using Microsoft.Win32.SafeHandles;
using System;
using System.Runtime.InteropServices;
using System.Diagnostics;
using System.Linq;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;

namespace eyemLib_Sharp
{
    public unsafe class EyemLib
    {
        #region 枚举

        //稳健估计方法
        public enum ROBUST_METHOD
        {
            EYEM_DIST_USER = -1,
            EYEM_DIST_L1 = 1,
            EYEM_DIST_L12 = 2,
            EYEM_DIST_FAIR = 3,
            EYEM_DIST_WELSCH = 4,
            EYEM_DIST_HUBER = 5,
            EYEM_DIST_BISQUARE = 6,
            EYEM_DIST_CAUCHY = 7,
            EYEM_DIST_LOGISTIC = 8,
            EYEM_DIST_ANDREWS = 9,
            EYEM_DIST_ATLWORTH = 10
        }

        //图像格式信息
        enum ColorConversionCodes
        {
            COLOR_BGR2BGRA = 0, //!< add alpha channel to RGB or BGR image
            COLOR_RGB2RGBA = COLOR_BGR2BGRA,

            COLOR_BGRA2BGR = 1, //!< remove alpha channel from RGB or BGR image
            COLOR_RGBA2RGB = COLOR_BGRA2BGR,

            COLOR_BGR2RGBA = 2, //!< convert between RGB and BGR color spaces (with or without alpha channel)
            COLOR_RGB2BGRA = COLOR_BGR2RGBA,

            COLOR_RGBA2BGR = 3,
            COLOR_BGRA2RGB = COLOR_RGBA2BGR,

            COLOR_BGR2RGB = 4,
            COLOR_RGB2BGR = COLOR_BGR2RGB,

            COLOR_BGRA2RGBA = 5,
            COLOR_RGBA2BGRA = COLOR_BGRA2RGBA,

            COLOR_BGR2GRAY = 6, //!< convert between RGB/BGR and grayscale, @ref color_convert_rgb_gray "color conversions"
            COLOR_RGB2GRAY = 7,
            COLOR_GRAY2BGR = 8,
            COLOR_GRAY2RGB = COLOR_GRAY2BGR,
            COLOR_GRAY2BGRA = 9,
            COLOR_GRAY2RGBA = COLOR_GRAY2BGRA,
            COLOR_BGRA2GRAY = 10,
            COLOR_RGBA2GRAY = 11,

            COLOR_BGR2BGR565 = 12, //!< convert between RGB/BGR and BGR565 (16-bit images)
            COLOR_RGB2BGR565 = 13,
            COLOR_BGR5652BGR = 14,
            COLOR_BGR5652RGB = 15,
            COLOR_BGRA2BGR565 = 16,
            COLOR_RGBA2BGR565 = 17,
            COLOR_BGR5652BGRA = 18,
            COLOR_BGR5652RGBA = 19,

            COLOR_GRAY2BGR565 = 20, //!< convert between grayscale to BGR565 (16-bit images)
            COLOR_BGR5652GRAY = 21,

            COLOR_BGR2BGR555 = 22,  //!< convert between RGB/BGR and BGR555 (16-bit images)
            COLOR_RGB2BGR555 = 23,
            COLOR_BGR5552BGR = 24,
            COLOR_BGR5552RGB = 25,
            COLOR_BGRA2BGR555 = 26,
            COLOR_RGBA2BGR555 = 27,
            COLOR_BGR5552BGRA = 28,
            COLOR_BGR5552RGBA = 29,

            COLOR_GRAY2BGR555 = 30, //!< convert between grayscale and BGR555 (16-bit images)
            COLOR_BGR5552GRAY = 31,

            COLOR_BGR2XYZ = 32, //!< convert RGB/BGR to CIE XYZ, @ref color_convert_rgb_xyz "color conversions"
            COLOR_RGB2XYZ = 33,
            COLOR_XYZ2BGR = 34,
            COLOR_XYZ2RGB = 35,

            COLOR_BGR2YCrCb = 36, //!< convert RGB/BGR to luma-chroma (aka YCC), @ref color_convert_rgb_ycrcb "color conversions"
            COLOR_RGB2YCrCb = 37,
            COLOR_YCrCb2BGR = 38,
            COLOR_YCrCb2RGB = 39,

            COLOR_BGR2HSV = 40, //!< convert RGB/BGR to HSV (hue saturation value), @ref color_convert_rgb_hsv "color conversions"
            COLOR_RGB2HSV = 41,

            COLOR_BGR2Lab = 44, //!< convert RGB/BGR to CIE Lab, @ref color_convert_rgb_lab "color conversions"
            COLOR_RGB2Lab = 45,

            COLOR_BGR2Luv = 50, //!< convert RGB/BGR to CIE Luv, @ref color_convert_rgb_luv "color conversions"
            COLOR_RGB2Luv = 51,
            COLOR_BGR2HLS = 52, //!< convert RGB/BGR to HLS (hue lightness saturation), @ref color_convert_rgb_hls "color conversions"
            COLOR_RGB2HLS = 53,

            COLOR_HSV2BGR = 54, //!< backward conversions to RGB/BGR
            COLOR_HSV2RGB = 55,

            COLOR_Lab2BGR = 56,
            COLOR_Lab2RGB = 57,
            COLOR_Luv2BGR = 58,
            COLOR_Luv2RGB = 59,
            COLOR_HLS2BGR = 60,
            COLOR_HLS2RGB = 61,

            COLOR_BGR2HSV_FULL = 66,
            COLOR_RGB2HSV_FULL = 67,
            COLOR_BGR2HLS_FULL = 68,
            COLOR_RGB2HLS_FULL = 69,

            COLOR_HSV2BGR_FULL = 70,
            COLOR_HSV2RGB_FULL = 71,
            COLOR_HLS2BGR_FULL = 72,
            COLOR_HLS2RGB_FULL = 73,

