Display_D_HP/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 : CameraBase, 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
        /// <summary>
        /// 是否是3D相机
        /// </summary>
        public bool Is3D { get; } = false;
        public CameraBrand CameraBrand { get => CameraBrand.Basler_Pylon; }

        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; }

        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,Guid> ImageCallbackEvent;
        public event Action<Guid, bool> CameraConnectChangedEvent;
        #endregion

        public BaslerCamera(Guid id, int index, string name, string serialNumber, string cameraip, bool isFindByIp)
        {
            ID = id;
            Name = serialNumber;
            Index = index;
            CameraIp = cameraip;
            SerialNumber = serialNumber;
            IsFindByIp = isFindByIp;
            List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
            foreach (ICameraInfo cameraInfo in allCameraInfos)
            {
                if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                {
                    if (IsFindByIp)
                    {
                        if (cameraInfo[CameraInfoKey.DeviceIpAddress] == CameraIp)
                        {
                            CameraInfo = cameraInfo;
                            m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                            ModelName = cameraInfo[CameraInfoKey.ModelName];
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                            CameraType = CameraType.GIGE;
                            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;
                        }
                    }
                    else
                    {
                        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];
                            CameraType = CameraType.GIGE;
                            CameraIp= cameraInfo[CameraInfoKey.DeviceIpAddress];
                            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;
                        }
                    }
                }
                else
                {
                    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];
                        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;
        }

        #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();
                int i = 0;
                foreach (ICameraInfo cameraInfo in allCameraInfos)
                {
                    if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.GIGE,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = cameraInfo[CameraInfoKey.DeviceIpAddress],
                            IsFindByIp = true,
                        });
                    }
                    else if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("usb"))
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.USB,
                            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()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.Link,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = CameraBrand.Basler_Pylon,
                            CameraType = CameraType.Unknown,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    i++;
                }
            }
            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()
        {
            EnterOperation();
            try
            {
                if (m_MyCamera == null)
                {
                    List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
                    foreach (ICameraInfo cameraInfo in allCameraInfos)
                    {
                        if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                        {
                            if (IsFindByIp)
                            {
                                if (cameraInfo[CameraInfoKey.DeviceIpAddress] == CameraIp)
                                {
                                    CameraInfo = cameraInfo;
                                    m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                                    ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                                    ModelName = cameraInfo[CameraInfoKey.ModelName];
                                    SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                                    CameraType = CameraType.GIGE;
                                    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;
                                }
                            }
                            else
                            {
                                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];
                                    CameraType = CameraType.GIGE;
                                    CameraIp = cameraInfo[CameraInfoKey.DeviceIpAddress];
                                    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;
                                }
                            }
                        }
                        else
                        {
                            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];
                                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;
                            }
                        }
                    }
                    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;
            }
            finally
            {
                ExitOperation();
            }
        }

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

        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()
        {
            EnterOperation();
            try
            {
                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();
                    }
                }
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                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();

                Image = GrabResult2CogImage(grabResult);
                GC.Collect();
                grabResult.Dispose();
                TotalTime = sw.Elapsed;
                return Image;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab2(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                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();

                Image = GrabResult2CogImage(grabResult);
                GC.Collect();
                grabResult.Dispose();
                TotalTime = sw.Elapsed;
                return Image;
            }
            finally
            {
                ExitOperation();
            }
        }

        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()
        {
            EnterOperation();
            try
            {
                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();
                }

                lock (_stateLock)
                {
                    IsGrabbing = true;
                }
                m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
                m_hReceiveThread.Start();
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 停止采集图像
        /// </summary>
        public void StopGrabbing()
        {
            try
            {
                lock (_stateLock)
                {
                    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)
        {
            EnterOperation();
            try
            {
                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;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            EnterOperation();
            try
            {
                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();
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            EnterOperation();
            try
            {
                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;
            }
            finally
            {
                ExitOperation();
            }
        }

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

        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 = "";
                            Image = GrabResult2CogImage(grabResult);
                            TotalTime = sw.Elapsed;
                            ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage,ID);
                        }
                        else
                        {
                            TotalTime = sw.Elapsed;
                            ErrorMessage = grabResult.ErrorDescription;
                            ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage, ID);

                        }
                    }
                }
                catch (Exception ex)
                {
                    TotalTime = sw.Elapsed;
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ex.Message,ID);
                }
                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>
        /// 将从相机获取的图像IGrabResult转换为CogImage图像
        /// <paramref name="grabResult"/> 从相机获取的图像 IGrabResult </param>
        /// </summary>
        private ICogImage GrabResult2CogImage(IGrabResult grabResult)
        {
            if (grabResult == null) return null;

            byte[] pixelData = grabResult.PixelData as byte[];

