geboshi_V2/LeatherProject/LeatherApp/Device/DefectLib.cs

using System;
using System.Collections.Generic;
using System.Data;
using System.Diagnostics;
using System.Diagnostics.Contracts;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Threading;
using LeatherApp.Utils;
using Models;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using SqlSugar;

namespace LeatherApp.Device
{
    public class DefectLib : IDisposable
    {
        //private const string dll_path = "yoloOrt.dll"; 
        //[DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.Cdecl)]
        //extern static IntPtr CreateDetector(string model_path, string labels_path, bool is_gpu, int numberThreads);

        private const string dll_path = "yolo_trt.dll";  
        [DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        static extern IntPtr CreateDetector(string model_path);

        [DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.Cdecl)]
        extern static bool DestroyDetector(IntPtr detector);

        /// <summary>
        /// 非0值表示成功，0表示失败 返回小图张数
        /// </summary>
        /// <param name="detector"></param>
        /// <returns></returns>
        [DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        static extern int GetBatchSize(IntPtr detector);

        //[DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.Cdecl)]
        //extern static bool Detect1(IntPtr detector, ref byte bgrs_data,
        //  int image_num, int width, int height, int channels,
        //  float conf_threshold, float iou_threshold,
        //  ref int output, int output_size, ref int object_num);
        [DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        static extern bool Detect(IntPtr detector, ref byte bgrs_data,
          int image_num, int width, int height, int channels,
          float conf_threshold, float iou_threshold,
          ref float output, int output_size, ref int object_num,
          int expand_pixel);

        //-----
        //private const string dll_path = "yolo_trt .dll"; 
        //[DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        //static extern IntPtr CreateDetector(string model_path);

        //[DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        //static extern bool DestroyDetector(IntPtr detector);

        //[DllImport(dll_path, CharSet = CharSet.Unicode, CallingConvention = CallingConvention.StdCall)]
        //static extern bool Detect(IntPtr detector, ref byte bgrs_data,
        //  int image_num, int width, int height, int channels,
        //  float conf_threshold, float iou_threshold,
        //  ref int output, int output_size, ref int object_num);

        //---
        private IntPtr detector = IntPtr.Zero;
        private readonly int image_width = 2048;
        private readonly int image_hight = 2048;
        private readonly int image_channels = 3;
        private readonly int image_bytes = 2048 * 2048 * 3;
        private readonly int detect_elem_size = 7; //维度数据结果，x y w h conf classid
        private readonly int detect_max_object_num = 20;//这个指的是一张子图可能最多给你返回的目标个球
        //
        public Action<int, int> QueueCountEvent;//0/1/2, 数量
        public Action<DateTime,WarningEnum, string> WarningEvent;
        /// <summary>
        /// 检测结果JSON(原图,结果)
        /// </summary>
        public Action<DefectTask> finishEvent;
        /// <summary>
        /// 是否打开设备成功
        /// </summary>
        public bool IsInit { get; private set; } = false;

         string rootPath = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
        private Thread t_task, t_task_operation ,t_task_maketag;
        //=======task list
        private List<DefectTask> taskList = new List<DefectTask>(); 
        private List<DefectTask> taskOperationList = new List<DefectTask>();
        private List<DefectTask> taskMakeTagList = new List<DefectTask>();

        private string preModelName = "";
        public DefectLib()
        {
        } 
        public bool start()
        {
            List<DefectLabelInfo> DefectLabelInfoList = new List<DefectLabelInfo>();
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 1953, y = 429, w = 200, h = 200, classId = 1, confidence = 0.8, contrast = 0.9, i = 0, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() {x = 1953,y = 929,w=900,h = 400,classId = 11,confidence = 0.8, contrast = 0.9, i = 0,j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 3169, y = 1029, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 1, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 4721, y = 919, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 2, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 6145, y = 829, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 3, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 8073, y = 929, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 4, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 9407, y = 929, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 5, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 10801, y = 999, w = 900, h = 400, classId = 11, confidence = 0.8, contrast = 0.9, i = 6, j = 0 });
            DefectLabelInfoList.Add(new DefectLabelInfo() { x = 12465, y = 629, w = 900, h = 800, classId = 11, confidence = 0.8, contrast = 0.9, i = 7, j = 0 });
            DefectLabelInfoList = HeBingDefect(16384, DefectLabelInfoList);
            try
            {
                //detector = CreateDetector(Config.model_path, Config.labels_path, true, 6); 
                //if (detector == IntPtr.Zero)
                //    throw new Exception("模型初始化失败！");
                preModelName = "";

                IsInit = true; 
                taskList.Clear(); 
                taskOperationList.Clear();
                taskMakeTagList.Clear();

                t_task = new System.Threading.Thread(runStep);
                t_task.IsBackground = true;
                t_task.Start();

                t_task_operation = new System.Threading.Thread(run2);
                t_task_operation.IsBackground = true;
                t_task_operation.Start();

                t_task_maketag = new System.Threading.Thread(run3);
                t_task_maketag.IsBackground = true;
                t_task_maketag.Start();

                return true;
            }
            catch (Exception ex)
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, ex.Message);
                return false;
            }
        }
        public void stop()
        {
            if (!IsInit) return;

            try
            {
                IsInit = false;
                //timer.Elapsed -= Timer_Elapsed;
                preModelName = "";
                //释放模型
                if (detector != IntPtr.Zero)
                {
                    DestroyDetector(detector);
                    detector = IntPtr.Zero;
                }
                if (t_task != null)
                {
                    bool b = t_task.Join(5000);
                    if (!b) t_task.Abort();
                    t_task = null;
                }