            COLOR_LBGR2Lab = 74,
            COLOR_LRGB2Lab = 75,
            COLOR_LBGR2Luv = 76,
            COLOR_LRGB2Luv = 77,

            COLOR_Lab2LBGR = 78,
            COLOR_Lab2LRGB = 79,
            COLOR_Luv2LBGR = 80,
            COLOR_Luv2LRGB = 81,

            COLOR_BGR2YUV = 82, //!< convert between RGB/BGR and YUV
            COLOR_RGB2YUV = 83,
            COLOR_YUV2BGR = 84,
            COLOR_YUV2RGB = 85,

            //! YUV 4:2:0 family to RGB
            COLOR_YUV2RGB_NV12 = 90,
            COLOR_YUV2BGR_NV12 = 91,
            COLOR_YUV2RGB_NV21 = 92,
            COLOR_YUV2BGR_NV21 = 93,
            COLOR_YUV420sp2RGB = COLOR_YUV2RGB_NV21,
            COLOR_YUV420sp2BGR = COLOR_YUV2BGR_NV21,

            COLOR_YUV2RGBA_NV12 = 94,
            COLOR_YUV2BGRA_NV12 = 95,
            COLOR_YUV2RGBA_NV21 = 96,
            COLOR_YUV2BGRA_NV21 = 97,
            COLOR_YUV420sp2RGBA = COLOR_YUV2RGBA_NV21,
            COLOR_YUV420sp2BGRA = COLOR_YUV2BGRA_NV21,

            COLOR_YUV2RGB_YV12 = 98,
            COLOR_YUV2BGR_YV12 = 99,
            COLOR_YUV2RGB_IYUV = 100,
            COLOR_YUV2BGR_IYUV = 101,
            COLOR_YUV2RGB_I420 = COLOR_YUV2RGB_IYUV,
            COLOR_YUV2BGR_I420 = COLOR_YUV2BGR_IYUV,
            COLOR_YUV420p2RGB = COLOR_YUV2RGB_YV12,
            COLOR_YUV420p2BGR = COLOR_YUV2BGR_YV12,

            COLOR_YUV2RGBA_YV12 = 102,
            COLOR_YUV2BGRA_YV12 = 103,
            COLOR_YUV2RGBA_IYUV = 104,
            COLOR_YUV2BGRA_IYUV = 105,
            COLOR_YUV2RGBA_I420 = COLOR_YUV2RGBA_IYUV,
            COLOR_YUV2BGRA_I420 = COLOR_YUV2BGRA_IYUV,
            COLOR_YUV420p2RGBA = COLOR_YUV2RGBA_YV12,
            COLOR_YUV420p2BGRA = COLOR_YUV2BGRA_YV12,

            COLOR_YUV2GRAY_420 = 106,
            COLOR_YUV2GRAY_NV21 = COLOR_YUV2GRAY_420,
            COLOR_YUV2GRAY_NV12 = COLOR_YUV2GRAY_420,
            COLOR_YUV2GRAY_YV12 = COLOR_YUV2GRAY_420,
            COLOR_YUV2GRAY_IYUV = COLOR_YUV2GRAY_420,
            COLOR_YUV2GRAY_I420 = COLOR_YUV2GRAY_420,
            COLOR_YUV420sp2GRAY = COLOR_YUV2GRAY_420,
            COLOR_YUV420p2GRAY = COLOR_YUV2GRAY_420,

            //! YUV 4:2:2 family to RGB
            COLOR_YUV2RGB_UYVY = 107,
            COLOR_YUV2BGR_UYVY = 108,
            //COLOR_YUV2RGB_VYUY = 109,
            //COLOR_YUV2BGR_VYUY = 110,
            COLOR_YUV2RGB_Y422 = COLOR_YUV2RGB_UYVY,
            COLOR_YUV2BGR_Y422 = COLOR_YUV2BGR_UYVY,
            COLOR_YUV2RGB_UYNV = COLOR_YUV2RGB_UYVY,
            COLOR_YUV2BGR_UYNV = COLOR_YUV2BGR_UYVY,

            COLOR_YUV2RGBA_UYVY = 111,
            COLOR_YUV2BGRA_UYVY = 112,
            //COLOR_YUV2RGBA_VYUY = 113,
            //COLOR_YUV2BGRA_VYUY = 114,
            COLOR_YUV2RGBA_Y422 = COLOR_YUV2RGBA_UYVY,
            COLOR_YUV2BGRA_Y422 = COLOR_YUV2BGRA_UYVY,
            COLOR_YUV2RGBA_UYNV = COLOR_YUV2RGBA_UYVY,
            COLOR_YUV2BGRA_UYNV = COLOR_YUV2BGRA_UYVY,

            COLOR_YUV2RGB_YUY2 = 115,
            COLOR_YUV2BGR_YUY2 = 116,
            COLOR_YUV2RGB_YVYU = 117,
            COLOR_YUV2BGR_YVYU = 118,
            COLOR_YUV2RGB_YUYV = COLOR_YUV2RGB_YUY2,
            COLOR_YUV2BGR_YUYV = COLOR_YUV2BGR_YUY2,
            COLOR_YUV2RGB_YUNV = COLOR_YUV2RGB_YUY2,
            COLOR_YUV2BGR_YUNV = COLOR_YUV2BGR_YUY2,

            COLOR_YUV2RGBA_YUY2 = 119,
            COLOR_YUV2BGRA_YUY2 = 120,
            COLOR_YUV2RGBA_YVYU = 121,
            COLOR_YUV2BGRA_YVYU = 122,
            COLOR_YUV2RGBA_YUYV = COLOR_YUV2RGBA_YUY2,
            COLOR_YUV2BGRA_YUYV = COLOR_YUV2BGRA_YUY2,
            COLOR_YUV2RGBA_YUNV = COLOR_YUV2RGBA_YUY2,
            COLOR_YUV2BGRA_YUNV = COLOR_YUV2BGRA_YUY2,

