Metis_xctg/Preview2/Components/DisplayControl.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using PaintDotNet.Base.SettingModel;
using OpenCvSharp;
using PaintDotNet.CustomControl;
using PaintDotNet.Camera;
using OpenCvSharp.Extensions;
using System.Threading;

namespace PaintDotNet.Preview2
{
    public class DisplayControl : UserControl
    {
        #region 初始化变量
        private AppWorkspace AppWorkspace;
        /// <summary>
        /// 一个矩阵数组，用来接收直方图,记得全部初始化
        /// </summary>
        Mat[] oldHists = new Mat[] { new Mat(), new Mat(), new Mat() };
        /// <summary>
        /// 相机采集的图像
        /// </summary>
        Mat OldMat;
        /// <summary>
        /// 灰度图
        /// </summary>
        private bool isGray = true;
        /// <summary>
        /// BGR线条颜色
        /// </summary>
        private Scalar[] color = new Scalar[] { new Scalar(255, 0, 0, 255), new Scalar(0, 255, 0, 255), new Scalar(0, 0, 255, 255) };
        #endregion

        #region 控件

        private Label label0005;
        /// <summary>
        /// 相机参数的Model
        /// </summary>
        private CameraParamModel m_cameraParamModel;
        private ICamera m_camera => CameraManager.CurrentCamera;
        private Label label7;
        private TriangleTrackBar trackBar3;
        private Label label6;
        private TriangleTrackBar trackBar2;
        private Label label5;
        private TriangleTrackBar trackBar1;
        private Label label3;
        private Label label2;
        private Label label1;
        public Button button5;
        public Button button4;
        private UCTrackBar ucTrackBar1;
        private SelectButton logButton;
        private SelectButton skipButton;
        private PictureBox pictureBox1;
        private GroupBox groupBox1;
        private Panel panel1;
        private Panel panel2;
        private TableLayoutPanel tableLayoutPanel1;
        private System.Threading.Timer m_aeTimer;

        #endregion
        public DisplayControl()
        {
            InitializeComponent();
            InitializeLanguageText();
            try
            {
                InitializeControlData();
            }
            catch { }
        }
        /// <summary>
        /// 设置直方图的图像
        /// </summary>
        /// <param name="mat"></param>

        /// <summary>
        /// 设置下拉等数据源
        /// </summary>
        private void InitializeControlData()
        {
            m_cameraParamModel = Startup.instance.cameraParamModel;
            if (m_camera.IsOpen())
            {
                m_aeTimer = new System.Threading.Timer(TimerUpdateHist, null, 500, 500);
            }
            ucTrackBar1.Value1 = m_camera.LeftLevel;
            ucTrackBar1.Value2 = (int)m_camera.Gamma;
            ucTrackBar1.Value3 = m_camera.RightLevel;

            trackBar1.Value = m_cameraParamModel.parame.Light;
            label5.Text = trackBar1.Value + "";
            trackBar2.Value = m_cameraParamModel.parame.Contrast;
            label6.Text = trackBar2.Value + "";
            trackBar3.Value = m_cameraParamModel.parame.Gamma;
            label7.Text = trackBar3.Value / 100f + "";
        }