                if (t_task_operation != null)
                {
                    bool b = t_task_operation.Join(5000);
                    if (!b) t_task_operation.Abort();
                    t_task_operation = null;
                }

                if (t_task_maketag != null)
                {
                    bool b = t_task_maketag.Join(5000);
                    if (!b) t_task_maketag.Abort();
                    t_task_maketag = null;
                }
                taskList.Clear(); 
                taskOperationList.Clear();
                taskMakeTagList.Clear();
            }
            catch { }
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="sumWidth">多个相机图像总宽(外部去除重合部分)</param>
        /// <returns></returns>
        public int GetWidthForResize(int sumWidth)
        {
            int count =(int) Math.Round(sumWidth * 1.0f / image_width, 0);
            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>
        /// 保存图片
        /// </summary>
        /// <param name="Img"></param>图片
        /// <param name="pictureUrl"></param>保存路径
        /// <param name="pictureName"></param>保存名称
        private void SaveImage(Bitmap Img, string pictureUrl, string pictureName)
        {
            if (!Directory.Exists(pictureUrl))
            {
                Directory.CreateDirectory(pictureUrl);
            }
            FileInfo FileUrl = new FileInfo(pictureUrl);//防止路径中有日期导致路径错误

            try
            {
                using (Bitmap bitmap = new Bitmap(Img))
                {
                    using (MemoryStream stream = new MemoryStream())
                    {
                        bitmap.Save(stream, ImageFormat.Bmp);
                        System.Drawing.Image img = System.Drawing.Image.FromStream(stream);
                        //img.Save(FileUrl +"\\"+ pictureName);
                        //img.Dispose();
                        string szURL = FileUrl + "\\" + pictureName;
                        img.Save(szURL, ImageFormat.Bmp);
                        img.Dispose();
                    }
                }
            }
            catch (Exception)
            {
                if (Img != null)
                {
                    Img.Dispose();
                }
            }
        }
        private void runStep()
        {
            int step = 0;
            while (IsInit)
            {
                if (taskList.Count < 1)
                {
                    Thread.Sleep(0);
                    continue;
                }

                //
                step = 1;
                var task = pop(); 
                try
                {
                    if (task != null)
                    {
                        Stopwatch stopwatch = Stopwatch.StartNew();
                        step =2;
                        if (preModelName != task.modelName)
                        {
                            step = 3;
                            //先释放模型
                            if (detector != IntPtr.Zero)
                            {
                                step = 4;
                                DestroyDetector(detector); 
                                detector = IntPtr.Zero;
                            }
                            step = 5;
                            detector = CreateDetector($"./models/{task.modelName}");
                            if (detector == IntPtr.Zero)
                                throw new Exception($"模型({task.modelName})初始化失败！");
                            step = 6;
                            preModelName = task.modelName;
                        }
                        //源图  
                        //Bitmap bmp = yolo1.Read2Bmp(file_path);
                        //切割图像，输入图像格式14208*10640
                        stopwatch.Start();
                        //task.resizeBmp = OpenCVUtil.resize( task.bmp.Clone(), task.resize.Width, task.resize.Height);//在外面已做了resize

                        //Cv2.CvtColor(task.bmp, task.bmpBgr2rgb, ColorConversionCodes.BGR2RGB); 
                        //task.bmps_cut = OpenCVToCutsMat(task.bmpBgr2rgb, image_width, image_hight); //这里cut时之前加的clone 
                        step = 7;
                        task.bmps_cut = OpenCVToCutsMat(task.bmp, image_width, image_hight); //这里cut时之前加的clone 
                        stopwatch.Stop();
                        task.stopwatch[0] = stopwatch.ElapsedMilliseconds;

                        //Resize图像
                        //stopwatch.Restart();
                        //task.bmps_resize = yolo1.OpenCVToResizesMat(task.bmps_cut, task.resize.Width, task.resize.Height);
                        //stopwatch.Stop();
                        //task.stopwatch[1] = stopwatch.ElapsedMilliseconds;

                        //预处理模型
                        //stopwatch.Restart();
                        //task.tensors = yolo1.PreprocessImageMat(task.bmps_resize);
                        //stopwatch.Stop();
                        //task.stopwatch[2] = stopwatch.ElapsedMilliseconds;
                        step = 8;
                        lock (taskOperationList)
                        {
                            taskOperationList.Add(task);
                            QueueCountEvent?.BeginInvoke(1, taskOperationList.Count, null, null);
                        }
                        step = 9;
                    }
                }
                catch (Exception ex)
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"DefectLib task1 err({step}):" + ex.Message);
                    task.isSucceed = false;
                    task.resultInfo = ex.Message;
                    callback(task);
                }
                Thread.Sleep(5);
            }
        }
        //推理
        private void run2()
        {
            QualifiedLimit qualifiedLimit;
            while (IsInit)
            {
                if (taskOperationList.Count < 1)
                {
                    Thread.Sleep(0);
                    continue;
                } 
               
                //
                var task = pop2();
                int cut_count=0,step = 0;
                try
                {
                    if (task != null && task.bmps_cut.Count()>0)
                    { 
                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, "DefectLib tasks 运行推理...");
                        cut_count = task.bmps_cut.Count();
                        Stopwatch stopwatch = Stopwatch.StartNew();
                        //====推理（必需单队列）
                        stopwatch.Start();  
                        // 把数据转为byte数组，【h, w, c】的bgr格式，第一张在前，第二张在后
                        byte[] imgData = new byte[image_bytes * cut_count];
                        for (int i = 0; i < cut_count; i++)
                            Marshal.Copy(task.bmps_cut[i].Data, imgData, image_bytes * i, image_bytes);
                        step = 1;
                        stopwatch.Stop();
                        task.stopwatch[1] = stopwatch.ElapsedMilliseconds;
                        stopwatch.Restart();