            COLOR_YUV2GRAY_UYVY = 123,
            COLOR_YUV2GRAY_YUY2 = 124,
            //CV_YUV2GRAY_VYUY    = CV_YUV2GRAY_UYVY,
            COLOR_YUV2GRAY_Y422 = COLOR_YUV2GRAY_UYVY,
            COLOR_YUV2GRAY_UYNV = COLOR_YUV2GRAY_UYVY,
            COLOR_YUV2GRAY_YVYU = COLOR_YUV2GRAY_YUY2,
            COLOR_YUV2GRAY_YUYV = COLOR_YUV2GRAY_YUY2,
            COLOR_YUV2GRAY_YUNV = COLOR_YUV2GRAY_YUY2,

            //! alpha premultiplication
            COLOR_RGBA2mRGBA = 125,
            COLOR_mRGBA2RGBA = 126,

            //! RGB to YUV 4:2:0 family
            COLOR_RGB2YUV_I420 = 127,
            COLOR_BGR2YUV_I420 = 128,
            COLOR_RGB2YUV_IYUV = COLOR_RGB2YUV_I420,
            COLOR_BGR2YUV_IYUV = COLOR_BGR2YUV_I420,

            COLOR_RGBA2YUV_I420 = 129,
            COLOR_BGRA2YUV_I420 = 130,
            COLOR_RGBA2YUV_IYUV = COLOR_RGBA2YUV_I420,
            COLOR_BGRA2YUV_IYUV = COLOR_BGRA2YUV_I420,
            COLOR_RGB2YUV_YV12 = 131,
            COLOR_BGR2YUV_YV12 = 132,
            COLOR_RGBA2YUV_YV12 = 133,
            COLOR_BGRA2YUV_YV12 = 134,

            //! Demosaicing
            COLOR_BayerBG2BGR = 46,
            COLOR_BayerGB2BGR = 47,
            COLOR_BayerRG2BGR = 48,
            COLOR_BayerGR2BGR = 49,

            COLOR_BayerBG2RGB = COLOR_BayerRG2BGR,
            COLOR_BayerGB2RGB = COLOR_BayerGR2BGR,
            COLOR_BayerRG2RGB = COLOR_BayerBG2BGR,
            COLOR_BayerGR2RGB = COLOR_BayerGB2BGR,

            COLOR_BayerBG2GRAY = 86,
            COLOR_BayerGB2GRAY = 87,
            COLOR_BayerRG2GRAY = 88,
            COLOR_BayerGR2GRAY = 89,

            //! Demosaicing using Variable Number of Gradients
            COLOR_BayerBG2BGR_VNG = 62,
            COLOR_BayerGB2BGR_VNG = 63,
            COLOR_BayerRG2BGR_VNG = 64,
            COLOR_BayerGR2BGR_VNG = 65,

            COLOR_BayerBG2RGB_VNG = COLOR_BayerRG2BGR_VNG,
            COLOR_BayerGB2RGB_VNG = COLOR_BayerGR2BGR_VNG,
            COLOR_BayerRG2RGB_VNG = COLOR_BayerBG2BGR_VNG,
            COLOR_BayerGR2RGB_VNG = COLOR_BayerGB2BGR_VNG,

            //! Edge-Aware Demosaicing
            COLOR_BayerBG2BGR_EA = 135,
            COLOR_BayerGB2BGR_EA = 136,
            COLOR_BayerRG2BGR_EA = 137,
            COLOR_BayerGR2BGR_EA = 138,

            COLOR_BayerBG2RGB_EA = COLOR_BayerRG2BGR_EA,
            COLOR_BayerGB2RGB_EA = COLOR_BayerGR2BGR_EA,
            COLOR_BayerRG2RGB_EA = COLOR_BayerBG2BGR_EA,
            COLOR_BayerGR2RGB_EA = COLOR_BayerGB2BGR_EA,

            //! Demosaicing with alpha channel
            COLOR_BayerBG2BGRA = 139,
            COLOR_BayerGB2BGRA = 140,
            COLOR_BayerRG2BGRA = 141,
            COLOR_BayerGR2BGRA = 142,

            COLOR_BayerBG2RGBA = COLOR_BayerRG2BGRA,
            COLOR_BayerGB2RGBA = COLOR_BayerGR2BGRA,
            COLOR_BayerRG2RGBA = COLOR_BayerBG2BGRA,
            COLOR_BayerGR2RGBA = COLOR_BayerGB2BGRA,

            COLOR_COLORCVT_MAX = 143
        };

        #endregion

        #region 结构体
        // 图像信息
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemImage
        {
            public IntPtr vpImage;                     // 地址
            public int iWidth;                         // 图像内存 x 方向大小
            public int iHeight;                        // 图像内存 y 方向大小
            public int iDepth;                         // 图像位深度（详见说明）
            public int iChannels;                      // 图像通道数
        }

        // 矩形定义
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemRect
        {
            public int iXs;                            // 起始点（左上角） x 坐标
            public int iYs;                            // 起始点（左上角） y 坐标
            public int iWidth;                         // x 方向大小（宽度）
            public int iHeight;                        // y 方向大小（高度）
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemRect2
        {
            int iXs;                            // 起始点（左上角） x 坐标
            int iYs;                            // 起始点（左上角） y 坐标
            int iXe;                            // 端点（右下） x 坐标
            int iYe;                            // 端点（右下） y 坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemRect3
        {
            public int iXs;                            // 起始点（左上角） x 坐标
            public int iYs;                            // 起始点（左上角） y 坐标
            public int iWidth;                         // x 方向大小（宽度）
            public int iHeight;                        // y 方向大小（高度）
            public double dVar;                        // 某种可能会使用的值
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Orthogonal Coordinate System