        private void InitializeLanguageText()
        {
            this.label0005.Text = PdnResources.GetString("Menu.timeofexposure.text") + ":";
            this.label3.Text = PdnResources.GetString("Menu.Gammavalue.text") + ":";
            this.label2.Text = PdnResources.GetString("Menu.Contrast.text") + ":";
            this.label1.Text = PdnResources.GetString("Menu.luminance.text") + ":";
            this.button5.Text = PdnResources.GetString("Menu.Originalstate.text");
            this.button4.Text = PdnResources.GetString("Menu.Gammavalue.text") + "1.00";
            this.groupBox1.Text = PdnResources.GetString("Menu.Tools.Histogram.Text");
        }
        private void InitializeComponent()
        {
            this.label0005 = new System.Windows.Forms.Label();
            this.label7 = new System.Windows.Forms.Label();
            this.trackBar3 = new PaintDotNet.CustomControl.TriangleTrackBar();
            this.label6 = new System.Windows.Forms.Label();
            this.trackBar2 = new PaintDotNet.CustomControl.TriangleTrackBar();
            this.label5 = new System.Windows.Forms.Label();
            this.trackBar1 = new PaintDotNet.CustomControl.TriangleTrackBar();
            this.label3 = new System.Windows.Forms.Label();
            this.label2 = new System.Windows.Forms.Label();
            this.label1 = new System.Windows.Forms.Label();
            this.button5 = new System.Windows.Forms.Button();
            this.button4 = new System.Windows.Forms.Button();
            this.ucTrackBar1 = new PaintDotNet.CustomControl.UCTrackBar();
            this.logButton = new PaintDotNet.CustomControl.SelectButton();
            this.skipButton = new PaintDotNet.CustomControl.SelectButton();
            this.pictureBox1 = new System.Windows.Forms.PictureBox();
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
            this.panel2 = new System.Windows.Forms.Panel();
            this.panel1 = new System.Windows.Forms.Panel();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
            this.groupBox1.SuspendLayout();
            this.tableLayoutPanel1.SuspendLayout();
            this.panel2.SuspendLayout();
            this.panel1.SuspendLayout();
            this.SuspendLayout();
            // 
            // label0005
            // 
            this.label0005.AutoSize = true;
            this.label0005.Location = new System.Drawing.Point(24, 39);
            this.label0005.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
            this.label0005.Name = "label0005";
            this.label0005.Size = new System.Drawing.Size(82, 15);
            this.label0005.TabIndex = 12;
            this.label0005.Text = "曝光时间：";
            // 
            // label7
            // 
            this.label7.AutoSize = true;
            this.label7.Location = new System.Drawing.Point(241, 83);
            this.label7.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label7.Name = "label7";
            this.label7.Size = new System.Drawing.Size(29, 12);
            this.label7.TabIndex = 59;
            this.label7.Text = "1.00";
            // 
            // trackBar3
            // 
            this.trackBar3.Dock = System.Windows.Forms.DockStyle.Top;
            this.trackBar3.Location = new System.Drawing.Point(61, 75);
            this.trackBar3.Maximum = 255;
            this.trackBar3.Minimum = 64;
            this.trackBar3.Name = "trackBar3";
            this.trackBar3.Size = new System.Drawing.Size(177, 28);
            this.trackBar3.TabIndex = 58;
            this.trackBar3.Value = 100;
            this.trackBar3.TrackBarScroll += new System.EventHandler(this.trackBar3_Scroll);
            // 
            // label6
            // 
            this.label6.AutoSize = true;
            this.label6.Location = new System.Drawing.Point(241, 49);
            this.label6.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label6.Name = "label6";
            this.label6.Size = new System.Drawing.Size(29, 12);
            this.label6.TabIndex = 57;
            this.label6.Text = "1.00";
            // 
            // trackBar2
            // 
            this.trackBar2.Dock = System.Windows.Forms.DockStyle.Top;
            this.trackBar2.Location = new System.Drawing.Point(61, 41);
            this.trackBar2.Maximum = 63;
            this.trackBar2.Minimum = 0;
            this.trackBar2.Name = "trackBar2";
            this.trackBar2.Size = new System.Drawing.Size(177, 28);
            this.trackBar2.TabIndex = 56;
            this.trackBar2.Value = 63;
            this.trackBar2.TrackBarScroll += new System.EventHandler(this.trackBar2_Scroll);
            // 
            // label5
            // 
            this.label5.AutoSize = true;
            this.label5.Location = new System.Drawing.Point(241, 15);
            this.label5.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label5.Name = "label5";
            this.label5.Size = new System.Drawing.Size(29, 12);
            this.label5.TabIndex = 55;
            this.label5.Text = "-0.5";
            // 
            // trackBar1
            // 
            this.trackBar1.Dock = System.Windows.Forms.DockStyle.Top;
            this.trackBar1.Location = new System.Drawing.Point(61, 7);
            this.trackBar1.Maximum = 255;
            this.trackBar1.Minimum = 0;
            this.trackBar1.Name = "trackBar1";
            this.trackBar1.Size = new System.Drawing.Size(177, 28);
            this.trackBar1.TabIndex = 54;
            this.trackBar1.Value = 0;
            this.trackBar1.TrackBarScroll += new System.EventHandler(this.Light_Scroll);
            // 
            // label3
            // 
            this.label3.AutoSize = true;
            this.label3.Location = new System.Drawing.Point(4, 83);
            this.label3.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label3.Name = "label3";
            this.label3.Size = new System.Drawing.Size(53, 12);
            this.label3.TabIndex = 51;
            this.label3.Text = "伽马值：";
            // 
            // label2
            // 
            this.label2.AutoSize = true;
            this.label2.Location = new System.Drawing.Point(4, 49);
            this.label2.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label2.Name = "label2";
            this.label2.Size = new System.Drawing.Size(53, 12);
            this.label2.TabIndex = 50;
            this.label2.Text = "对比度：";
            // 
            // label1
            // 
            this.label1.AutoSize = true;
            this.label1.Location = new System.Drawing.Point(4, 15);
            this.label1.Margin = new System.Windows.Forms.Padding(0, 11, 0, 0);
            this.label1.Name = "label1";
            this.label1.Size = new System.Drawing.Size(41, 12);
            this.label1.TabIndex = 49;
            this.label1.Text = "亮度：";
            // 
            // button5
            // 
            this.button5.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
            this.button5.Location = new System.Drawing.Point(87, 288);
            this.button5.Name = "button5";
            this.button5.Size = new System.Drawing.Size(75, 23);
            this.button5.TabIndex = 48;
            this.button5.Text = "原始状态";