                        task.output = new float[cut_count * detect_elem_size * detect_max_object_num];
                        task.output_num = new int[cut_count];
                        //执行推理
                        step =2;
                        bool ok = Detect(detector, ref imgData[0], cut_count, image_width, image_hight, image_channels,
                            0.25f, 0.45f, ref task.output[0], task.output.Length, ref task.output_num[0],Config.expand_pixel);
                        //bool ok = Detect(_detector, ref imgData[0], imgs.Count, ImageWidth, image_hight, image_channels,
                        //    0.25f, 0.45f, ref output[0],      output.Length,      ref output_num[0]);
                        step = 3;
                        stopwatch.Stop();
                        task.stopwatch[2] = stopwatch.ElapsedMilliseconds;
                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"DefectLib tasks 结果推理={ok}");
                        for (int i = 0; i < cut_count; i++)
                            task.bmps_cut[i].Dispose();
                        if (ok == false)
                            throw new Exception($"推理失败或者输入数组太小（{cut_count}）");

                        //
                        lock (taskMakeTagList)
                        {
                            taskMakeTagList.Add(task);
                            QueueCountEvent?.BeginInvoke(2, taskMakeTagList.Count, null, null);
                        }
                    }
                }
                catch (Exception ex)
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"DefectLib task2 err({step}):({cut_count}){ ex.Message}");
                    task.isSucceed = false;
                    task.resultInfo = ex.Message;
                    callback(task);
                }
                Thread.Sleep(5);
            }
        }

        private class DefectLabelInfo
        {
            public int x { get; set; }
            public int y { get; set; }
            public int w { get; set; }
            public int h { get; set; }
            public int classId { get; set; }
            public double confidence { get; set; } //置信度
            public double contrast { get; set; }//对比度

            public double cmW { get; set; }
            public double cmH { get; set; }

            public int i { get; set; }//小图index
            public int j { get; set; }//缺陷index
        }

        private double ContrastLow = 0.8;
        private double ContrastTop = 1.2;
        //private double ContrastToPercent(double val)
        //{
        //    if (val < ContrastLow)
        //        return 0;
        //    else if (val > ContrastTop)
        //        return 100;
        //    double temp = 100 / (ContrastTop - ContrastLow);
        //    return temp * (val - ContrastLow);
        //}
        //private double PercentToContrast(double val)
        //{
        //    double temp = val * (ContrastTop - ContrastLow);
        //    return temp + ContrastLow;
        //}
        private double ContrastToPercent(double val)
        {
            if (val < ContrastLow)
                return 0;
            else if (val > ContrastTop)
                return 100;
            double temp = 100 / (ContrastTop - ContrastLow);
            return Math.Round(temp * (val - ContrastLow), 2);
        }
        private double PercentToContrast(double val)
        {
            double tt = 1;
            if (val > 100)
                tt = 100;
            else if (val < 0)
                tt = 0;
            else
                tt = val;
            double temp = tt / 100 * (ContrastTop - ContrastLow);
            return temp + ContrastLow;
        }
        private List<DefectLabelInfo> HeBingDefect(int Width, List<DefectLabelInfo> DefectLabelInfoList)
        {
            List<DefectLabelInfo> outList = new List<DefectLabelInfo>();

            List<DefectLabelInfo> HeBingList = new List<DefectLabelInfo>();
            List<DefectLabelInfo> XcHeBingList = new List<DefectLabelInfo>();
            List<int> xPos = new List<int>();
            List<double> ZXD = new List<double>();

            List<DefectLabelInfo> HeBingList2 = new List<DefectLabelInfo>();
            List<DefectLabelInfo> XcHeBingList2 = new List<DefectLabelInfo>();
            List<int> xPos2 = new List<int>();
            List<double> ZXD2 = new List<double>();

            DefectLabelInfo stpoint = DefectLabelInfoList[0];

            int colNum = Width / image_width;
            //寻找在一条线上
            for (int q = 0; q < DefectLabelInfoList.Count; q++)
            {
                if (Config.getDefectCode(DefectLabelInfoList[q].classId) == "jietou")
                {
                    int max = stpoint.y + 500;
                    int min = stpoint.y - 500 > 0? stpoint.y - 500:0;
                    if (DefectLabelInfoList[q].y >= min && DefectLabelInfoList[q].y <= max)
                    {
                        HeBingList.Add(DefectLabelInfoList[q]);
                        xPos.Add(DefectLabelInfoList[q].x);
                        ZXD.Add(DefectLabelInfoList[q].confidence);
                    }
                    else
                        XcHeBingList.Add(DefectLabelInfoList[q]);
                }
                else if (Config.getDefectCode(DefectLabelInfoList[q].classId) == "hengdang")
                {
                    int max = stpoint.y + 500;
                    int min = stpoint.y - 500 > 0 ? stpoint.y - 500 : 0;
                    if (DefectLabelInfoList[q].y >= min && DefectLabelInfoList[q].y <= max)
                    {
                        HeBingList2.Add(DefectLabelInfoList[q]);
                        xPos2.Add(DefectLabelInfoList[q].x);
                        ZXD2.Add(DefectLabelInfoList[q].confidence);
                    }
                    else
                        XcHeBingList2.Add(DefectLabelInfoList[q]);
                }
                else
                    outList.Add(DefectLabelInfoList[q]);
            }
            //递归下次合并数据
            List<DefectLabelInfo> dg1 = new List<DefectLabelInfo>();
            List<DefectLabelInfo> dg2 = new List<DefectLabelInfo>();
            if (XcHeBingList.Count >0)
                dg1 = HeBingDefect(Width, XcHeBingList);
            if (XcHeBingList2.Count > 0)
                dg2 = HeBingDefect(Width, XcHeBingList2);