            GCHandle pixelHandle = default;
            bool pixelPinned = false;

            GCHandle dstHandle = default;
            bool dstPinned = false;

            ICogImage result = null;

            try
            {
                // 尽量 pin 原始像素数据（如果存在）
                if (pixelData != null && pixelData.Length > 0)
                {
                    pixelHandle = GCHandle.Alloc(pixelData, GCHandleType.Pinned);
                    pixelPinned = true;
                }

                IntPtr pixelPointer = pixelPinned ? pixelHandle.AddrOfPinnedObject() : IntPtr.Zero;

                // 彩色图像处理
                if (IsColorPixelFormat(grabResult.PixelTypeValue))
                {
                    // 使用 using 确保 Bitmap 及时释放
                    using (Bitmap bitmap = new Bitmap(grabResult.Width, grabResult.Height, PixelFormat.Format32bppRgb))
                    {
                        BitmapData bmpData = null;
                        try
                        {
                            bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, bitmap.PixelFormat);
                            // 使用成员 converter 将 grabResult 转换到 bitmap 的缓冲区
                            converter.OutputPixelFormat = PixelType.BGRA8packed;
                            IntPtr ptrBmp = bmpData.Scan0;
                            converter.Convert(ptrBmp, Math.Abs(bmpData.Stride) * bitmap.Height, grabResult);
                        }
                        finally
                        {
                            if (bmpData != null)
                            {
                                try { bitmap.UnlockBits(bmpData); } catch { }
                            }
                        }

                        // 构造 Cognex 图像并返回副本（ScaleImage 通常返回独立图像）
                        CogImage24PlanarColor colorImage = null;
                        try
                        {
                            colorImage = new CogImage24PlanarColor(bitmap);
                            result = colorImage.ScaleImage(bitmap.Width, bitmap.Height);
                        }
                        finally
                        {
                            // colorImage 若实现了 IDisposable 则释放（安全检查）
                            (colorImage as IDisposable)?.Dispose();
                        }
                    }

                    return result;
                }
                // 单通道（Mono）图像处理
                else if (IsMonoPixelFormat(grabResult.PixelTypeValue))
                {
                    Basler.Pylon.PixelType enDstPixelType = Basler.Pylon.PixelType.Mono8;
                    uint nSaveImageNeedSize = (uint)grabResult.Width * (uint)grabResult.Height;
                    IntPtr pTemp = IntPtr.Zero;

                    if (grabResult.PixelTypeValue == Basler.Pylon.PixelType.Mono8)
                    {
                        // 直接使用已 pin 的原始数据指针
                        if (!pixelPinned)
                        {
                            // 如果原始不是 byte[]，尝试从 grabResult 获取 PixelData（若支持）
                            byte[] alt = grabResult.PixelData as byte[];
                            if (alt != null)
                            {
                                pixelHandle = GCHandle.Alloc(alt, GCHandleType.Pinned);
                                pixelPinned = true;
                                pixelPointer = pixelHandle.AddrOfPinnedObject();
                            }
                        }
                        pTemp = pixelPointer;
                    }
                    else
                    {
                        // 为转换后的 Mono8 数据分配临时缓冲并 pin
                        byte[] dstBuffer = new byte[nSaveImageNeedSize];
                        dstHandle = GCHandle.Alloc(dstBuffer, GCHandleType.Pinned);
                        dstPinned = true;
                        pTemp = dstHandle.AddrOfPinnedObject();

                        // 使用局部的 PixelDataConverter 转换为 Mono8
                        var pixelConverter = new Basler.Pylon.PixelDataConverter();
                        pixelConverter.OutputPixelFormat = Basler.Pylon.PixelType.Mono8;
                        pixelConverter.Convert(pTemp, nSaveImageNeedSize, grabResult);
                    }

                    if (pTemp == IntPtr.Zero)
                    {
                        return null;
                    }

                    // ConvertToICogImage 内部会做 ScaleImage，通常会产生独立拷贝
                    result = ConvertToICogImage((uint)grabResult.Height, (uint)grabResult.Width, pTemp, enDstPixelType);

                    return result;
                }

                return null;
            }
            finally
            {
                // 释放所有固定句柄，确保及时释放 pin 状态
                try
                {
                    if (dstPinned)
                    {
                        dstHandle.Free();
                        dstPinned = false;
                    }
                }
                catch { }

                try
                {
                    if (pixelPinned)
                    {
                        pixelHandle.Free();
                        pixelPinned = false;
                    }
                }
                catch { }
            }
        }

        #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
    }
}