStream())
                {
                    ErrorMessage = "创建流失败";
                    return null;
                }

                //开始采集前执行关闭操作，防止相机已经处于采集状态
                if (!_ikDevice.stopGrab())
                    return null;

                // 开始采集单帧
                if (!_ikDevice.startGrab(1))
                {
                    ErrorMessage = "开始采集失败";
                    return null;
                }

                // 等待采集完成
                _ikDevice.waitGrab();

                // 获取图像数据
                lock (_imageLock)
                {
                    if (_ikDevice.m_pUserBuffer != IntPtr.Zero && _ikDevice.m_bUpdateImage)
                    {
                        // 使用新的图像转换方法
                        Image = ConvertBufferToCogImage(_ikDevice.m_pUserBuffer);
                        _ikDevice.m_bUpdateImage = false;
                    }
                }

                // 停止采集
                _ikDevice.stopGrab();
                _ikDevice.releaseStream();

                TotalTime = sw.Elapsed;

                if (Image == null)
                {
                    ErrorMessage = "采集图像为空";
                }
                else
                {
                    ErrorMessage = "";
                }

                return Image;
            }
            catch (Exception ex)
            {
                ErrorMessage = ex.Message;
                LogHelper.WriteLogError("采集图像失败", ex);
                return null;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 开始实时采集
        /// </summary>
        public void StartGrabbing()
        {
            lock (_stateLock)
            {
                if (_isGrabbing) return;
                _isGrabbing = true;
            }

            if (!IsConnected)
            {
                OpenDevice();
            }

            _receiveThread = new Thread(GrabbingThreadProc) { IsBackground = true };
            _receiveThread.Start();
        }

        /// <summary>
        /// 停止实时采集
        /// </summary>
        public void StopGrabbing()
        {
            lock (_stateLock)
            {
                _isGrabbing = false;
            }

            Thread.Sleep(100);

            if (_receiveThread != null && _receiveThread.IsAlive)
            {
                try
                {
                    _receiveThread.Join(1000);
                }
                catch { }
                _receiveThread = null;
            }

            if (_ikDevice != null && _ikDevice.m_bGrabingImage)
            {
                _ikDevice.stopGrab();
                _ikDevice.releaseStream();
            }
        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        public bool SetExposureTime(float exposureTime)
        {
            _operationSemaphore.Wait();
            try
            {
                if (!IsConnected || _ikDevice.m_hDev.unused == 0)
                {
                    return false;
                }

                uint res = IKapC.ItkDevSetDouble(_ikDevice.m_hDev, "ExposureTime", exposureTime);
                return CheckIKapC(res);
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        public float GetExposureTime()
        {
            _operationSemaphore.Wait();
            try
            {
                if (!IsConnected || _ikDevice.m_hDev.unused == 0)
                {
                    return 0;
                }

                double value = 0;
                uint res = IKapC.ItkDevGetDouble(_ikDevice.m_hDev, "ExposureTime", ref value);
                return CheckIKapC(res) ? (float)value : 0;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        public bool SetGain(float gain)
        {
            //_operationSemaphore.Wait();
            //try
            //{
            //    if (!IsConnected || _ikDevice.m_hDev.unused == 0)
            //    {
            //        return false;
            //    }

            //    尝试使用AnalogGain
            //    uint res = IKapC.ItkDevSetDouble(_ikDevice.m_hDev, "AnalogGain", gain);
            //    if (!CheckIKapC(res))
            //    {
            //        如果AnalogGain不支持，尝试Gain
            //       res = IKapC.ItkDevSetDouble(_ikDevice.m_hDev, "Gain", gain);
            //        return CheckIKapC(res);
            //    }
            //    return true;
            //}
            //finally
            //{
            //    _operationSemaphore.Release();
            //}
            return true;
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        public float GetGain()
        {
            _operationSemaphore.Wait();
            try
            {
                if (!IsConnected || _ikDevice.m_hDev.unused == 0)
                {
                    return 0;
                }

                double value = 0;
                uint res = IKapC.ItkDevGetDouble(_ikDevice.m_hDev, "AnalogGain", ref value);
                if (!CheckIKapC(res))
                {
                    res = IKapC.ItkDevGetDouble(_ikDevice.m_hDev, "Gain", ref value);
                    if (!CheckIKapC(res))
                    {
                        return 0;
                    }
                }
                return (float)value;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 检查相机软件是否安装
        /// </summary>
        /// <returns></returns>
        public static (bool isInstalled, string version) CheckSoftwareInstalled()
        {
            return (true, "");
        }
        #endregion