            //多个jietou合并
            if (HeBingList.Count>0)
            {
                var stIt = HeBingList.Find(x => x.x == xPos.Min());
                var edIt = HeBingList.Find(x => x.x == xPos.Max());
                var eZXD = HeBingList.Find(x => x.confidence == ZXD.Max());
                int newW = Math.Abs(((edIt.i % colNum) * image_width + edIt.x) - ((stIt.i % colNum) * image_width + stIt.x)) + edIt.w;
                outList.Add(new DefectLabelInfo() {
                    x=stIt.x,
                    y=edIt.y,
                    w = newW, //多图叠加
                    h = edIt.h,
                    classId = eZXD.classId,
                    confidence = eZXD.confidence,
                    contrast = eZXD.contrast,
                    cmH = Math.Round(edIt.h * 1.0 / Config.cm2px_y, 2),
                    cmW = Math.Round(newW * 1.0 / Config.cm2px_x, 2),
                    i = stIt.i,
                    j = stIt.j,
                });
            }
            //多个hengdang合并
            if (HeBingList2.Count > 0)
            {
                var stIt = HeBingList2.Find(x => x.x == xPos2.Min());
                var edIt = HeBingList2.Find(x => x.x == xPos2.Max());
                var eZXD = HeBingList2.Find(x => x.confidence == ZXD2.Max());
                int newW = Math.Abs(((edIt.i % colNum) * image_width + edIt.x) - ((stIt.i % colNum) * image_width + stIt.x)) + edIt.w;
                outList.Add(new DefectLabelInfo()
                {
                    x = stIt.x,
                    y = edIt.y,
                    w = newW, //多图叠加
                    h = edIt.h,
                    classId = eZXD.classId,
                    confidence = eZXD.confidence,
                    contrast = eZXD.contrast,
                    cmH = Math.Round(edIt.h * 1.0 / Config.cm2px_y, 2),
                    cmW = Math.Round(newW * 1.0 / Config.cm2px_x, 2),
                    i = stIt.i,
                    j = stIt.j,
                });
            }

            outList = outList.Concat(dg1).ToList<DefectLabelInfo>();//保留重复项
            outList = outList.Concat(dg2).ToList<DefectLabelInfo>();//保留重复项
            return outList;
        }
        //打标
        private void run3()
        {
            QualifiedLimit qualifiedLimit;
            while (IsInit)
            {
                if (taskMakeTagList.Count < 1)
                {
                    Thread.Sleep(0);
                    continue;
                }

                //
                var task = pop3();
                int liStep = 0;
                try
                {
                    Stopwatch stopwatch = Stopwatch.StartNew();
                    stopwatch.Restart();
                    int cut_count = task.bmps_cut.Count();//上面bmps_cut已销毁
                    int colNum = task.bmp.Width / image_width;
                    int rowNum = task.bmp.Height / image_hight;
                    int count = 0;
                    liStep = 3;

                    //车用革去除接头处横档误判
                    bool haveJieTou = false;
                    List<DefectLabelInfo> DefectLabelInfoList = new List<DefectLabelInfo>();

                    for (int i = 0; i < cut_count; i++)
                    {
                        liStep = i * 100;
                        //task.resultInfo += $"第 {i}/{cut_count} 张小图(大图索引{task.photoIndex}): 缺陷数 = {task.output_num[i]}\n";
                        //task.resultInfo +=$"大图({task.tag})[{task.bmp.Width}*{task.bmp.Height}],第 {i + 1}/{cut_count} 张小图[{task.bmps_cut[i].Width}*{task.bmps_cut[i].Height}]: 瑕疵output_num = {output_num[i]}\n";
                        #region 检测信息汇总
                        for (int j = 0; j < task.output_num[i]; j++)//缺陷数
                        {
                            liStep += j;//0
                                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"-------");
                            int index = count * detect_elem_size;

                            // 打印输出信息（示例代码，根据实际情况进行修改和格式化）
                            // 获取输出信息
                            int x = (int)task.output[index];
                            int y = (int)task.output[index + 1];
                            int w = (int)task.output[index + 2];
                            int h = (int)task.output[index + 3];
                            int classId = (int)task.output[index + 4];
                            double confidence = Math.Round(task.output[index + 5], 2); //置信度
                            double contrast = Math.Round(task.output[index + 6], 3);//对比度
                            //y = image_hight-y-h;//转到右下角为原点
                            count++;

                            //var cmW = Math.Round(w * task.widthRatio / Config.cm2px_x, 2);
                            //var cmH = Math.Round(h * task.widthRatio / Config.cm2px_y, 2);
                            var cmW = Math.Round(w * 1.0 / Config.cm2px_x, 2);
                            var cmH = Math.Round(h * 1.0 / Config.cm2px_y, 2);
                            // 打印输出信息
                            //task.resultInfo += $"----{i}----col:{i % colNum}/{colNum} row:{i / colNum}/{colNum}-----------\n目标:{j + 1} 类别ID:{classId} 置信度:{confidence} 对比度:{contrast} 坐标:({x},{y})-({x + w},{y + h}) 宽高:w={w},h={h}; \n";

