#define online
using DocumentFormat.OpenXml.Spreadsheet;
using HalconDotNet;
using OpenCvSharp;
using OpenCvSharp.XImgProc;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Security.Cryptography;
using System.Text;
using System.Threading.Tasks;

namespace GeBoShi.SysCtrl
{
    public static class OpencvUtils
    {
        public static int image_width = 2048;
        public static int image_height = 2048;
        #region 图像预处理
        public static Mat Resize(Mat mat, int width, int height, out int xw)
        {
            OpenCvSharp.Size dsize = new OpenCvSharp.Size(width, height);
            //Mat mat2 = new Mat();
            //ResizeUniform(mat, dsize, out mat2, out xw);
 
            xw = (width - mat.Cols) / 2;
            Mat mat2 = new Mat(height, width, MatType.CV_8UC3, new Scalar(114, 114, 114));
            Rect roi = new Rect((width - mat.Cols) / 2, (height - mat.Rows) / 2, mat.Cols, mat.Rows);
            mat.CopyTo(new Mat(mat2, roi));

            return mat2;
        }
        /// <summary>
        /// 等比例缩放
        /// </summary>
        /// <param name="src"></param>
        /// <param name="dst_size"></param>
        /// <param name="dst"></param>
        /// <returns></returns>
        public static int ResizeUniform(Mat src, Size dst_size, out Mat dst, out int xw)
        {
            xw = 0;
            int w = src.Cols;
            int h = src.Rows;
            int dst_w = dst_size.Width;
            int dst_h = dst_size.Height;
            //std::cout << "src: (" << h << ", " << w << ")" << std::endl;
            dst = new Mat(dst_h, dst_w, MatType.CV_8UC3, new Scalar(114, 114, 114));

            float[] ratio = new float[2];
            float ratio_src = w * 1.0f / h;
            float ratio_dst = dst_w * 1.0f / dst_h;

            int tmp_w = 0;
            int tmp_h = 0;
            if (ratio_src > ratio_dst)
            {
                tmp_w = dst_w;
                tmp_h = (int)(dst_w * 1.0f / w) * h;

                ratio[0] = (float)w / (float)tmp_w;
                ratio[1] = (float)h / (float)tmp_h;
            }
            else if (ratio_src < ratio_dst)
            {
                tmp_h = dst_h;
                tmp_w = (int)((dst_h * 1.0f / h) * w);

                ratio[0] = (float)w / (float)tmp_w;
                ratio[1] = (float)h / (float)tmp_h;
            }
            else
            {
                Cv2.Resize(src, dst, dst_size);

                ratio[0] = (float)w / (float)tmp_w;
                ratio[1] = (float)h / (float)tmp_h;
                return 0;
            }

            //std::cout << "tmp: (" << tmp_h << ", " << tmp_w << ")" << std::endl;
            Mat tmp = new Mat();
            Cv2.Resize(src, tmp, new Size(tmp_w, tmp_h));

            unsafe
            {
                if (tmp_w != dst_w)
                { //高对齐，宽没对齐
                    int index_w = (int)((dst_w - tmp_w) / 2.0);
                    xw = index_w;
                    //std::cout << "index_w: " << index_w << std::endl;
                    for (int i = 0; i < dst_h; i++)
                    {
                        Buffer.MemoryCopy(IntPtr.Add(tmp.Data, i * tmp_w * 3).ToPointer(), IntPtr.Add(dst.Data, i * dst_w * 3 + index_w * 3).ToPointer(), tmp_w * 3, tmp_w * 3);
                    }
                }
                else if (tmp_h != dst_h)
                { //宽对齐， 高没有对齐
                    int index_h = (int)((dst_h - tmp_h) / 2.0);
                    //std::cout << "index_h: " << index_h << std::endl;
                    Buffer.MemoryCopy(tmp.Data.ToPointer(), IntPtr.Add(dst.Data, index_h * dst_w * 3).ToPointer(), tmp_w * tmp_h * 3, tmp_w * tmp_h * 3);
                }
                else
                {
                }
            }
            return 0;
        }
        public static Mat ResizeMat(Mat mat, int width, int height)
        {
            OpenCvSharp.Size dsize = new OpenCvSharp.Size(width, height);
            Mat mat2 = new Mat();
            mat2 = mat.Resize(dsize);
            //Cv2.Resize(mat, mat2, dsize);
            return mat2;
        }

