盛相3D相机转HALCON图像

public void MPSizectorBufferToHalconIcon(MPSizectorDotNet.MP3DFrameManaged ImgBuffer,
                                         out HalconDotNet.HObject ImgX,
                                         out HalconDotNet.HObject ImgY,
                                         out HalconDotNet.HObject ImgZ,
                                         out HalconDotNet.HObject ImgMask,
                                         out HalconDotNet.HObject ImgGray,
                                         out HalconDotNet.HTuple Obj3DHandle)
{
    // 输出初始化
    ImgX        = null;
    ImgY        = null;
    ImgZ        = null;
    ImgMask     = null;
    ImgGray     = null;
    Obj3DHandle = null;

    if (ImgBuffer == null)
        return;

    var ImgWidth  = ImgBuffer.SensorWidth;
    var ImgHeight = ImgBuffer.SensorHeight;

    var DataX    = new float[ImgWidth * ImgHeight];
    var DataY    = new float[DataX.Length];
    var DataZ    = new float[DataX.Length];
    var DataMask = new byte[DataX.Length];
    var DataGray = new byte[DataX.Length];

    try
    {
        unsafe
        {
            fixed (MPSizectorDotNet.MP3DDataStruct* pData = ImgBuffer.Data)
            {
                fixed (float* pDataX = DataX, pDataY = DataY, pDataZ = DataZ)
                {
                    for (int index = 0; index < DataX.Length; index++)
                    {
                        if ((pData + index)->Mask == 0)
                        {
                            *(pDataX + index) = (pData + index)->X;
                            *(pDataY + index) = (pData + index)->Y;
                            *(pDataZ + index) = (pData + index)->Z;
                        }
                        else
                        {
                            *(pDataX + index) = float.NaN;
                            *(pDataY + index) = float.NaN;
                            *(pDataZ + index) = float.NaN;
                        }
                    }

                    HalconDotNet.HOperatorSet.GenImage1(out this.ImgX, "real", ImgWidth, ImgHeight, new System.IntPtr(pDataX));
                    HalconDotNet.HOperatorSet.GenImage1(out this.ImgY, "real", ImgWidth, ImgHeight, new System.IntPtr(pDataY));
                    HalconDotNet.HOperatorSet.GenImage1(out this.ImgZ, "real", ImgWidth, ImgHeight, new System.IntPtr(pDataZ));
                }


                fixed (byte* pDataMask = DataMask, pDataGray = DataGray)
                {
                    for (int index = 0; index < DataX.Length; index++)
                    {
                        *(pDataMask + index) = (pData + index)->Mask;
                        *(pDataGray + index) = (pData + index)->Gray;
                    }

                    HalconDotNet.HOperatorSet.GenImage1(out this.ImgMask, "byte", ImgWidth, ImgHeight, new System.IntPtr(pDataMask));
                    HalconDotNet.HOperatorSet.GenImage1(out this.ImgGray, "byte", ImgWidth, ImgHeight, new System.IntPtr(pDataGray));
                }
            }
        }

        // 创建3D模型
        // Points where one of the coordinates is infinity or "Not a Number" (NaN) are ignored and not added to the 3D object model.
        HalconDotNet.HOperatorSet.GenObjectModel3dFromPoints(new HalconDotNet.HTuple(DataX), new HalconDotNet.HTuple(DataY), new HalconDotNet.HTuple(DataZ), out Obj3DHandle);
    }
    catch
    {
        throw;
    }
}