        #region 私有方法
        // 更新实时采集线程
        private void GrabbingThreadProc()
        {
            try
            {
                if (!_ikDevice.createStream())
                {
                    ErrorMessage = "创建流失败";
                    return;
                }

                if (!_ikDevice.startGrab(0))
                {
                    ErrorMessage = "开始连续采集失败";
                    return;
                }

                while (_isGrabbing)
                {
                    Stopwatch sw = Stopwatch.StartNew();

                    int waitCount = 0;
                    while (_isGrabbing && !_ikDevice.m_bUpdateImage && waitCount < 50)
                    {
                        Thread.Sleep(10);
                        waitCount++;
                    }

                    if (_ikDevice.m_bUpdateImage)
                    {
                        lock (_imageLock)
                        {
                            if (_ikDevice.m_pUserBuffer != IntPtr.Zero)
                            {
                                // 使用新的图像转换方法
                                Image = ConvertBufferToCogImage(_ikDevice.m_pUserBuffer);
                                _ikDevice.m_bUpdateImage = false;
                            }
                        }

                        TotalTime = sw.Elapsed;
                        ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage, ID);
                    }

                    Thread.Sleep(1);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("实时采集线程异常", ex);
                ErrorMessage = ex.Message;
            }
            finally
            {
                _ikDevice.stopGrab();
                _ikDevice.releaseStream();
                IsGrabbing = false;
            }
        }
        #endregion

        #region 私有方法 - 图像转换
        /// <summary>
        /// 获取图像像素格式信息
        /// </summary>
        private bool GetImageFormatInfo()
        {
            try
            {
                if (_ikDevice.m_hDev.unused == 0)
                    return false;

                uint res = IKapC.ITKSTATUS_OK;

                // 获取像素格式字符串
                uint pixelFormatSize = 128;
                res = IKapC.ItkDevToString(_ikDevice.m_hDev, "PixelFormat", _pixelFormatString, ref pixelFormatSize);
                if (!CheckIKapC(res))
                {
                    LogHelper.WriteLogInfo("获取PixelFormat失败");
                    return false;
                }

                // 获取像素格式值
                res = IKapC.ItkDevGetPixelFormatVal(_ikDevice.m_hDev, _pixelFormatString.ToString(), ref _pixelFormat);
                if (!CheckIKapC(res))
                {
                    LogHelper.WriteLogInfo("获取PixelFormat值失败");
                    return false;
                }

                // 获取通道深度（每个通道的位数）
                _channelDepth = (int)IKapC.ITKBUFFER_FORMAT_CHANNEL_BITS(_pixelFormat);

                // 获取像素深度（每个像素的总位数）
                _pixelDepth = (int)IKapC.ITKBUFFER_FORMAT_PIXEL_BITS(_pixelFormat);

                // 获取通道数
                _channels = (uint)(_pixelDepth / _channelDepth);

                // 判断是否为彩色图像
                string pixelFormatStr = _pixelFormatString.ToString().ToUpper();
                _isColor = pixelFormatStr.Contains("RGB") ||
                           pixelFormatStr.Contains("BGR") ||
                           pixelFormatStr.Contains("YUV") ||
                           (_channels >= 3);

                // 检查是否为Bayer格式
                if (pixelFormatStr.Contains("BAYER"))
                {
                    if (pixelFormatStr.Contains("BGGR"))
                        _bayerPattern = 1;
                    else if (pixelFormatStr.Contains("RGGB"))
                        _bayerPattern = 2;
                    else if (pixelFormatStr.Contains("GBRG"))
                        _bayerPattern = 3;
                    else if (pixelFormatStr.Contains("GRBG"))
                        _bayerPattern = 4;
                    _isColor = true; // Bayer格式最终会转换为彩色
                }

