C#语言调用C++生成的动态链接库遇到的_CtrlsValidHeapPointer(block)报错求助，C++用到了PCL库

        想实现的功能为C#将一组点坐标信息传入给C++，并通过PCL相关函数进行贪婪投影三角化网格重建，最后返回一些想要的信息。不过因为想对报错的代码进行定位，就对要返回的信息做出了简化，直接返回一个int数据。

报错图片

C#源码

引入dll和C++的ReconstructMesh函数，并自定义结构体Point将点坐标信息录入

using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace CallDllCSharp
{
    internal class Program
    {
        [DllImport("PCL_DLL1.dll")]
        public static extern int ReconstructMesh(Point[] points, int numPoints);
        public struct Point
        {
            public float x, y, z;
        }
        static void Main(string[] args)
        {
            Console.WriteLine("Hello, World!");
            GetIndices();
        }
        static void GetIndices()
        {
            Point[] points = new Point[]
            {
                new Point { x = 0.0f, y = 0.0f, z = 0.0f },
                new Point { x = 0.0f, y = 0.0f, z = 1.0f },
                new Point { x = 0.0f, y = 0.0f, z = 2.0f },
                new Point { x = 0.0f, y = 1.0f, z = 0.0f },
                new Point { x = 0.0f, y = 1.0f, z = 1.0f },
                new Point { x = 0.0f, y = 1.0f, z = 2.0f },
                new Point { x = 0.0f, y = 2.0f, z = 0.0f },
                new Point { x = 0.0f, y = 2.0f, z = 1.0f },
                new Point { x = 1.0f, y = 2.0f, z = 2.0f },
                new Point { x = 1.0f, y = 0.0f, z = 0.0f },
                new Point { x = 1.0f, y = 0.0f, z = 1.0f },
                new Point { x = 1.0f, y = 0.0f, z = 2.0f },
                new Point { x = 1.0f, y = 1.0f, z = 0.0f },
                new Point { x = 1.0f, y = 1.0f, z = 2.0f },
                new Point { x = 1.0f, y = 2.0f, z = 0.0f },
                new Point { x = 1.0f, y = 2.0f, z = 1.0f },
                new Point { x = 1.0f, y = 2.0f, z = 2.0f },
                new Point { x = 2.0f, y = 0.0f, z = 0.0f },
                new Point { x = 2.0f, y = 0.0f, z = 1.0f },
                new Point { x = 2.0f, y = 0.0f, z = 2.0f },
                new Point { x = 2.0f, y = 1.0f, z = 0.0f },
                new Point { x = 2.0f, y = 1.0f, z = 1.0f },
                new Point { x = 2.0f, y = 1.0f, z = 2.0f },
                new Point { x = 2.0f, y = 2.0f, z = 0.0f },
                new Point { x = 2.0f, y = 2.0f, z = 1.0f },
                new Point { x = 2.0f, y = 2.0f, z = 2.0f },
            };
            int num = ReconstructMesh(points, points.Length);
            Console.WriteLine(num);
        }
    }
}

C++源码

头文件

#pragma once

#ifdef _EXPORTING
#define _DLL_API _declspec(dllexport)
#else
#define _DLL_API _declspec(dllimport)
#endif

// 定义点的结构体
struct Point {
	float x, y, z;
};

extern "C"
{
	_DLL_API int ReconstructMesh(Point* points, int numPoints);
}

源文件

#include "MyC++.h"
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/common/io.h>
#include <vld.h>
using namespace std;

int ReconstructMesh(Point* points, int numPoints)
{
    // 转换输入点集为 PCL 点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    for (int i = 0; i < numPoints; ++i) {
        cloud->emplace_back(pcl::PointXYZ(points[i].x, points[i].y, points[i].z));
    }

    // 创建法线估计对象
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;//设置法线估计对象
    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud(cloud);
    n.setInputCloud(cloud);
    n.setSearchMethod(tree);
    n.setKSearch(5);
    n.compute(*normals);

    // 合并 XYZ 和法线字段
    pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
    pcl::concatenateFields(*cloud, *normals, *cloud_with_normals);

    // 创建搜索树
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud(cloud_with_normals);

    // 初始化对象
    pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;//定义三角化对象
    pcl::PolygonMesh pclMesh;//存储最终三角化的网络模型

    // 设置输入点云
    gp3.setInputCloud(cloud_with_normals);
    gp3.setSearchMethod(tree2);

    // 设置参数
    gp3.setSearchRadius(1.42);
    gp3.setMu(2);
    gp3.setMaximumNearestNeighbors(10);
    gp3.setMaximumSurfaceAngle(M_PI / 2); // 45 degrees
    gp3.setMinimumAngle(M_PI / 4); // 10 degrees
    gp3.setMaximumAngle(M_PI / 2); // 120 degrees
    gp3.setNormalConsistency(false);
    try {
        cout << "Before gp3.reconstruct" << endl;
        gp3.reconstruct(pclMesh);
        cout << "三角形数量:" << (int)pclMesh.polygons.size() << endl;

        return pclMesh.polygons.size();
    }
    catch (const std::exception& e) {
        cerr << e.what() << endl;
        return -1;
    }
}

        可以看到，C++这边最终只是返回了一个int型的pclMesh.polygons.size()，值为35，最后C#作为启动项控制台输出的结果为"Before gp3.reconstruct"和"三角形数量:35"正常输出，但 35没有正常返回给C#，并弹出窗口报错。而且try-catch也没有捕捉到异常。

        如果我把return任意一个数放在gp3.reconstruct(pclMesh);这行代码之前，就可以C#就可以正常得到这个数，比如以下修改后的代码可以返回“2”。

int ReconstructMesh(Point* points, int numPoints)
{

   ··· 其他代码···

    // 设置参数
    gp3.setSearchRadius(1.42);
    gp3.setMu(2);
    gp3.setMaximumNearestNeighbors(10);
    gp3.setMaximumSurfaceAngle(M_PI / 2); // 45 degrees
    gp3.setMinimumAngle(M_PI / 4); // 10 degrees
    gp3.setMaximumAngle(M_PI / 2); // 120 degrees
    gp3.setNormalConsistency(false);

    try {
        return 2;
        gp3.reconstruct(pclMesh);

    }
    catch (const std::exception& e) {
        cerr << e.what() << endl;
        return -1;
    }
}

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