        /// <summary>
        /// 计算合理宽幅
        /// </summary>
        /// <param name="sumWidth">多个相机图像总宽(外部去除重合部分)</param>
        /// <returns></returns>
        public static int GetWidthForResize(int sumWidth)
        {
            //保证计算8x2 16个小图
            int count = (int)Math.Round(sumWidth * 1.0f / image_width, 0);
            count = 8;
            return count * image_width;

            //int count = sumWidth / image_width;
            ////int remainder = sumWidth % image_width;
            //if (count % 2 == 0) 
            //    return count * image_width; 
            //else
            //    return count * image_width+ image_width; 
        }
        /// <summary>
        /// 裁切指定区域
        /// </summary>
        /// <param name="mat"></param>
        /// <param name="x"></param>
        /// <param name="y"></param>
        /// <param name="width"></param>
        /// <param name="height"></param>
        /// <returns></returns>
        public static Mat CutImage(Mat mat, int x, int y, int width, int height)
        {
            Rect roi = new Rect(x, y, width, height);
            return new Mat(mat, roi).Clone();
        }
        #endregion

        #region 裁边
        /// <summary>
        /// 裁边
        /// </summary>
        /// <param name="mat_rgb"></param>
        /// <param name="isLeft"></param>
        /// <param name="marginHoleWidth"></param>
        /// <param name="marginWidth"></param>
        /// <returns></returns>
        public static Mat getMaxInsetRect2(Mat mat_rgb, bool isLeft, int marginHoleWidth, bool IsAI, out int marginWidth)
        {
            int bian = 3500;
            Rect Roi;
            if (!isLeft)
                Roi = new Rect(mat_rgb.Width - bian, 0, bian, mat_rgb.Height);
            else
                Roi = new Rect(0, 0, bian, mat_rgb.Height);
            int type = isLeft ? 1 : 0;
            int len = 0;
            if(!IsAI)
                len = EdgeClipping2(mat_rgb, type, Roi, isLeft);
            else
                len = EdgeClipping3(mat_rgb, type, Roi, isLeft);
#if false
            //Mat mat_rgb = new Mat("E:\\CPL\\测试代码\\边缘检测\\test\\test\\test\\img\\19.bmp");
            Mat image_gray = new Mat();
            Cv2.CvtColor(mat_rgb, image_gray, ColorConversionCodes.BGR2GRAY);
            //cvtColor(image_RGB, image, COLOR_RGB2GRAY);
            int height = image_gray.Rows;
            int width = image_gray.Cols;
           
            // 算法定义：取均分5段图片的五条横线，经过一系列处理之后，二值化，找到沿边位置，然后取均值作为直边，在缩进一段有针眼的位置
            // 定义每段的行数 
            int num_rows = 5;
            int segment_height = height / num_rows - 1;

            // 定义空数组保存结果
            int[] total = new int[num_rows];

            // 平均截取5行数据并处理图像
            for (int i = 0; i < num_rows; i++)
            {
                // 截取当前行的图像
                int start_row = i * segment_height;
                Rect roi = new Rect(0, start_row, width, 1);
                Mat current_segment = image_gray.Clone(roi);

                // 对当前行的图像进行平滑处理
                Mat smoothed_image = new Mat();
                Cv2.GaussianBlur(current_segment, smoothed_image, new Size(5, 1), 0);

                // 计算当前行的灰度直方图
                Mat absolute_histo = new Mat();
                Cv2.CalcHist(new Mat[] { smoothed_image }, new int[] { 0 }, new Mat(), absolute_histo, 1, new int[] { 256 }, new Rangef[] { new Rangef(0, 256) });
                Cv2.GaussianBlur(current_segment, smoothed_image, new Size(19, 1), 0);

                // 对图片进行分割i+1
                //double otsu_threshold;
                //threshold(smoothed_image, smoothed_image, 0, 255, THRESH_BINARY + THRESH_OTSU, &otsu_threshold);
                Cv2.Threshold(smoothed_image, smoothed_image, 0, 255, ThresholdTypes.Binary | ThresholdTypes.Otsu);