                LogHelper.WriteLogInfo($"图像格式: {_pixelFormatString}, 像素深度={_pixelDepth}, 通道数={_channels}, 彩色={_isColor}");
                return true;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("获取图像格式信息失败", ex);
                return false;
            }
        }

        /// <summary>
        /// 将原始缓冲区数据转换为ICogImage
        /// </summary>
        private ICogImage ConvertBufferToCogImage(IntPtr buffer)
        {
            if (buffer == IntPtr.Zero || _imageWidth <= 0 || _imageHeight <= 0)
            {
                return null;
            }

            try
            {
                int width = (int)_imageWidth;
                int height = (int)_imageHeight;
                ICogImage tempImage = null;

                // 处理Bayer格式
                IntPtr convertedBuffer = buffer;
                bool needFree = false;

                if (_bayerPattern != 0 && _pixelDepth == 8)
                {
                    int rgbSize = width * height * 3;
                    IntPtr rgbBuffer = Marshal.AllocHGlobal(rgbSize);

                    if (IKDevice.Bayer2RGB(buffer, _pixelFormat, ref rgbBuffer,
                        IKapC.ITKBUFFER_VAL_FORMAT_BGR888, width, height, _bayerPattern))
                    {
                        convertedBuffer = rgbBuffer;
                        needFree = true;
                        _isColor = true;
                        _pixelDepth = 24;
                    }
                    else
                    {
                        Marshal.FreeHGlobal(rgbBuffer);
                        return null;
                    }
                }

                // 创建临时图像（可能只是引用数据）
                if (_isColor || _channels >= 3)
                {
                    if (_pixelDepth == 24 || _pixelDepth == 8 * 3)
                    {
                        tempImage = CreateColorImage(convertedBuffer, width, height);
                    }
                }
                else
                {
                    if (_pixelDepth == 8)
                    {
                        tempImage = CreateGreyImage(convertedBuffer, width, height);
                    }
                    else if (_pixelDepth == 16)
                    {
                        tempImage = CreateGreyImage16(convertedBuffer, width, height);
                    }
                }

                if (tempImage == null)
                {
                    return null;
                }

                // ✅ 关键：强制创建独立副本
                ICogImage result = null;

                // 方法1：使用 CopyBase 创建可独立管理的副本
                if (tempImage is CogImage8Grey grey8Image)
                {
                    result = grey8Image.CopyBase(CogImageCopyModeConstants.CopyPixels);
                }
                else if (tempImage is CogImage16Grey grey16Image)
                {
                    result = grey16Image.CopyBase(CogImageCopyModeConstants.CopyPixels);
                }
                else if (tempImage is CogImage24PlanarColor colorImage)
                {
                    result = colorImage.CopyBase(CogImageCopyModeConstants.CopyPixels);
                }
                else
                {
                    // 方法2：转换为 Bitmap 再转回（最稳妥）
                    using (Bitmap bitmap = tempImage.ToBitmap())
                    {
                        if (_isColor)
                        {
                            result = new CogImage24PlanarColor(bitmap);
                        }
                        else
                        {
                            result = new CogImage8Grey(bitmap);
                        }
                    }
                }

                // 释放临时图像（如果它是独立的对象）
                //if (tempImage != null && tempImage != result)
                //{
                //    Marshal.ReleaseComObject(tempImage);
                //}

                //// ✅ 只有在确保图像数据已经被复制后，才能释放临时缓冲区
                //if (needFree && convertedBuffer != IntPtr.Zero)
                //{
                //    Marshal.FreeHGlobal(convertedBuffer);
                //}

                return result;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("转换图像数据失败", ex);
                return null;
            }
        }

        /// <summary>
        /// 创建8位灰度图像
        /// </summary>
        private ICogImage CreateGreyImage(IntPtr buffer, int width, int height)
        {
            try
            {
                CogImage8Root greyRoot = new CogImage8Root();
                greyRoot.Initialize(width, height, buffer, width, null);