        /////////////////////
        // int type
        //
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIXY
        {
            int iX;                             // Ｘ坐标
            int iY;                             // Ｙ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIXYZ
        {
            int iX;                             // Ｘ坐标
            int iY;                             // Ｙ坐标
            int iZ;                             // Ｚ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIXYQ
        {
            int iX;                             // Ｘ坐标
            int iY;                             // Ｙ坐标
            int iQ;                             // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIXYR               // 用于表示圆
        {
            int iX;                             // Ｘ坐标
            int iY;                             // Ｙ坐标
            int iR;                             // 半径
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIABC               // 用于表示直线（一般形式）
        {
            int iA;                             // a
            int iB;                             // b
            int iC;                             // c
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIRQ                // 用于表示直线（黑森标准形式）或矢量
        {
            int iR;                             // ρ
            int iQ;                             // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsIXYQS
        {
            int iX;                             // Ｘ坐标(单位：像素)
            int iY;                             // Ｙ坐标(单位：像素)
            int iQ;                             // 斜率(単位：rad)
            int iS;                             // 刻度
        }


        /////////////////////
        // float type
        //
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFXY
        {
            float fX;                               // Ｘ坐标
            float fY;                               // Ｙ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFXYZ
        {
            float fX;                               // Ｘ坐标
            float fY;                               // Ｙ坐标
            float fZ;                               // Ｚ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFXYQ
        {
            float fX;                               // Ｘ坐标
            float fY;                               // Ｙ坐标
            float fQ;                               // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFXYR                   // 用于表示圆
        {
            float fX;                               // Ｘ坐标
            float fY;                               // Ｙ坐标
            float fR;                               // 半径
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFABC                   // 用于表示直线（一般形式）
        {
            float fA;                               // a
            float fB;                               // b
            float fC;                               // c
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFRQ                    // 用于表示直线（黑森标准形式）或矢量
        {
            float fR;                               // ρ
            float fQ;                               // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsFXYQS
        {
            float fX;                               // Ｘ坐标(単位：像素)
            float fY;                               // Ｙ坐标(単位：像素)
            float fQ;                               // 斜率(単位：rad)
            float fS;                               // 刻度
        }


        /////////////////////
        // double type
        //
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXY
        {
            public double dX;                              // Ｘ坐标
            public double dY;                              // Ｙ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXYZ
        {
            double dX;                              // Ｘ坐标
            double dY;                              // Ｙ坐标
            double dZ;                              // Ｚ坐标
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXYQ
        {
            double dX;                              // Ｘ坐标
            double dY;                              // Ｙ坐标
            double dQ;                              // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXYR                   // 用于表示圆
        {
            double dX;                              // 中心的Ｘ坐标
            double dY;                              // 中心的Ｙ坐标
            double dR;                              // 半径
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDABC                   // 直线(一般形)的表现形式
        {
            double dA;                              // a
            double dB;                              // b
            double dC;                              // c
        }


        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDRQ                    // 用于表示直线（黑森标准形状）和矢量
        {
            double dR;                              // ρ
            double dQ;                              // θ
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXYQS
        {
            double dX;                              // X坐标
            double dY;                              // Y坐标
            double dQ;                              // 旋转角度(単位：rad)
            double dS;                              // 规模
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDABCD                  // 用于表示平面（一般形式）
        {
            double dA;                              // a
            double dB;                              // b
            double dC;                              // c
            double dD;                              // d
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDXYLSQ                 // 用于表示椭圆
        {
            double dXo;                             // 中心X坐标
            double dYo;                             // 中心Y坐标
            double dL;                              // 长轴半径
            double dS;                              // 短轴半径
            double dQ;                              // 长轴倾斜角(単位：rad)
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDPV                        // 用于表示三维空间中的直线
        {
            EyemOcsDXYZ tP;                             // 直线上一点的坐标
            EyemOcsDXYZ tV;                             // 直线方向矢量
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemOcsDCRUVW                     // 用于表示椭圆体
        {
            EyemOcsDXYZ tC;                             // 椭圆体中心
            EyemOcsDXYZ tR;                             // 轴半径（dX：长轴、dY：中轴、dZ：短轴）
            double dU;                                  // 长轴投影到 XY 平面与 X 轴的角（单位：rad）
            double dV;                                  // 长轴与XY平面之角（单位：rad）
            double dW;                                  // 绕长轴旋转角度（单位：rad）
        }

        // Blob 分析结果
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemBinBlob
        {
            public int iLabel;                          // 标签
            public int iArea;                           // 面积
            public double dCenterX;                     // 重心ｘ坐标
            public double dCenterY;                     // 重心ｙ坐标
            public int iXs, iYs, iXe, iYe;              // 外接矩形（始点，终点）
            public int iWidth, iHeight;                 // 外接矩形（x 方向大小（宽度），y 方向大小（高度））
            public double dTheta;                       // 主轴倾斜角（rad）
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct EyemChainCode
        {
            int iLabel;                         // 标签
            double dX;                          // ｘ坐标
            double dY;                          // ｙ坐标
            double dVx, dVy;                    // 向量
        }

        // 条码 解码结果
        [StructLayout(LayoutKind.Sequential)]
        public struct EyemBarCode
        {
            public double dAngle;                      // 角度
            public int iCenterX;                       // x坐标
            public int iCenterY;                       // y坐标
            public IntPtr hType;                       // 码类型
            public IntPtr hText;                       // 码内容
        }
        #endregion