            this.button5.UseVisualStyleBackColor = true;
            this.button5.Click += new System.EventHandler(this.button5_Click);
            // 
            // button4
            // 
            this.button4.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
            this.button4.Location = new System.Drawing.Point(9, 288);
            this.button4.Name = "button4";
            this.button4.Size = new System.Drawing.Size(75, 23);
            this.button4.TabIndex = 47;
            this.button4.Text = "伽马值1.00";
            this.button4.UseVisualStyleBackColor = true;
            this.button4.Click += new System.EventHandler(this.button4_Click);
            // 
            // ucTrackBar1
            // 
            this.ucTrackBar1.DcimalDigits = 0;
            this.ucTrackBar1.Dock = System.Windows.Forms.DockStyle.Top;
            this.ucTrackBar1.LineColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(77)))), ((int)(((byte)(59)))));
            this.ucTrackBar1.LineWidth = 8F;
            this.ucTrackBar1.Location = new System.Drawing.Point(3, 131);
            this.ucTrackBar1.MaxValue = 255F;
            this.ucTrackBar1.MinValue = 0F;
            this.ucTrackBar1.Name = "ucTrackBar1";
            this.ucTrackBar1.Size = new System.Drawing.Size(282, 15);
            this.ucTrackBar1.TabIndex = 44;
            this.ucTrackBar1.Text = "ucTrackBar1";
            this.ucTrackBar1.Value1 = 0F;
            this.ucTrackBar1.Value2 = 127F;
            this.ucTrackBar1.Value3 = 255F;
            this.ucTrackBar1.Value1Changed += new System.EventHandler(this.LeftLevelChanged);
            this.ucTrackBar1.Value2Changed += new System.EventHandler(this.ucTrackBar1_Value2Changed);
            this.ucTrackBar1.Value3Changed += new System.EventHandler(this.RightLevelChanged);
            // 
            // logButton
            // 
            this.logButton.BackColor = System.Drawing.SystemColors.ControlDark;
            this.logButton.BtnSelect = false;
            this.logButton.BtnText = "log";
            this.logButton.Location = new System.Drawing.Point(69, 1);
            this.logButton.Name = "logButton";
            this.logButton.Size = new System.Drawing.Size(41, 21);
            this.logButton.TabIndex = 43;
            this.logButton.Click += new System.EventHandler(this.logButton_Click);
            // 
            // skipButton
            // 
            this.skipButton.BackColor = System.Drawing.SystemColors.ControlDark;
            this.skipButton.BtnSelect = false;
            this.skipButton.BtnText = "skip";
            this.skipButton.Location = new System.Drawing.Point(166, 0);
            this.skipButton.Name = "skipButton";
            this.skipButton.Size = new System.Drawing.Size(41, 21);
            this.skipButton.TabIndex = 42;
            this.skipButton.Click += new System.EventHandler(this.skipButton_Click);
            // 
            // pictureBox1
            // 
            this.pictureBox1.BackColor = System.Drawing.Color.White;
            this.pictureBox1.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Stretch;
            this.pictureBox1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.pictureBox1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.pictureBox1.Location = new System.Drawing.Point(7, 0);
            this.pictureBox1.Name = "pictureBox1";
            this.pictureBox1.Size = new System.Drawing.Size(268, 114);
            this.pictureBox1.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
            this.pictureBox1.TabIndex = 41;
            this.pictureBox1.TabStop = false;
            // 
            // groupBox1
            // 
            this.groupBox1.Controls.Add(this.tableLayoutPanel1);
            this.groupBox1.Controls.Add(this.panel2);
            this.groupBox1.Controls.Add(this.button5);
            this.groupBox1.Controls.Add(this.button4);
            this.groupBox1.Controls.Add(this.ucTrackBar1);
            this.groupBox1.Controls.Add(this.panel1);
            this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.groupBox1.Location = new System.Drawing.Point(0, 6);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(288, 322);
            this.groupBox1.TabIndex = 60;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "直方图";
            // 
            // tableLayoutPanel1
            // 
            this.tableLayoutPanel1.ColumnCount = 3;
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 54F));
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 37F));
            this.tableLayoutPanel1.Controls.Add(this.label1, 0, 0);
            this.tableLayoutPanel1.Controls.Add(this.label2, 0, 1);
            this.tableLayoutPanel1.Controls.Add(this.label3, 0, 2);
            this.tableLayoutPanel1.Controls.Add(this.label5, 2, 0);
            this.tableLayoutPanel1.Controls.Add(this.label6, 2, 1);
            this.tableLayoutPanel1.Controls.Add(this.label7, 2, 2);
            this.tableLayoutPanel1.Controls.Add(this.trackBar1, 1, 0);
            this.tableLayoutPanel1.Controls.Add(this.trackBar2, 1, 1);
            this.tableLayoutPanel1.Controls.Add(this.trackBar3, 1, 2);
            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Top;
            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 168);
            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
            this.tableLayoutPanel1.Padding = new System.Windows.Forms.Padding(4);
            this.tableLayoutPanel1.RowCount = 3;
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
            this.tableLayoutPanel1.Size = new System.Drawing.Size(282, 110);
            this.tableLayoutPanel1.TabIndex = 61;
            // 
            // panel2
            // 
            this.panel2.Controls.Add(this.logButton);
            this.panel2.Controls.Add(this.skipButton);
            this.panel2.Dock = System.Windows.Forms.DockStyle.Top;
            this.panel2.Location = new System.Drawing.Point(3, 146);
            this.panel2.Name = "panel2";
            this.panel2.Size = new System.Drawing.Size(282, 22);
            this.panel2.TabIndex = 60;
            // 
            // panel1
            // 
            this.panel1.Controls.Add(this.pictureBox1);
            this.panel1.Dock = System.Windows.Forms.DockStyle.Top;
            this.panel1.Location = new System.Drawing.Point(3, 17);
            this.panel1.Name = "panel1";
            this.panel1.Padding = new System.Windows.Forms.Padding(7, 0, 7, 0);
            this.panel1.Size = new System.Drawing.Size(282, 114);
            this.panel1.TabIndex = 0;
            // 
            // DisplayControl
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.Controls.Add(this.groupBox1);
            this.Name = "DisplayControl";
            this.Padding = new System.Windows.Forms.Padding(0, 6, 0, 0);
            this.Size = new System.Drawing.Size(288, 328);
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
            this.groupBox1.ResumeLayout(false);
            this.tableLayoutPanel1.ResumeLayout(false);
            this.tableLayoutPanel1.PerformLayout();
            this.panel2.ResumeLayout(false);
            this.panel1.ResumeLayout(false);
            this.ResumeLayout(false);