                            DefectLabelInfoList.Add(new DefectLabelInfo()
                            {
                                x = (int)task.output[index],
                                y = (int)task.output[index + 1],
                                w = (int)task.output[index + 2],
                                h = (int)task.output[index + 3],
                                classId = (int)task.output[index + 4],
                                confidence = Math.Round(task.output[index + 5], 2), //置信度
                                contrast = ContrastToPercent( Math.Round(task.output[index + 6], 3)),//对比度
                                //cmW = Math.Round(w * task.widthRatio / Config.cm2px_x, 2),
                                //cmH = Math.Round(h * task.widthRatio / Config.cm2px_y, 2),
                                cmW = Math.Round(w * 1.0 / Config.cm2px_x, 2),
                                cmH = Math.Round(h * 1.0 / Config.cm2px_y, 2),
                                i = i,
                                j = j,
                            });
                        }

                        #endregion       
#if false
                        for (int j = 0; j < task.output_num[i]; j++)//缺陷数
                        {
                            liStep += j;//0
                                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"-------");
                            int index = count * detect_elem_size;

                            // 打印输出信息（示例代码，根据实际情况进行修改和格式化）
                            // 获取输出信息
                            int x = (int)task.output[index];
                            int y = (int)task.output[index + 1];
                            int w = (int)task.output[index + 2];
                            int h = (int)task.output[index + 3];
                            int classId = (int)task.output[index + 4];
                            double confidence = Math.Round(task.output[index + 5],2); //置信度
                            double contrast = Math.Round(task.output[index + 6], 3);//对比度
                            //y = image_hight-y-h;//转到右下角为原点
                            count++;

                            var cmW = Math.Round(w * task.widthRatio / Config.cm2px_x, 2);
                            var cmH = Math.Round(h * task.widthRatio / Config.cm2px_y, 2);
                            // 打印输出信息
                            task.resultInfo += $"----{i}----col:{i % colNum}/{colNum} row:{i / colNum}/{colNum}-----------\n目标:{j + 1} 类别ID:{classId} 置信度:{confidence} 对比度:{contrast} 坐标:({x},{y})-({x + w},{y + h}) 宽高:w={w},h={h}; \n";
                            //是否满足此产品标准
                            if (task.qualifiedLimitList != null && task.qualifiedLimitList.Count > 0)
                            {                              
                                qualifiedLimit = task.qualifiedLimitList.FirstOrDefault(m => m.Code == Config.getDefectCode(classId));
                                if (qualifiedLimit != null)
                                {              
                                    //if ((qualifiedLimit.ZXD > 0 && qualifiedLimit.ZXD > confidence)
                                    //    || (qualifiedLimit.ContrastTop + qualifiedLimit.ContrastLower > 0 && x> qualifiedLimit.ContrastLower && x < qualifiedLimit.ContrastTop)
                                    //    || (qualifiedLimit.Area > 0 && qualifiedLimit.Area > cmW * cmH))
                                    if (confidence <= qualifiedLimit.ZXD)//confidence > qualifiedLimit.ZXD 是瑕疵 才继续判断下面的两个条件
                                    {
                                        task.resultInfo += $"   置信度不满足此产品瑕疵标准，跳过！ \n";
                                        continue;
                                    }

                                    //下限<对比度<上限：不是瑕疵
                                    var ContrastTotal = qualifiedLimit.ContrastTop + qualifiedLimit.ContrastLower;
                                    if (qualifiedLimit.IsOR)
                                    {
                                        if (!(
                                            (qualifiedLimit.Area <= 0 || cmW * cmH >= qualifiedLimit.Area) ||
                                            (ContrastTotal <= 0 || (contrast < qualifiedLimit.ContrastLower || contrast > qualifiedLimit.ContrastTop))))
                                        {
                                            task.resultInfo += $"   不满足此产品瑕疵标准，跳过！ \n";
                                            //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断不是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                                            continue;
                                        }
                                    }
                                    else
                                    {
                                        if (!(
                                            (qualifiedLimit.Area<=0 || cmW * cmH >= qualifiedLimit.Area) &&
                                            (ContrastTotal <=0 || (contrast < qualifiedLimit.ContrastLower || contrast > qualifiedLimit.ContrastTop))))
                                        {
                                            task.resultInfo += $"   不满足此产品瑕疵标准，跳过！ \n";
                                            //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断不是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                                            continue;
                                        }
                                    }
                                
                                    
                                    //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                                }
                            }
                            liStep++;//1
                            //打标
                            var point1 = new OpenCvSharp.Point((i % colNum) * image_width + x, (i / colNum) * image_hight + y);
                            var point2 = new OpenCvSharp.Point(point1.X + w, point1.Y + h);
                            liStep++;//2
                            task.resultInfo += $"   转换到大图坐标(px)：p1={point1.X},{point1.Y}; p2={point2.X},{point2.Y}\n";
                            Cv2.Rectangle(task.bmpTag, point1, point2, new Scalar(0.0, 0.0, 255.0), 1);//画打标点 
                                                                                                       //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"保存第 {count} 行缺陷信息；");
                            var cmX = Math.Round(point1.X * task.widthRatio / Config.cm2px_x, 2);
                            var cmY = Math.Round((task.bmp.Height-point1.Y-h) * task.widthRatio / Config.cm2px_y, 2);//外面计Y从右下角为原点
                            liStep++;//3
                            task.resultInfo += $"   转换到大图坐标(cm)[widthRatio={task.widthRatio}]：x={cmX},y={cmY}; w={cmW},h={cmH}\n";
                            task.excelTable.Rows.Add($"{task.photoIndex}", cmX, cmY, cmW, cmH, j + 1, classId, confidence, contrast);