        #region 通用

        // Win32 memory copy function
        [DllImport("ntdll.dll", CallingConvention = CallingConvention.Cdecl)]
        private static extern byte* memcpy(byte* dst, byte* src, int count);
        //读取图像，支持彩色与多深度
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageRead(string filename, int iFalgs, out EyemImage tpImage);
        //读取视频，支持彩色
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemVideoCapture(string filename, out VideoHandle hObject, out EyemImage* tpImages, out int ipNum);
        //释放视频句柄
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern bool eyemVideoCaptureFree(IntPtr hObject);
        //读取Raw格式图像，仅支持8/16位
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageReadRaw(string filename, int iWidth, int iHeight, int iDepth, out EyemImage tpImage);
        //创建图像(uint8_t、int8_t、uint16_t、int16_t、int32_t、float_t、double_t)
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageMalloc(int iWidth, int iHeight, int iChannels, string ccSubType, out EyemImage tpImage);
        //拷贝图像（必须预分配空间）
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageCopy(EyemImage tpImage, ref EyemImage tpDstImg);
        //图像颜色空间转换
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCvtImageColor(EyemImage tpImage, ColorConversionCodes iCCodes, ref EyemImage tpDstImg);
        //图像数据格式转换(uint8_t、int8_t、uint16_t、int16_t、int32_t、float_t、double_t)
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCvtImageType(EyemImage tpImage, string ccSubType, double alpha, double beta, ref EyemImage tpDstImg);
        //图像相加
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageAdd(EyemImage tpImage1, EyemImage tpImage2, ref EyemImage tpDstImg);
        //图像相减
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageSub(EyemImage tpImageMinuend, EyemImage tpImageSubtrahend, ref EyemImage tpDstImg);
        //图像相除
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageDiv(EyemImage tpImage1, EyemImage tpImage2, ref EyemImage tpDstImg);
        //图像取绝对值
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemImageAbs(EyemImage tpImage, ref EyemImage tpDstImg);
        //释放图像资源
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern void eyemImageFree(ref EyemImage tpImage);

        #endregion

        #region 2 值 blob 分析

        //二值化图像
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemBinAutoThreshold(EyemImage tpImage, double dSigma, int iLightDark, int binMethod, out EyemImage tpDstImg);
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemBinThreshold(EyemImage tpSrsImg, int iLightDark, int binMethod, out EyemImage tpDstImg);
        //Sauvola二值化
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemBinNiBlack(EyemImage tpSrcImg, out EyemImage tpDstImg, int iType, int iWinSize, double dK, int binarizationMethod, double r);
        //动态阈值
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemBinDynThreshold(EyemImage tpSrcImg, EyemImage tpThresholdImg, int iOffset, int iLightDark, out EyemImage tpDstImg);
        //二值Blob分析
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemBinBlob(EyemImage tpImage, out BlobHandle hObject, int iAreaThrs, out EyemBinBlob* tpResult, out int ipNum, out EyemImage tpDstImage);
        //释放Blob资源
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern bool eyemBinFree(IntPtr hObject);

        #endregion

        #region 矩阵运算

        //创建二维矩阵
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern IntPtr eyemMatMallocMatrix(int iRows, int iCols, [In]double[] dpData);
        //释放二维矩阵
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern void eyemMatFreeMatrix(IntPtr intPtr);
        //初始化矩阵
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern void eyemMatZero(IntPtr vpA);
        //复制矩阵
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern void eyemMatCopy(IntPtr vpDst, IntPtr vpSrc);
        //矩阵相加
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern void eyemMatAdd(IntPtr vpA, IntPtr vpB, IntPtr vpC);

        #endregion

        #region  一维边缘测量

        //边缘测量
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemEdge1dGenMeasureRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, string strSubType, int iTransition, double dSigma, double dAmpThresh, out MeasureHandle hObject);
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        //边缘查找
        private static extern int eyemEdge1dGenPosRect(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, double dSigma, double dAmpThresh, out MeasureHandle hObject);
        //findLine
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemEdge1dFindLine(EyemImage tpImage, EyemOcsDXY tpLineSt, EyemOcsDXY tpLineEd, int iWhRoi, int iTransition, out MeasureHandle hObject);
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemSkeleton(EyemImage tpImage);
        //边缘
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemEdgesPixel(EyemImage tpImage, double dThresh);
        //释放工具所使用句柄
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern bool eyemEdge1dGenMeasureFree(IntPtr hObject);
        #endregion

        #region 稳健估计
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemRobustFitLine(int iPtnNum, IntPtr taPoint, int iCalcMode, double dRobustCoef, ref EyemOcsDABC tpLine);

        #endregion

        #region 项目
        //普通器件
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCountObject(EyemImage tpImage, string fileName, double dOffset, int iMinArea, int iMaxArea, int iWinSize, ref string pNumObj, out EyemImage tpDstImg);
        //异型器件
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCountObjectIrregularParts(EyemImage tpImage, string fileName, double dOffset, string strType, int iMaxArea, int iWinSize, ref string pNumObj, out EyemImage tpDstImg);
        //普通器件(新版本)
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCountObjectE(EyemImage tpImage, string fileName, ref string pNumObj, out EyemImage tpDstImg);
        //异型器件(新版本)
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCountObjectIrregularPartsE(EyemImage tpImage, string fileName, string ccSubType, string ccTplName, double dMinScore, ref string pNumObj, out EyemImage tpDstImg);
        //创建模板匹配模型
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemCreateTemplateModel(EyemImage tpImage, EyemRect tpRoi, string ccTplName);
        //读码程序
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemDetectAndDecode(EyemImage tpImage, EyemRect tpRoi, string fileName, string strCodeType, out DataCodeHandle hObject, out EyemBarCode* tpResults, out int ipNum, bool bUseNiBlack, int iBlockSize, int iRangeC, int iSymbolMin, int iSymbolMax, double dScaleUpAndDown = 0.5, double dToleErr = 0.5, double dMinorStep = 1.0);
        //释放工具所使用句柄
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern bool eyemDetectAndDecodeFree(IntPtr hObject);
        //背景变化跟踪
        [DllImport("eyemLib.dll", CharSet = CharSet.None, CallingConvention = CallingConvention.Cdecl)]
        private static extern int eyemTrackFeature(EyemImage tpRefImg, EyemImage tpNextImg, IntPtr tpArray, int iArraySize, IntPtr ipResults);
        #endregion

        public static void eyemReadImageTool(string fileName)
        {
            Stopwatch sw = new Stopwatch();
            sw.Restart();