                // 使用形态学操作进行孔洞填充
                Mat kernel = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(25, 1));
                Mat filled_image = new Mat();
                Cv2.MorphologyEx(smoothed_image, filled_image, MorphTypes.Close, kernel);

                // 取较长的一个值作为皮革的宽度
                int num_255 = Cv2.CountNonZero(filled_image);
                int length_t = (num_255 > width / 2) ? num_255 : width - num_255;
                total[i] = (length_t);
                API.OutputDebugString($"getMaxInsetRect2: 【{i + 1}】{length_t}={num_255}|{width}");
            }
            // 取平均值作为宽度
            int length = (int)total.Average();
            marginWidth = width-length;
#endif
            int length = len; //(len > mat_rgb.Width / 2) ? len : mat_rgb.Width - len;
            if (isLeft)
                marginWidth = length;
            else
                marginWidth = mat_rgb.Width - length;
            // 判断数据是否异常，判断当前线段的宽度是否大于设定像素的偏差
            //int abnormal_pxl = 200;
            //for (int i = 0; i < num_rows; i++)
            //{
            //    if (Math.Abs(total[i] - length) > abnormal_pxl)
            //        throw  new Exception("数据异常,当段图片的宽度有问题!");
            //}

            //右侧相机，拍摄产品，边缘位于右侧判断，缩进100像素，去点针眼
            //Cv2.Line(mat_rgb, new Point(length - 100, 0), new Point(length - 100, height), new Scalar(255, 0, 0), 20);
            ////左侧相机，拍摄产品，边缘位于左侧判断，缩进100像素，去点针眼
            //Cv2.Line(mat_rgb, new Point(width - length + 100, 0), new Point(width - length + 100, height), new Scalar(0, 255, 0), 20);

            //int decWidth = width - length + marginHoleWidth;
            //if (isLeft)
            //    return cutImage(mat_rgb, decWidth, 0, width- decWidth, height);
            //else
            //    return cutImage(mat_rgb, 0, 0, width - decWidth, height);

            //API.OutputDebugString($"getMaxInsetRect2:margin={marginWidth}，length={length}({marginHoleWidth}),isLeft={isLeft},mat_rgb={mat_rgb.Width}*{mat_rgb.Height},w={length - marginHoleWidth},h={mat_rgb.Height}");
#if online
            if (isLeft)
                return CutImage(mat_rgb, length + marginHoleWidth, 0, mat_rgb.Width - length - marginHoleWidth, mat_rgb.Height);
            else
                return CutImage(mat_rgb, 0, 0, length - marginHoleWidth, mat_rgb.Height);
#else
            if (isLeft)
            {
                Cv2.Line(mat_rgb, new Point(length + marginHoleWidth, 0), new Point(length + marginHoleWidth, mat_rgb.Height), new Scalar(255, 0, 0), 20);
                return mat_rgb;
            }
            else
            {
                Cv2.Line(mat_rgb, new Point(length - marginHoleWidth, 0), new Point(length - marginHoleWidth, mat_rgb.Height), new Scalar(0, 255, 0), 20);
                return mat_rgb;
            }
#endif
        }

        /// <summary>
        /// 寻边算法
        /// </summary>
        /// <param name="image"></param>
        /// <param name="FindType"></param>
        /// <param name="Roi"></param>
        /// <param name="IsLeft"></param>
        /// <returns></returns>
        private static int EdgeClipping2(Mat image, int FindType, Rect Roi, bool IsLeft)
        {
            Mat mat_rgb = image.Clone(Roi);
            int height = mat_rgb.Rows;
            int width = mat_rgb.Cols;
            int sf = 10; //缩放比例
            int pix = 5; //获取均值区域长宽像素
            int pointNum = 15; //获取找遍点数
            int offsetGray = 5; //二值化偏差

            //按比例缩放
            int sf_height = height / sf;
            int sf_width = width / sf;