                            liStep++;//4
                                     //切缺陷小图 
                                     //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"保存第 {count} 个缺陷小图；");
                            int left, top, decX, decY;
                            decX = (w > 236 ? 20 : 256 - w) / 2;
                            decY = (h > 236 ? 20 : 256 - h) / 2;
                            left = point1.X - decX;
                            top = point1.Y - decY;
                            if (left < 0) left = 0;
                            if (top < 0) top = 0;

                            int width = w + decX * 2;
                            int height = h + decY * 2;
                            if (left + width > task.bmp.Width - 1) width = task.bmp.Width - left - 1;
                            if (top + height > task.bmp.Height - 1) height = task.bmp.Height - top - 1;
                            liStep++;//5 
                            Rect roi = new Rect(left, top, width, height);
                            liStep++;//6
                            if (height < 1 || width < 1)
                            {
                                task.resultInfo += $"   打标到大图坐标Rect(px)：left={left},top={top}; width={width},height={height}\n";
                                task.resultInfo += $"   test  point1.Y={point1.Y},h={h}; top={top},mat.Height={ task.bmp.Height}\n================\n";
                                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, task.resultInfo);
                            }

                            //保存
                            //string filename = $"{Config.appBasePath}\\temp\\{task.tag}\\{task.tag}_X{mmX.ToString()}_Y{mmY.ToString()}_W{mmW.ToString()}_H{mmH.ToString()}_目标{j + 1}_类别{classId}_置信度{confidence}.bmp";
                            //OpenCvSharp.Extensions.BitmapConverter.ToBitmap(new Mat(task.bmp, roi)).Save(filename, ImageFormat.Jpeg);

                            task.lstDefectBmp.Add(new Mat(task.bmpTag, roi).Clone());
                            liStep++;//7
                                     //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"缺陷小图数量:{task.lstDefectBmp.Count}");
                        }
#endif
                    }

                    #region 合并接头横档
                    liStep++;
                    if (DefectLabelInfoList.Count >0)
                        DefectLabelInfoList = HeBingDefect(task.bmp.Width, DefectLabelInfoList);
                    liStep++;
                    #endregion

                    //结果过滤
                    #region 结果过滤
                    //降序排序，先得到是否有接头检出
                    List<DefectLabelInfo> DefectLabelInfoListByClassID = DefectLabelInfoList.OrderByDescending(t => t.classId).ToList();//降序
                    for (int q = 0; q < DefectLabelInfoListByClassID.Count; q++)
                    {
                        //是否满足此产品标准
                        if (task.qualifiedLimitList != null && task.qualifiedLimitList.Count > 0)
                        {
                            qualifiedLimit = task.qualifiedLimitList.FirstOrDefault(m => m.Code == Config.getDefectCode(DefectLabelInfoListByClassID[q].classId));
                            if (qualifiedLimit != null)
                            {
                                // 打印输出信息
                                task.resultInfo += $"----{DefectLabelInfoListByClassID[q].i}----col:{DefectLabelInfoListByClassID[q].i % colNum}/{colNum} row:{DefectLabelInfoListByClassID[q].i / colNum}/{colNum}-----------\n目标:{DefectLabelInfoListByClassID[q].j + 1} 类别ID:{DefectLabelInfoListByClassID[q].classId} 置信度:{DefectLabelInfoListByClassID[q].confidence} 对比度:{DefectLabelInfoListByClassID[q].contrast}\n";

                                //if ((qualifiedLimit.ZXD > 0 && qualifiedLimit.ZXD > confidence)
                                //    || (qualifiedLimit.ContrastTop + qualifiedLimit.ContrastLower > 0 && x> qualifiedLimit.ContrastLower && x < qualifiedLimit.ContrastTop)
                                //    || (qualifiedLimit.Area > 0 && qualifiedLimit.Area > cmW * cmH))
                                if (DefectLabelInfoListByClassID[q].confidence <= qualifiedLimit.ZXD)//confidence > qualifiedLimit.ZXD 是瑕疵 才继续判断下面的两个条件
                                {
                                    task.resultInfo += $"   置信度不满足此产品瑕疵标准，跳过！ \n";
                                    continue;
                                }