                CogImage8Grey greyImage = new CogImage8Grey();
                greyImage.SetRoot(greyRoot);

                return greyImage;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("创建8位灰度图像失败", ex);
                return null;
            }
        }

        /// <summary>
        /// 创建16位灰度图像
        /// </summary>
        private ICogImage CreateGreyImage16(IntPtr buffer, int width, int height)
        {
            try
            {
                // 使用CogImage16Grey（如果VisionPro支持）
                // 如果不支持，可以转换为8位
                CogImage16Root grey16Root = new CogImage16Root();
                grey16Root.Initialize(width, height, buffer, width * 2, null);

                CogImage16Grey grey16Image = new CogImage16Grey();
                grey16Image.SetRoot(grey16Root);

                return grey16Image;
            }
            catch
            {
                // 如果不支持16位，转换为8位
                int size = width * height;
                byte[] grey8Data = new byte[size];
                unsafe
                {
                    ushort* src = (ushort*)buffer.ToPointer();
                    for (int i = 0; i < size; i++)
                    {
                        grey8Data[i] = (byte)(src[i] >> 8);
                    }
                }

                IntPtr grey8Buffer = Marshal.AllocHGlobal(size);
                Marshal.Copy(grey8Data, 0, grey8Buffer, size);

                CogImage8Root grey8Root = new CogImage8Root();
                grey8Root.Initialize(width, height, grey8Buffer, width, null);

                CogImage8Grey grey8Image = new CogImage8Grey();
                grey8Image.SetRoot(grey8Root);

                Marshal.FreeHGlobal(grey8Buffer);
                return grey8Image;
            }
        }

        /// <summary>
        /// 创建24位彩色图像（RGB/BGR）
        /// </summary>
        private ICogImage CreateColorImage(IntPtr buffer, int width, int height)
        {
            try
            {
                unsafe
                {
                    byte* pixelData = (byte*)buffer.ToPointer();

                    byte[] redPlane = new byte[width * height];
                    byte[] greenPlane = new byte[width * height];
                    byte[] bluePlane = new byte[width * height];

                    // 假设是BGR格式（大多数相机使用BGR）
                    for (int i = 0; i < width * height; i++)
                    {
                        bluePlane[i] = pixelData[3 * i];
                        greenPlane[i] = pixelData[3 * i + 1];
                        redPlane[i] = pixelData[3 * i + 2];
                    }

                    // 分配非托管内存
                    IntPtr redPtr = Marshal.AllocHGlobal(redPlane.Length);
                    IntPtr greenPtr = Marshal.AllocHGlobal(greenPlane.Length);
                    IntPtr bluePtr = Marshal.AllocHGlobal(bluePlane.Length);

                    Marshal.Copy(redPlane, 0, redPtr, redPlane.Length);
                    Marshal.Copy(greenPlane, 0, greenPtr, greenPlane.Length);
                    Marshal.Copy(bluePlane, 0, bluePtr, bluePlane.Length);

                    CogImage8Root redRoot = new CogImage8Root();
                    CogImage8Root greenRoot = new CogImage8Root();
                    CogImage8Root blueRoot = new CogImage8Root();

                    redRoot.Initialize(width, height, redPtr, width, null);
                    greenRoot.Initialize(width, height, greenPtr, width, null);
                    blueRoot.Initialize(width, height, bluePtr, width, null);

                    CogImage24PlanarColor image = new CogImage24PlanarColor();
                    image.SetRoots(redRoot, greenRoot, blueRoot);

                    // 注意：这里分配的内存需要在图像使用完毕后释放
                    // 但由于CogImage可能持有引用，需要妥善处理
                    // 简单起见，先不释放，在实际使用中需要管理生命周期

                    return image;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("创建彩色图像失败", ex);
                return null;
            }
        }

        #endregion


        #region INotifyPropertyChanged
        public event PropertyChangedEventHandler PropertyChanged;

        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;
        }

        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(propertyName));
        }
        #endregion
    }
}