            Cv2.Resize(mat_rgb, mat_rgb, new Size(sf_width, sf_height), 0, 0, InterpolationFlags.Linear);
            //mat_rgb = mat_rgb.Resize(new Size(sf_width, sf_height));

            int[] maxlev = new int[3] { 3, 1, 0 };
            int[] srlev = new int[3] { 29, 25, 11 };
            int length_t = 0;
            Mat[] lineImg = new Mat[3];
            List<int> lines = new List<int>();
            List<int> total_t = new List<int>();
            for (int lv = 0; lv < 3; lv++)
            {
                lines.Clear();
                total_t.Clear();
                Mat himg = mat_rgb.Clone();
                //mat_rgb = mat_rgb.PyrMeanShiftFiltering(10, 27, 3);
                Cv2.PyrMeanShiftFiltering(himg, himg, 10, srlev[lv], maxlev[lv]);//10,17;

                //分通道处理
                Mat[] mv = Cv2.Split(himg);     
                for (int cht = 0; cht < 3; cht++)
                {
                    //转灰度图
                    //mat_rgb = mat_rgb.CvtColor(ColorConversionCodes.BGR2GRAY);
                    Mat image_gray = new Mat();
                    image_gray = mv[cht];

                    //image_gray.ImWrite($"image_gray{cht}.jpg");

                    Mat image_Canny = new Mat();
                    Cv2.Canny(image_gray, image_Canny, 32, 64, 3);

                    //image_Canny.ImWrite($"image_Canny{cht}.jpg");

                    var lins = Cv2.HoughLinesP(image_Canny, 1, Math.PI / 360, 0, 20, 10);
                    lineImg[cht] = new Mat(new Size(himg.Cols, himg.Rows), MatType.CV_8UC1, new Scalar());
                    lines.Add(lins.Length);
                    foreach (var item in lins)
                    {
                        var fdang = Math.Atan2((item.P2.Y - item.P1.Y), (item.P2.X - item.P1.X));
                        var ang = Math.Abs(fdang * (180 / Math.PI));
                        if (ang > 60 && ang < 120)
                            Cv2.Line(lineImg[cht], item.P1.X, item.P1.Y, item.P2.X, item.P2.Y, new Scalar(255, 255, 255), 2);
                    }

                    //lineImg[cht].ImWrite($"image_Canny2_{cht}.jpg");

                    //mat_rgb = mat_rgb.Canny(32, 64);
                    if (lins.Length >= 1)
                        break;
                }
                if (lines.Count > 0 && lines.Max() >= 1)
                    break;
            }
            //二值化
            
            Mat image_Otsu = new Mat();
            
            int hDis = sf_height / (pointNum + 2); //去除边缘两点
#if false   //二值算法
            List<double> LeftAvg = new List<double>();
            List<double> RightAvg = new List<double>();
            //double thb = Cv2.Threshold(image_gray, image_Otsu, 0, 255, ThresholdTypes.Binary | ThresholdTypes.Otsu);
            #region 多点获取二值化均值
            for (int i = 0; i < pointNum; i++)
            {
                Rect roiLeft = new Rect(0, hDis + hDis * i, pix, pix);
                Mat current_segmentL = image_gray.Clone(roiLeft);
                //Scalar ttr = current_segmentL.Mean();
                LeftAvg.Add(current_segmentL.Mean().Val0);

                Rect roiRight = new Rect(sf_width - pix, hDis + hDis * i, pix, pix);
                Mat current_segmentR = image_gray.Clone(roiRight);
                RightAvg.Add(current_segmentR.Mean().Val0);
            }
            double thres = 0;
            if (IsLeft)
            {
                if (LeftAvg.Average() > RightAvg.Average())
                    thres = RightAvg.Max() + offsetGray;
                else
                    thres = RightAvg.Min() - offsetGray;
            }
            else
            {
                if (LeftAvg.Average() > RightAvg.Average())
                    thres = LeftAvg.Min() - offsetGray;
                else
                    thres = LeftAvg.Max() + offsetGray;
            }
            //double thres = (RightAvg.Average() + )/2;
            #endregion
#endif
#if false
            double min, max;
  
            image_gray.MinMaxLoc(out min, out max);
            double thres = (min + max) / 2;
#endif