                                //下限<对比度<上限：不是瑕疵
                                var ContrastTotal = qualifiedLimit.ContrastTop + qualifiedLimit.ContrastLower;
                                if (qualifiedLimit.IsOR)
                                {
                                    //if (!(
                                    //    (ContrastTotal <= 0 || (PercentToContrast(DefectLabelInfoListByClassID[q].contrast) < qualifiedLimit.ContrastLower || PercentToContrast(DefectLabelInfoListByClassID[q].contrast) > qualifiedLimit.ContrastTop))))
                                    //{
                                    //    task.resultInfo += $"   不满足此产品瑕疵标准，跳过！ \n";
                                    //    //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断不是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                                    //    continue;
                                    //}
                                }
                                else
                                {
                                    if (!(ContrastTotal <= 0 || (PercentToContrast(DefectLabelInfoListByClassID[q].contrast) < qualifiedLimit.ContrastLower || PercentToContrast(DefectLabelInfoListByClassID[q].contrast) > qualifiedLimit.ContrastTop)))
                                    {
                                        task.resultInfo += $"   不满足此产品瑕疵标准，跳过！ \n";
                                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断不是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                                        continue;
                                    }
                                }
                                if(qualifiedLimit.Area > 0 && DefectLabelInfoListByClassID[q].cmW * DefectLabelInfoListByClassID[q].cmH < qualifiedLimit.Area)
                                {
                                    task.resultInfo += $"   不满足此产品瑕疵标准面积，跳过！ \n";     
                                    continue;
                                }
                                if (Config.getDefectCode(DefectLabelInfoListByClassID[q].classId) == "jietou")
                                    haveJieTou = true;
                                if(haveJieTou && (Config.getDefectCode(DefectLabelInfoListByClassID[q].classId) == "hengdang"))
                                {
                                    task.resultInfo += $"   判断为接头处横档，跳过！ \n";
                                    continue;
                                }
                                //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"判断是瑕疵：类别ID:{classId}； 置信度({confidence},[{qualifiedLimit.ZXD}]); isOr({qualifiedLimit.IsOR}); 面积({cmW * cmH},[{ qualifiedLimit.Area}]); 对比度({contrast},[{qualifiedLimit.ContrastLower}-{qualifiedLimit.ContrastTop}])");
                            }
                        }
                        liStep++;//1
                                 //打标
                        var point1 = new OpenCvSharp.Point((DefectLabelInfoListByClassID[q].i % colNum) * image_width + DefectLabelInfoListByClassID[q].x, (DefectLabelInfoListByClassID[q].i / colNum) * image_hight + DefectLabelInfoListByClassID[q].y);
                        var point2 = new OpenCvSharp.Point(point1.X + DefectLabelInfoListByClassID[q].w, point1.Y + DefectLabelInfoListByClassID[q].h);
                        liStep++;//2
                        //task.resultInfo += $"   转换到大图坐标(px)：p1={point1.X},{point1.Y}; p2={point2.X},{point2.Y}\n";
                        Cv2.Rectangle(task.bmpTag, point1, point2, new Scalar(0.0, 0.0, 255.0), 1);//画打标点 

                        //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"保存第 {count} 行缺陷信息；");
                        int px = (point1.X - task.xw) > 0 ? (point1.X - task.xw) : 0;
                        //var cmX = Math.Round(px * task.widthRatio / Config.cm2px_x, 2);
                        var cmX = Math.Round((double)px / Config.cm2px_x, 2);
                        //var cmY = Math.Round((task.bmp.Height - point1.Y - DefectLabelInfoListByClassID[q].h) * task.widthRatio / Config.cm2px_y, 2);//外面计Y从右下角为原点
                        var cmY = Math.Round((task.bmp.Height - point1.Y - DefectLabelInfoListByClassID[q].h) * 1.0 / Config.cm2px_y, 2);//外面计Y从右下角为原点
                        liStep++;//3
                        //task.resultInfo += $"   转换到大图坐标(cm)[widthRatio={task.widthRatio}]：x={cmX},y={cmY}; w={DefectLabelInfoList[q].cmW},h={DefectLabelInfoList[q].cmH}\n";
                        task.excelTable.Rows.Add($"{task.photoIndex}", cmX, cmY, DefectLabelInfoListByClassID[q].cmW, DefectLabelInfoListByClassID[q].cmH, DefectLabelInfoListByClassID[q].j + 1, DefectLabelInfoListByClassID[q].classId, DefectLabelInfoListByClassID[q].confidence, DefectLabelInfoListByClassID[q].contrast);

                        liStep++;//4
                                 //切缺陷小图 
                                 //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"保存第 {count} 个缺陷小图；");
                        int left, top, decX, decY;
                        decX = (DefectLabelInfoListByClassID[q].w > 236 ? 20 : 256 - DefectLabelInfoListByClassID[q].w) / 2;
                        decY = (DefectLabelInfoListByClassID[q].h > 236 ? 20 : 256 - DefectLabelInfoListByClassID[q].h) / 2;
                        left = point1.X - decX;
                        top = point1.Y - decY;
                        if (left < 0) left = 0;
                        if (top < 0) top = 0;

                        int width = DefectLabelInfoListByClassID[q].w + decX * 2;
                        int height = DefectLabelInfoListByClassID[q].h + decY * 2;
                        if (left + width > task.bmp.Width - 1) width = task.bmp.Width - left - 1;
                        if (top + height > task.bmp.Height - 1) height = task.bmp.Height - top - 1;
                        liStep++;//5 
                        Rect roi = new Rect(left, top, width, height);
                        liStep++;//6
                        if (height < 1 || width < 1)
                        {
                            //task.resultInfo += $"   打标到大图坐标Rect(px)：left={left},top={top}; width={width},height={height}\n";
                            //task.resultInfo += $"   test  point1.Y={point1.Y},h={DefectLabelInfoList[q].h}; top={top},mat.Height={task.bmp.Height}\n================\n";
                            WarningEvent?.Invoke(DateTime.Now, WarningEnum.Normal, task.resultInfo);
                        }

                        //保存
                        //string filename = $"{Config.appBasePath}\\temp\\{task.tag}\\{task.tag}_X{mmX.ToString()}_Y{mmY.ToString()}_W{mmW.ToString()}_H{mmH.ToString()}_目标{j + 1}_类别{classId}_置信度{confidence}.bmp";
                        //OpenCvSharp.Extensions.BitmapConverter.ToBitmap(new Mat(task.bmp, roi)).Save(filename, ImageFormat.Jpeg);