            EyemImage image;
            EyemImage tpDstImg = new EyemImage();
            //int flag = eyemImageRead("D:\\图片及统计结果\\图片及统计结果\\data\\6D551\\6D551-R014212020040601587-20200624140637.png", 0, out ucpImage);
            //int flag = eyemImageReadRaw(fileName, 3072, 3072, 2, out ucpImage);
            int flag = eyemImageRead(fileName, -1, out image);
            if (flag != 0)
            {
                Console.WriteLine("读图失败！");
                return;
            }

            //flag = eyemImageMalloc(image.iWidth, image.iHeight, 1, "uint16_t", out image1);
            //flag = eyemImageMalloc(image.iWidth, image.iHeight, 1, "int8_t", out image2);

            //flag = eyemImageAdd(image1, image2, ref tpDstImg);

            //flag = eyemCvtImageColor(image, (int)ColorConversionCodes.COLOR_BGR2RGB, ref tpDstImg);

            //flag = eyemCvtImageType(image2, "uint16_t", 1.0, 128, ref tpDstImg);

            //flag = eyemImageSub(image1, image2, ref tpDstImg);

            //flag = eyemImageAbs(image1, ref tpDstImg);


            #region Test Blob
            //int ipNum;
            //BlobHandle hObject;
            //EyemBinBlob* eyemBlob;
            //eyemBinBlob(image, out hObject, 100, out eyemBlob, out ipNum, out tpDstImg);
            //for (int i = 0; i < ipNum; i++)
            //{
            //    //tpResult.Add(eyemBlob[i]);
            //}
            //hObject.Dispose();
            #endregion

            #region Test 1DEdge
            //EyemOcsDXY tpLineSt = new EyemOcsDXY();
            //tpLineSt.dX = 947;
            //tpLineSt.dY = 1;
            //EyemOcsDXY tpLineEd = new EyemOcsDXY();
            //tpLineEd.dX = 149;
            //tpLineEd.dY = 548;

            //MeasureHandle hObject;
            //eyemEdge1dGenMeasureRect(ucpImage, tpLineSt, tpLineEd, 10, "all", 0, 0.9, 30, out hObject);
            //eyemEdge1dGenPosRect(ucpImage, tpLineSt, tpLineEd, 50, 0, 0.9, 30, out hObject);
            //eyemEdge1dFindLine(ucpImage, tpLineSt, tpLineEd, 15, 0, out hObject);
            ///hObject.Dispose();
            #endregion

            #region  Test Matrix

            //double[] dpData = new double[9] { 1, 0, 1, 2, 2, 2, 3, 3, 3 };
            //IntPtr vpA = eyemMatMallocMatrix(3, 3, dpData);

            //eyemMatZero(vpA);

            //double[] dpData2 = new double[9] { 1, 0, 1, 2, 0, 2, 3, 0, 3 };

            //IntPtr vpB = eyemMatMallocMatrix(3, 3, dpData);

            //IntPtr vpC = IntPtr.Zero;
            //eyemMatAdd(vpA, vpB, vpC);

            //eyemMatFreeMatrix(vpA);

            //eyemMatFreeMatrix(vpB);


            #endregion

            #region Test Binary
            //eyemBinAutoThreshold(ucpImage, 1.8, 1, 6, out tpDstImg);
            //eyemSkeleton(ucpImage);
            //eyemBinBinaryImage(ucpImage, 0, 3, out tpDtImg);
            //eyemBinDynThreshold(ucpImage, ucpImage, 3, 1, out tpDstImg);
            //eyemBinNiBlack(ucpImage, out tpDstImg, 0, 11, 0.5, 3, 128);
            #endregion

            #region Test Sauvola

            //eyemBinNiBlack(ucpImage, out tpDstImg, 0, 5, 0.001, 3, 5);

            #endregion

            #region Test RobustFitLine

            //EyemOcsDABC tpLine = new EyemOcsDABC();
            //EyemOcsDXY taPoint = new EyemOcsDXY();
            //List<EyemOcsDXY> taPoints = new List<EyemOcsDXY>();

            //double k = 2.0, b = 1.0;//y=2x+1
            //for (int i = 0; i < 100; i += 5)
            //{
            //    taPoint.dX = i;
            //    taPoint.dY = k * taPoint.dX + b;
            //    taPoints.Add(taPoint);
            //}
            //taPoint.dX = 50;
            //taPoint.dY = 45;
            //taPoints.Add(taPoint);

            //taPoint.dX = 60;
            //taPoint.dY = 76;
            //taPoints.Add(taPoint);

            //taPoint.dX = 38;
            //taPoint.dY = 58;
            //taPoints.Add(taPoint);


            //taPoint.dX = 71;
            //taPoint.dY = 37;
            //taPoints.Add(taPoint);

            //taPoint.dX = 15;
            //taPoint.dY = 50;
            //taPoints.Add(taPoint);

            //taPoint.dX = 36;
            //taPoint.dY = 56;
            //taPoints.Add(taPoint);

            //taPoint.dX = 18;
            //taPoint.dY = 8;
            //taPoints.Add(taPoint);


            //taPoint.dX = 100;
            //taPoint.dY = 100;
            //taPoints.Add(taPoint);

            //taPoint.dX = 16;
            //taPoint.dY = 16;
            //taPoints.Add(taPoint);