#if false    //二值化图片
            //Cv2.Threshold(image_gray, image_Otsu, 0, 255, ThresholdTypes.Otsu);
            double thb = Cv2.Threshold(image_gray, image_Otsu, thres, 255, ThresholdTypes.Binary);
            image_Otsu.ImWrite("Otsu1.jpg");
            Cv2.MedianBlur(image_Otsu, image_Otsu, 21);
            image_Otsu.ImWrite("Otsu2.jpg");
            endTime = DateTimeOffset.Now;
            Console.WriteLine("灰度图二值化(ms): " + (endTime - startTime).TotalMilliseconds.ToString("0.000"));
            startTime = DateTimeOffset.Now;
#else
            /*
            image_Otsu = image_Canny;
            */
#endif

            int findex = lines.FindIndex(x => x == lines.Max());
            image_Otsu = lineImg[findex];

            // 定义空数组保存结果
            int[] total = new int[pointNum];
            total_t = new List<int>();
            //bool isLeft = FindType == 0 ? true : false;
            // 平均截取pointNum行数据并处理图像
            for (int i = 0; i < pointNum; i++)
            {
                // 截取当前行的图像
                Rect roi = new Rect(0, hDis + hDis * i, sf_width, 1);
                //Mat current_segment = image_Otsu.Clone(roi);
                Mat current_segment = image_Otsu.Clone(roi);

#if false
                #region 预处理
                // 对当前行的图像进行平滑处理
                Mat smoothed_image2 = new Mat();
                Cv2.GaussianBlur(current_segment, smoothed_image2, new Size(5, 1), 0);

                // 计算当前行的灰度直方图
                Mat absolute_histo2 = new Mat();

                Cv2.CalcHist(new Mat[] { smoothed_image2 }, new int[] { 0 }, new Mat(), absolute_histo2, 1, new int[] { 256 }, new Rangef[] { new Rangef(0, 256) });
                Cv2.GaussianBlur(current_segment, smoothed_image2, new Size(9, 1), 0);

                // 对图片进行分割
                //double otsu_threshold;
                //threshold(smoothed_image, smoothed_image, 0, 255, THRESH_BINARY + THRESH_OTSU, &otsu_threshold);
                double otsu_threshold2 = Cv2.Threshold(smoothed_image2, smoothed_image2, 0, 255, ThresholdTypes.Binary | ThresholdTypes.Otsu);

                // 使用形态学操作进行孔洞填充
                Mat kernel3 = Cv2.GetStructuringElement(MorphShapes.Rect, new Size(5, 1));
                Mat filled_image3 = new Mat();
                Cv2.MorphologyEx(smoothed_image2, filled_image3, MorphTypes.Close, kernel3);
                #endregion
#else
                //Mat filled_image3 = current_segment.Clone();
                Mat filled_image3 = current_segment;
#endif
#if true
                //从左到右判断边和从右到左判断边
                int numX = 0;
                byte tempVal = 0;
                if (!IsLeft)
                {
                    tempVal = filled_image3.At<byte>(0, 0);
                    //filled_image3.
                    for (int j = 0; j < filled_image3.Cols; j++)
                    {
                        if (filled_image3.At<byte>(0, j) != tempVal)
                        {
                            numX = j;
                            break;
                        }
                    }
                }
                else
                {
                    tempVal = filled_image3.At<byte>(0, filled_image3.Cols - 1);
                    for (int j = filled_image3.Cols - 1; j >= 0; j--)
                    {
                        if (filled_image3.At<byte>(0, j) != tempVal)
                        {
                            numX = j;
                            break;
                        }
                    }
                }

                //int numX = 0;
                //byte tempVal = 0;

                //unsafe
                //{
                //    byte* ptr = (byte*)filled_image3.Data;
                //    if (isLeft)
                //    {
                //        tempVal = ptr[0];
                //        for (int j = 0; j < filled_image3.Cols; j++)
                //        {
                //            if (ptr[j] != tempVal)
                //            {
                //                numX = j;
                //                break;
                //            }
                //        }
                //    }
                //    else
                //    {
                //        tempVal = ptr[filled_image3.Cols - 1];
                //        //tempVal = filled_image3.At<byte>(0, filled_image3.Cols - 1);
                //        for (int j = filled_image3.Cols - 1; j >= 0; j--)
                //        {
                //            if (ptr[j] != tempVal)
                //            {
                //                numX = j;
                //                break;
                //            }
                //        }
                //    }
                //}
               