                        task.lstDefectBmp.Add(new Mat(task.bmpTag, roi).Clone());
                        liStep++;//7
                    }
                    #endregion
                    liStep = 99;
                    stopwatch.Stop();
                    task.stopwatch[3] = stopwatch.ElapsedMilliseconds;

                    task.isSucceed = true;
                    callback(task);
                }
                catch (Exception ex)
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"DefectLib task3 err({liStep}):" + ex.Message);
                    task.isSucceed = false;
                    task.resultInfo = ex.Message;
                    callback(task);
                }
                Thread.Sleep(5);
            }
        }
        private void callback(DefectTask task)
        {
            //返回成功/失败,异步调用 
            if (task.finishEvent != null || (task.finishEvent = finishEvent) != null)
                //task.finishEvent.BeginInvoke(result, errInfo, res => task.finishEvent.EndInvoke(res), null);
                System.Threading.ThreadPool.QueueUserWorkItem(waitCallback, task);
        }
        //异步回调
        WaitCallback waitCallback = new WaitCallback(o =>
        {
            var task = (DefectTask)o;
            task.finishEvent(task);
        });
        /// <summary>
        /// 切割(先左右，后上下)
        /// </summary>
        /// <param name="mat"></param>
        /// <param name="width"></param>
        /// <param name="height"></param>
        /// <returns></returns>
        private Mat[] OpenCVToCutsMat(Mat mat, int width, int height)
        {
            Mat[] array = new Mat[mat.Width / width * mat.Height / height];
            int num = 0;
            for (int i = 0; i < mat.Height / height; i++)
            {
                for (int j = 0; j < mat.Width / width; j++)
                {
                    int x = j * width;
                    int y = i * height;
                    System.Drawing.Rectangle rectangle = new System.Drawing.Rectangle(x, y, width, height);
                    Rect roi = new Rect(rectangle.X, rectangle.Y, rectangle.Width, rectangle.Height);
                    array[num] = new Mat(mat, roi).Clone();
                    num++;
                }
            }

            return array;
        }
        public class DefectTask
        {
            public DefectTask()
            {
                // 创建一个 DataTable 对象来存储数据
                excelTable = new DataTable("MyData");
                // 添加列到 DataTable
                excelTable.Columns.Add("FileName", typeof(string));
                excelTable.Columns.Add("X", typeof(decimal));
                excelTable.Columns.Add("Y", typeof(decimal));
                excelTable.Columns.Add("W", typeof(decimal));
                excelTable.Columns.Add("H", typeof(decimal));
                excelTable.Columns.Add("目标", typeof(int));
                excelTable.Columns.Add("类别", typeof(int));
                excelTable.Columns.Add("置信度", typeof(decimal));
                excelTable.Columns.Add("对比度", typeof(decimal));
                // 向 DataTable 中添加数据行
                //excelTable.Rows.Add("John Doe", 30);
                //excelTable.Rows.Add("Jane Smith", 25);
            }
            /// <summary>
            /// 模型名字
            /// </summary>
            public string modelName;

            public Models.Records record;
            //public string bmpPath;//源图路径（仅目录）
            /// <summary>
            /// 源图(resize后的)
            /// </summary>
            public Mat bmp;
            //public Mat bmpBgr2rgb=new Mat();

            public System.Drawing.Size resize = new System.Drawing.Size(224, 224);
            //public Mat resizeBmp;//resize后 BGR2RGB图，只用于识别
            public Mat bmpTag;
            /// <summary>
            /// 图片索引0-n
            /// </summary>
            public int photoIndex;//excel中对应的图像路径标识
            public float widthRatio;//宽度比例，resize前/resize后
            //切割后
            public Mat[] bmps_cut;

            //用于比对参数 }//置信度 面积 对比度 
            public List<QualifiedLimit> qualifiedLimitList;

            //推理后结果用于打标
            public float[] output;
            public int[] output_num;

            //
            /// <summary>
            /// 完成后回调 
            /// </summary>
            public Action<DefectTask> finishEvent;
            //==结果返回    
            public bool isSucceed;//转换是否成功
            public string resultInfo = "";//成功或失败信息 

            public List<Mat> lstDefectBmp=new List<Mat>();
            /// <summary>
            /// fileIndex,x_mm,y_mm,w_mm,h_mm,目标,类别ID,置信度
            /// </summary>
            public DataTable excelTable=new DataTable();
            public long[] stopwatch = new long[4];

            public int xw;
        }

        public void add(DefectTask task)
        {
            lock (taskList)
            {
                taskList.Add(task);
                QueueCountEvent?.BeginInvoke(0, taskList.Count, null, null);
            }
        }


        private DefectTask pop()
        { 
            lock (taskList)
            {
                if (taskList.Count < 1)
                    return null;

                //int index = 0;// taskList.FindIndex(p => { return p.isSync; });
                //if (index < 0) index = 0; 
                var task = taskList[0];
                taskList.RemoveAt(0); 
                QueueCountEvent?.BeginInvoke(0, taskList.Count, null, null);
                return task;
            }
        }
        private DefectTask pop2()
        {
            lock (taskOperationList)
            {
                if (taskOperationList.Count < 1)
                    return null;

                //int index = 0;// taskList.FindIndex(p => { return p.isSync; });
                //if (index < 0) index = 0; 
                var task = taskOperationList[0];
                taskOperationList.RemoveAt(0);
                QueueCountEvent?.BeginInvoke(1, taskOperationList.Count, null, null);
                return task;
            }
        }
        private DefectTask pop3()
        {
            lock (taskMakeTagList)
            {
                if (taskMakeTagList.Count < 1)
                    return null;

                //int index = 0;// taskList.FindIndex(p => { return p.isSync; });
                //if (index < 0) index = 0; 
                var task = taskMakeTagList[0];
                taskMakeTagList.RemoveAt(0);
                QueueCountEvent?.BeginInvoke(2, taskMakeTagList.Count, null, null);
                return task;
            }
        }

        public void Dispose()
        {
            stop();
        }
    }
}