C# 指针遍历+for循环多线程
public unsafe static HObject PointXYZ_To_GrayColorHobject(ref PointXYZ[] PointCloudData, int ImgWidth, int ImgHeight, float ZMin, float ZMax,out HObject colorImg)
{try{HObject ImgHobject = null;colorImg = null;if (PointCloudData == null) return ImgHobject;//归一化后按 0-1/3 1/3-2/3 2/3-1 进行颜色映射float cut1 = 1.0f / 3.0f;float cut2 = 2.0f / 3.0f;int numPoints = PointCloudData.Length;float RangeZ = ZMax - ZMin;//点云数据范围float coefficient = RangeZ > 0 ? 255 * 1.0f / RangeZ : 0;//灰度系数//byte[] grayArr = new byte[numPoints];IntPtr colorPtr = Marshal.AllocHGlobal(numPoints * 3 * sizeof(byte));//分配伪彩图RGB内存IntPtr grayPtr = Marshal.AllocHGlobal(numPoints * sizeof(byte));//分配灰度图内存int numProcessedPoints = ImgWidth - (ImgWidth % 4); // 可以处理的点的数量（4的倍数）fixed (PointXYZ* pData = PointCloudData){float* pHeight = (float*)pData;byte* colorPtrTemp = (byte*)colorPtr;byte* grayPtrTemp = (byte*)grayPtr;Parallel.For(0, ImgHeight, Row =>{float* PRowIndexPointData = pHeight + Row * ImgWidth * 3;//点云指针byte* pDest = colorPtrTemp + Row * 3 * ImgWidth;//伪彩图图像遍历指针byte* pGrayDest = grayPtrTemp + Row * ImgWidth;//灰度图图像遍历指针for (int Col = 0; Col < numProcessedPoints; Col += 4){float height1 = PRowIndexPointData[2];float height2 = PRowIndexPointData[5];float height3 = PRowIndexPointData[8];float height4 = PRowIndexPointData[11];#region gray灰度映射pGrayDest[0] = (byte)((height1 >= ZMin && height1 <= ZMax) ? (height1 - ZMin) * coefficient : 0);pGrayDest[1] = (byte)((height2 >= ZMin && height2 <= ZMax) ? (height2 - ZMin) * coefficient : 0);pGrayDest[2] = (byte)((height3 >= ZMin && height3 <= ZMax) ? (height3 - ZMin) * coefficient : 0);pGrayDest[3] = (byte)((height4 >= ZMin && height4 <= ZMax) ? (height4 - ZMin) * coefficient : 0);#endregion#region color颜色映射//height1 normalval1if (height1 >= ZMin && height1 <= ZMax){float normalVal1 = (height1 - ZMin) / RangeZ;if (normalVal1 <= cut1){pDest[0] = 0;pDest[1] = (byte)(3 * normalVal1 * 255);pDest[2] = 255;}else if (normalVal1 > cut1 && normalVal1 <= cut2){pDest[0] = (byte)((3 * normalVal1 - 1) * 255);pDest[1] = 255;pDest[2] = (byte)((-3 * normalVal1 + 2) * 255);}else if (normalVal1 > cut2){pDest[0] = 255;pDest[1] = (byte)((-3 * normalVal1 + 3) * 255);pDest[2] = 0;}}else{pDest[0] = 0;pDest[1] = 0;pDest[2] = 0;}//height2 normalval2if (height2 >= ZMin && height2 <= ZMax){float normalVal2 = (height2 - ZMin) / RangeZ;if (normalVal2 <= cut1){pDest[3] = 0;pDest[4] = (byte)(3 * normalVal2 * 255);pDest[5] = 255;}else if (normalVal2 > cut1 && normalVal2 <= cut2){pDest[3] = (byte)((3 * normalVal2 - 1) * 255);pDest[4] = 255;pDest[5] = (byte)((-3 * normalVal2 + 2) * 255);}else if (normalVal2 > cut2){pDest[3] = 255;pDest[4] = (byte)((-3 * normalVal2 + 3) * 255);pDest[5] = 0;}}else{pDest[3] = 0;pDest[4] = 0;pDest[5] = 0;}//height3 normalval3if (height3 >= ZMin && height3 <= ZMax){float normalVal3 = (height3 - ZMin) / RangeZ;if (normalVal3 <= cut1){pDest[6] = 0;pDest[7] = (byte)(3 * normalVal3 * 255);pDest[8] = 255;}else if (normalVal3 > cut1 && normalVal3 <= cut2){pDest[6] = (byte)((3 * normalVal3 - 1) * 255);pDest[7] = 255;pDest[8] = (byte)((-3 * normalVal3 + 2) * 255);}else if (normalVal3 > cut2){pDest[6] = 255;pDest[7] = (byte)((-3 * normalVal3 + 3) * 255);pDest[8] = 0;}}else{pDest[6] = 0;pDest[7] = 0;pDest[8] = 0;}//height4 normalval4if (height4 >= ZMin && height4 <= ZMax){float normalVal4 = (height4 - ZMin) / RangeZ;if (normalVal4 <= cut1){pDest[9] = 0;pDest[10] = (byte)(3 * normalVal4 * 255);pDest[11] = 255;}else if (normalVal4 > cut1 && normalVal4 <= cut2){pDest[9] = (byte)((3 * normalVal4 - 1) * 255);pDest[10] = 255;pDest[11] = (byte)((-3 * normalVal4 + 2) * 255);}else if (normalVal4 > cut2){pDest[9] = 255;pDest[10] = (byte)((-3 * normalVal4 + 3) * 255);pDest[11] = 0;}}else{pDest[9] = 0;pDest[10] = 0;pDest[11] = 0;}#endregionpGrayDest += 4;pDest += 12;PRowIndexPointData += 12;}for (int Col = numProcessedPoints; Col < ImgWidth; Col++){float height1 = PRowIndexPointData[2];#region gray灰度映射pGrayDest[0] = (byte)((height1 >= ZMin && height1 <= ZMax) ? (height1 - ZMin) * coefficient : 0);#endregion#region color颜色映射//height1 normalval1if (height1 >= ZMin && height1 <= ZMax){float normalVal1 = (height1 - ZMin) / RangeZ;if (normalVal1 <= cut1){pDest[0] = 0;pDest[1] = (byte)(3 * normalVal1 * 255);pDest[2] = 255;}else if (normalVal1 > cut1 && normalVal1 <= cut2){pDest[0] = (byte)((3 * normalVal1 - 1) * 255);pDest[1] = 255;pDest[2] = (byte)((-3 * normalVal1 + 2) * 255);}else if (normalVal1 > cut2){pDest[0] = 255;pDest[1] = (byte)((-3 * normalVal1 + 3) * 255);pDest[2] = 0;}}else{pDest[0] = 0;pDest[1] = 0;pDest[2] = 0;}#endregionpGrayDest++;pDest += 3;PRowIndexPointData += 3;}});}HOperatorSet.GenImage1(out ImgHobject, "byte", ImgWidth, ImgHeight, grayPtr);HOperatorSet.GenImageInterleaved(out colorImg, colorPtr, "rgb", ImgWidth, ImgHeight, -1, "byte", ImgWidth, ImgHeight, 0, 0, -1, 0);Marshal.FreeHGlobal(colorPtr);Marshal.FreeHGlobal(grayPtr);return ImgHobject;}catch{colorImg = null;return null;}
}