#else
                int numX = Cv2.CountNonZero(filled_image3);
#endif
                //int length_t = (numX > (sf_width / 2)) ? numX :sf_width - numX;
                length_t = numX;
                total[i] = (length_t);
                if (length_t > 0)
                    total_t.Add(length_t);

                current_segment.Dispose();
            }


            // 取平均值作为宽度
            int length = 0;
            if(total_t.Count> 0)
                length = (int)total_t.Average();

            //endTime = DateTimeOffset.Now;
            //Console.WriteLine("计算边(ms): " + (endTime - startTime).TotalMilliseconds.ToString("0.000"));

            // 判断数据是否异常，判断当前线段的宽度是否大于设定像素的偏差
            //int abnormal_pxl = 100 / 4;
            //for (int i = 0; i < pointNum; i++)
            //{
            //    if (Math.Abs(total[i] - length) > abnormal_pxl)
            //        Console.WriteLine("数据异常!");
            //    //出现数据异常，当段图片的宽度有问题
            //}

            //乘上换算系数还原
            length = length * sf + Roi.X;

            //if ((length > 6520 && length < 6530) || (length > 1570 && length < 1590))
            //    ;
            //else
            //    ;
            mat_rgb.Dispose();
            //himg.Dispose();
            //image_gray.Dispose();
            //image_Canny.Dispose();
            //image_Otsu.Dispose();
            
            return length;
        }


        private static StructuredEdgeDetection _edgeDetect;
        public static void LoadEdgeMode()
        {
            if(_edgeDetect == null)
                _edgeDetect = OpenCvSharp.XImgProc.CvXImgProc.CreateStructuredEdgeDetection("model.yml");
        }
        /// <summary>
        /// 模型寻边
        /// </summary>
        /// <param name="image"></param>
        /// <param name="FindType"></param>
        /// <param name="Roi"></param>
        /// <param name="IsLeft"></param>
        /// <returns></returns>
        private static int EdgeClipping3(Mat image, int FindType, Rect Roi, bool IsLeft)
        {
            Mat mat_rgb = image.Clone(Roi);

            int height = mat_rgb.Rows;
            int width = mat_rgb.Cols;
            int sf = 10; //缩放比例
            int pix = 5; //获取均值区域长宽像素
            int pointNum = 15; //获取找遍点数
            int offsetGray = 5; //二值化偏差  

            int length_t = 0;
            List<int> lines = new List<int>();
            List<int> total_t = new List<int>();
            //按比例缩放
            double sf_height = height / sf;
            double sf_width = width / sf;
            Cv2.Resize(mat_rgb, mat_rgb, new Size(sf_width, sf_height), 0, 0, InterpolationFlags.Linear);
            Mat himg = new Mat();

            Mat edgeimg = new Mat();
            Cv2.CvtColor(mat_rgb, edgeimg, ColorConversionCodes.BGR2RGB);

            Mat edges = new Mat();
            edgeimg.ConvertTo(edgeimg, MatType.CV_32F, 1 / 255.0);

            if(_edgeDetect == null)
                LoadEdgeMode();
            //Cv2.Normalize(edgeimg, edgeimg, 1.0, 0, NormTypes.L2, -1);
            _edgeDetect.DetectEdges(edgeimg, edges);


            Mat image_Otsu = new Mat();
            int hDis = (int)sf_height / (pointNum + 2); //去除边缘两点

            edges.ConvertTo(image_Otsu, MatType.CV_8U, 255.0);
            Cv2.Threshold(image_Otsu, image_Otsu, 0, 255, ThresholdTypes.Otsu);

            // 定义空数组保存结果
            int[] total = new int[pointNum];

            // 平均截取pointNum行数据并处理图像
            for (int i = 0; i < pointNum; i++)
            {
                // 截取当前行的图像
                Rect roi = new Rect(0, hDis + hDis * i, (int)sf_width, 1);
                Mat current_segment = image_Otsu.Clone(roi);

                //Mat filled_image3 = current_segment.Clone();
                Mat filled_image3 = current_segment;