            //taPoint.dX = 18;
            //taPoint.dY = 28;
            //taPoints.Add(taPoint);


            //taPoint.dX = 17;
            //taPoint.dY = 37;
            //taPoints.Add(taPoint);

            //taPoint.dX = 28;
            //taPoint.dY = 48;
            //taPoints.Add(taPoint);


            //IntPtr tpPoint = teStructArray2IntPtr(taPoints.ToArray(), taPoints.Count);
            //eyemRobustFitLine(taPoints.Count, tpPoint, 6, 0, ref tpLine);
            //Marshal.FreeHGlobal(tpPoint);
            #endregion

            #region Test WriteImage
            //eyemImageWrite("D:\\Matlab测试图像\\xxx.bmp", tpDstImg);
            #endregion

            #region Test Edge
            //eyemEdgesPixel(ucpImage, 15);
            #endregion

            ////EyemRect tpRoi = new EyemRect();
            ////tpRoi.iXs = 1231; tpRoi.iYs = 433;
            ////tpRoi.iWidth = 41;
            ////tpRoi.iHeight = 14;

            EyemRect tpRoi = new EyemRect();
            tpRoi.iXs = 0; tpRoi.iYs = 0;
            tpRoi.iWidth = image.iWidth;
            tpRoi.iHeight = image.iHeight;

            //创建模板匹配模型
            //flag = eyemCreateTemplateModel(image, tpRoi, "D://批量测试图像2//template.tpl");

            //
            string pNumObj = "";
            string file = fileName.Split(new string[] { "\\" }, StringSplitOptions.RemoveEmptyEntries)[2];
            //"IP_SMALL_PARTS","IP_LARGE_PARTS","IP_LONG_PARTS",""
            //eyemCountObject(image, file.Replace(".png", ""), 35, 0, 100, 5, ref pNumObj, out tpDstImg);
            //eyemCountObjectIrregularParts(image, file.Replace(".png", ""), 0.1, "IP_LARGE_PARTS", 100, 7, ref pNumObj, out tpDstImg);
            //eyemCountObjectE(image, fileName, ref pNumObj, out tpDstImg);
            eyemCountObjectIrregularPartsE(image, file.Replace(".png", ""), "IP_LARGE_PARTS", "D://批量测试图像2//template.png", 0.6, ref pNumObj, out tpDstImg);

            Bitmap bmp = eyemCvtToBitmap(tpDstImg);

            bmp.Save(System.Windows.Forms.Application.StartupPath + "\\ResOut\\" + file);

            ////<解码测试
            //int ipNum; EyemBarCode* tpResults;
            //DataCodeHandle hObject;
            //int iRes = eyemDetectAndDecode(image, tpRoi, file.Replace(".png", ""), "QR_CODE|DATA_MATRIX|CODE_39|CODE_128|CODE_93", out hObject, out tpResults, out ipNum, false, 5, 5, 128, 256, 1d);
            //for (int i = 0; i < ipNum; i++)
            //{
            //    Console.WriteLine("类型：" + Marshal.PtrToStringAnsi(tpResults[i].hType) + "；坐标" + "[" + tpResults[i].iCenterX.ToString() + "," + tpResults[i].iCenterY.ToString() + "]" + "；角度：" + tpResults[i].dAngle.ToString("F4") + "," + "；内容：" + Marshal.PtrToStringAnsi(tpResults[i].hText) + "");
            //    Marshal.FreeCoTaskMem(tpResults[i].hText); Marshal.FreeCoTaskMem(tpResults[i].hType);
            //}
            //hObject.Dispose();

            sw.Stop();
            Console.WriteLine("耗时：" + sw.ElapsedMilliseconds.ToString() + "，结果：" + pNumObj);
            //free image
            eyemImageFree(ref tpDstImg);
            eyemImageFree(ref image);
        }



        public static void eyemTestVideoCapture(string fileName)
        {
            List<EyemRect3> tpRois = new List<EyemRect3>();
            EyemRect3 roi1 = new EyemRect3();
            roi1.iXs = 0; roi1.iYs = 400; roi1.iWidth = 100; roi1.iHeight = 100; roi1.dVar = 0.35;
            EyemRect3 roi2 = new EyemRect3();
            roi2.iXs = 101; roi2.iYs = 400; roi2.iWidth = 100; roi2.iHeight = 100; roi2.dVar = 0.35;
            EyemRect3 roi3 = new EyemRect3();
            roi3.iXs = 202; roi3.iYs = 400; roi3.iWidth = 100; roi3.iHeight = 100; roi3.dVar = 0.35;
            EyemRect3 roi4 = new EyemRect3();
            roi4.iXs = 303; roi4.iYs = 400; roi4.iWidth = 100; roi4.iHeight = 100; roi4.dVar = 0.35;

            //需要监控的位置信息
            tpRois.Add(roi1); tpRois.Add(roi2); tpRois.Add(roi3); tpRois.Add(roi4);

            //结构体转内存指针
            IntPtr hGlobal = eyemStructArray2IntPtr(tpRois.ToArray());

            //读取视频接口
            int ipNum; EyemImage* tpImages;
            VideoHandle hObject;
            eyemVideoCapture(fileName, out hObject, out tpImages, out ipNum);

            //信号值,用于后续处理
            int[] bitSingle = new int[tpRois.Count];