#if true
                //从左到右判断边和从右到左判断边     
                int numX = 0;
                int tm = 0;
                byte tempVal = 0;
                bool findOne = false;
                if (IsLeft)
                {
                    tempVal = filled_image3.At<byte>(0, 0);
                    //filled_image3.
                    for (int j = 0; j < filled_image3.Cols; j++)
                    {
                        if (filled_image3.At<byte>(0, j) != tempVal)
                        {
                            if (!findOne)
                            {
                                tm = j;
                                findOne = true;
                                tempVal = filled_image3.At<byte>(0, j);
                            }
                            else
                            {
                                //numX = j;
                                numX = (tm + j) / 2;
                                break;
                            }
                        }
                    }
                }
                else
                {
                    tempVal = filled_image3.At<byte>(0, filled_image3.Cols - 1);
                    for (int j = filled_image3.Cols - 1; j >= 0; j--)
                    {
                        if (filled_image3.At<byte>(0, j) != tempVal)
                        {
                            if (!findOne)
                            {
                                tm = j;
                                findOne = true;
                                tempVal = filled_image3.At<byte>(0, j);
                            }
                            else
                            {
                                //numX = j;
                                numX = (tm + j) / 2;
                                break;
                            }
                        }
                    }
                }
#else
                int numX = Cv2.CountNonZero(filled_image3);
#endif
                //length_t = (numX > (sf_width / 2)) ? numX :(int)(sf_width - numX);
                length_t = numX;
                total[i] = (length_t);
                if (length_t > 0)
                    total_t.Add(length_t);
            }


            // 取平均值作为宽度
            int length = 0;
            if (total_t.Count > 0)
            {
                length = (int)total_t.Average();
                if (IsLeft)
                    length = length - ConfMgr.Instance.SysConfigParams.Crop_offset;
                else
                    length = length + ConfMgr.Instance.SysConfigParams.Crop_offset;
            }

            //乘上换算系数还原
            length = length * sf + Roi.X;
            return length;
        }
        #endregion

        #region 合并
        /// <summary>
        /// 合并MAT（宽高必需一致）
        /// </summary>
        /// <param name="mats"></param>
        /// <param name="isHorizontal"></param>
        /// <returns></returns>
        public static Mat MergeImage_sameSize(Mat[] mats, bool isHorizontal = true)
        {
            Mat matOut = new Mat();
            if (isHorizontal)
                Cv2.HConcat(mats, matOut);//横向拼接
            else
                Cv2.VConcat(mats, matOut);//纵向拼接
            return matOut;
        }
        #endregion

        #region MatToHalcon
        public static void MatToHObject(Mat imgMat, out HObject imgHOject)
        {
            int ImageWidth = imgMat.Width;
            int ImageHeight = imgMat.Height;
            int channel = imgMat.Channels();
            long size = ImageWidth * ImageHeight * channel;
            int col_byte_num = ImageWidth * channel;


            byte[] rgbValues = new byte[size];
            unsafe
            {
                for (int i = 0; i < ImageHeight; i++)
                {
                    IntPtr c = imgMat.Ptr(i);
                    // 一行一行将mat 像素复制到byte[]
                    Marshal.Copy(c, rgbValues, i * col_byte_num, col_byte_num);
                }
                void* p;
                IntPtr ptr;
                fixed (byte* pc = rgbValues)
                {
                    p = (void*)pc;
                    ptr = new IntPtr(p);
                }


                if (channel == 1)
                {
                    HOperatorSet.GenImage1(out imgHOject, "byte", ImageWidth, ImageHeight, ptr);
                }
                else
                {
                    HOperatorSet.GenImageInterleaved(out imgHOject, ptr, "bgr", ImageWidth, ImageHeight, 0, "byte", 0, 0, 0, 0, -1, 0);
                }
            }
        }
    #if false
            /// <summary>
            /// 把OpenCV图像转换到Halcon图像
            /// </summary>
            /// <param name="mImage">OpenCV图像_Mat</param>
            /// <returns>Halcon图像_HObject</returns>
            public HObject MatToHImage(Mat mImage)
            {
                try
                {
                    HObject hImage;
                    int matChannels = 0;   // 通道数
                    Type matType = null;
                    int width, height;   // 宽，高
                    width = height = 0;  // 宽，高初始化
 