            //类似于实时采集的图像
            for (int i = 1; i < ipNum; i++)
            {
                //存放结果
                int[] iArrRes = new int[tpRois.Count];
                //fixed (int* ipResults = &iArrRes[0])
                //{
                int iRet = eyemTrackFeature(tpImages[0], tpImages[i], hGlobal, tpRois.Count, Marshal.UnsafeAddrOfPinnedArrayElement(iArrRes, 0)/* new IntPtr((void*)ipResults)*/);
                //}
                //过滤出有效信号（连续存在数帧以上才算，防止误触发），或者直接用iArrRes的值作为信号
                toSingleFilter(iArrRes, ref bitSingle);
                for (int j = 0; j < bitSingle.Length; j++)
                {
                    //设定信号持续帧数阈值
                    if (bitSingle[j] > 15)
                    {
                        //检测到信号
                        Console.WriteLine("检测到：" + j + "处有信号");
                    }
                }
            }
            //释放资源
            Marshal.FreeHGlobal(hGlobal);
            hObject.Dispose();
        }

        //
        public static void toSingleFilter(int[] iArrRes, ref int[] bitSingle)
        {
            for (int i = 0; i < iArrRes.Length; i++)
            {
                bitSingle[i] += iArrRes[i];
                if (bitSingle[i] >= 1)//信号起始
                {
                    //如果有一帧没检测到就重新累计
                    if (iArrRes[i] == 0)
                    {
                        bitSingle[i] = 0;
                    }
                }
            }
        }

        public static void eyemTest(string[] fileNames)
        {
            int iRet = 0;

            EyemImage imageFormer = new EyemImage();
            EyemImage imageDiff = new EyemImage();

            //首次需要为图像申请内存，EyemImage之间直接用=赋值是不行的
            iRet = eyemImageMalloc(1080, 1440, 4, "int8_t", out imageFormer);

            iRet = eyemImageMalloc(1080, 1440, 1, "uint8_t", out imageDiff);

            int nFrmNum = 0;
            for (int i = 1; i < fileNames.Length; i++)
            {
                EyemImage imageNext = new EyemImage();
                iRet = eyemImageRead(fileNames[i], -1, out imageNext);
                if (iRet != 0)
                {
                    Console.WriteLine("读图失败！");
                    return;
                }
                //转灰度图像
                eyemCvtImageColor(imageNext, ColorConversionCodes.COLOR_BGR2GRAY, ref imageNext);

                nFrmNum++;
                if (nFrmNum > 0)
                {
                    iRet = eyemImageSub(imageNext, imageFormer, ref imageDiff);

                    iRet = eyemImageAbs(imageDiff, ref imageDiff);
                }
                //前一帧,(直接赋值是不可以的,要先对其释放,拷贝时必须具有相同类型)
                eyemImageCopy(imageNext, ref imageFormer);

                //释放资源
                eyemImageFree(ref imageNext);

                System.Threading.Thread.Sleep(350);
            }
            //释放资源
            eyemImageFree(ref imageFormer);
            eyemImageFree(ref imageDiff);
        }

        #region 将EyemImage转换成Bitmap
        public static Bitmap eyemCvtToBitmap(EyemImage tpImage)
        {
            //统一将图像转换成8位显示
            PixelFormat format;

            switch (tpImage.iChannels)
            {
                case 1:
                    format = PixelFormat.Format8bppIndexed;
                    break;
                case 3:
                    format = PixelFormat.Format24bppRgb;
                    break;
                case 4:
                    format = PixelFormat.Format32bppArgb;
                    break;
                default:
                    return null;
            }
            //如果图不是8位的就转成8位显示
            if (tpImage.iDepth != 0)
                eyemCvtImageType(tpImage, "uint8_t", 1.0, 0.0, ref tpImage);

            Bitmap bitmap = new Bitmap(tpImage.iWidth, tpImage.iHeight, tpImage.iWidth * tpImage.iChannels, format, tpImage.vpImage);

            BitmapData data = bitmap.LockBits(
                new Rectangle(Point.Empty, new Size(tpImage.iWidth, tpImage.iHeight)),
                ImageLockMode.WriteOnly,
                format);

            if (format == PixelFormat.Format8bppIndexed)
            {
                ColorPalette palette = bitmap.Palette;
                for (int i = 0; i < 256; i++)
                {
                    palette.Entries[i] = Color.FromArgb(i, i, i);
                }
                bitmap.Palette = palette;
            }

            return bitmap;
        }
        #endregion

        #region 结构体转内存指针
        public static IntPtr eyemStructArray2IntPtr<T>(T[] tpArray)
        {
            if (tpArray == null)
                throw new ArgumentNullException(typeof(T).Name.ToString());
            //分配结构体需要的内存，需要释放
            IntPtr hGlobal = Marshal.AllocHGlobal(checked(Marshal.SizeOf(typeof(T)) * tpArray.Length));
            for (int index = 0; index < tpArray.Length; index++)
            {
                Marshal.StructureToPtr(tpArray[index], (IntPtr)(checked((long)hGlobal + index * Marshal.SizeOf(typeof(T)))), false);
            }
            return hGlobal;
        }
        #endregion

        #region 释放句柄
        //释放Blob句柄
        public class BlobHandle : SafeHandleZeroOrMinusOneIsInvalid
        {
            public BlobHandle() : base(true) { }
            protected override bool ReleaseHandle()
            {
                return eyemBinFree(handle);
            }
        }
        //释放测量句柄
        public class MeasureHandle : SafeHandleZeroOrMinusOneIsInvalid
        {
            public MeasureHandle() : base(true) { }
            protected override bool ReleaseHandle()
            {
                return eyemEdge1dGenMeasureFree(handle);
            }
        }
        //释放解码句柄
        public class DataCodeHandle : SafeHandleZeroOrMinusOneIsInvalid
        {
            public DataCodeHandle() : base(true) { }
            protected override bool ReleaseHandle()
            {
                return eyemDetectAndDecodeFree(handle);
            }
        }
        //释放视频句柄
        public class VideoHandle : SafeHandleZeroOrMinusOneIsInvalid
        {
            public VideoHandle() : base(true) { }
            protected override bool ReleaseHandle()
            {
                return eyemVideoCaptureFree(handle);
            }
        }

        #endregion
    }
}