                    // 获取通道数
                    matChannels = mImage.Channels();
                    if (matChannels == 0)
                    {
                        return null;
                    }
                    if (matChannels == 1)        // 单通道
                    {
                        IntPtr ptr;      // 灰度图通道
                        Mat[] mats = mImage.Split();
 
                        // 改自：Mat.GetImagePointer1(mImage, out ptr, out matType, out width, out height);     // ptr=2157902018096    cType=byte    width=830    height=822
                        ptr = mats[0].Data;          // 取灰度图值
                        matType = mImage.GetType();  // byte
                        height = mImage.Rows;        // 高
                        width = mImage.Cols;         // 宽
 
                        // 改自：hImage = new HObject(new OpenCvSharp.Size(width, height), MatType.CV_8UC1, new Scalar(0));
                        byte[] dataGrayScaleImage = new byte[width * height];      //Mat dataGrayScaleImage = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1);
 
                        unsafe
                        {
                            fixed (byte* ptrdata = dataGrayScaleImage)
                            {

            #region 按行复制
                                 //for (int i = 0; i < height; i++)
                                 //{
                                 //    CopyMemory((IntPtr)(ptrdata + width * i), new IntPtr((long)ptr + width * i), width);
                                 //}

            #endregion

                                CopyMemory((IntPtr)ptrdata, new IntPtr((long)ptr), width * height);
                                HOperatorSet.GenImage1(out hImage, "byte", width, height, (IntPtr) ptrdata);
 
                            }
                        }
                        return hImage;
                    }
                    else if (matChannels == 3)   // 三通道
                    {
                        IntPtr ptrRed;    // R通道图
                        IntPtr ptrGreen;  // G通道图
                        IntPtr ptrBlue;   // B通道图
                        Mat[] mats = mImage.Split();
  
                        ptrRed = mats[0].Data;    // 取R通道值
                        ptrGreen = mats[1].Data;  // 取G通道值
                        ptrBlue = mats[2].Data;   // 取B通道值
                        matType = mImage.GetType();  // 类型
                        height = mImage.Rows;        // 高
                        width = mImage.Cols;         // 宽
   
                        // 改自：hImage = new HObject(new OpenCvSharp.Size(width, height), MatType.CV_8UC1, new Scalar(0));
                        byte[] dataRed = new byte[width * height];      //Mat dataGrayScaleImage = new Mat(new OpenCvSharp.Size(width, height), MatType.CV_8UC1);
                        byte[] dataGreen = new byte[width * height];
                        byte[] dataBlue = new byte[width * height];
   
                        unsafe
                        {
                            fixed (byte* ptrdataRed = dataRed, ptrdataGreen = dataGreen, ptrdataBlue = dataBlue)
                            {
           
                #region 按行复制
                            //HImage himg = new HImage("byte", width, height, (IntPtr)ptrdataRed);
                            //for (int i = 0; i < height; i++)
                            //{
                            //     CopyMemory((IntPtr)(ptrdataRed + width * i), new IntPtr((long)ptrRed + width * i), width);
                            //     CopyMemory((IntPtr)(ptrdataGreen + width * i), new IntPtr((long)ptrGreen + width * i), width);
                            //     CopyMemory((IntPtr)(ptrdataBlue + width * i), new IntPtr((long)ptrBlue + width * i), width);
                            //}
 
                #endregion

                                CopyMemory((IntPtr)ptrdataRed, new IntPtr((long)ptrRed), width * height);        // 复制R通道
                                CopyMemory((IntPtr)ptrdataGreen, new IntPtr((long)ptrGreen), width * height);    // 复制G通道
                                CopyMemory((IntPtr)ptrdataBlue, new IntPtr((long)ptrBlue), width * height);      // 复制B通道
                                HOperatorSet.GenImage3(out hImage, "byte", width, height, (IntPtr)ptrdataRed, (IntPtr)ptrdataGreen, (IntPtr)ptrdataBlue);   // 合成
                            }
                        }
                        return hImage;
                    }
                    else
                    {
                        return null;
                    }
                }
                catch (Exception ex)
                {
                    throw ex;
                }

            }
    #endif
    #endregion
    }
}