        }
        /// <summary>
        /// 刷新直方图
        /// </summary>
        /// <param name="e"></param>
        public void TimerUpdateHist(object e)
        {
            try
            {
                if (this.Parent == null)
                {
                    m_aeTimer.Dispose();
                    return;
                }
                if (!this.Visible)
                    return;

                CameraManager.Shoot((bitmap) =>
                {
                    try
                    {
                        if (bitmap == null) return;
                        var mat = PaintDotNet.Camera.Tools.ToMat(bitmap);
                        updateHistImg(mat);

                        updateHistogramRect(false);
                    }
                    catch { }
                });
            }
            catch
            {
                m_aeTimer.Dispose();
            }
        }


        public unsafe void updateHistImg(OpenCvSharp.Mat mat)
        {
            OldMat = mat;
            isGray = true;
            if (this.OldMat == null) return;

            Mat[] mats = Cv2.Split(this.OldMat);//一张图片，将panda拆分成3个图片装进mat
            Mat[] mats0 = new Mat[] { mats[0] };//B
            Mat[] mats1;
            Mat[] mats2;
            if (mats.Length > 1)
            {
                isGray = false;
                mats1 = new Mat[] { mats[1] };//G
                mats2 = new Mat[] { mats[2] };//R
            }
            else
            {
                mats1 = new Mat[] { mats[0] };//G
                mats2 = new Mat[] { mats[0] };//R
            }

            int[] channels0 = new int[] { 0 };//一个通道,初始化为通道0,这些东西可以共用设置一个就行
            int[] channels1 = new int[] { 0 };
            int[] channels2 = new int[] { 0 };
            int[] histsize = new int[] { 256 };//一个通道，初始化为256箱子
            Rangef[] range = new Rangef[1];//一个通道，范围
            range[0] = new Rangef(0.0F, 256.0F);
            //range[0].Start = 0.0F;//从0开始(含)
            //range[0].End = 256.0F;//到256结束(不含)
            Mat mask = new Mat();//不做掩码

            Cv2.CalcHist(mats0, channels0, mask, oldHists[0], 1, histsize, range);//对被拆分的图片单独进行计算
            Cv2.CalcHist(mats1, channels1, mask, oldHists[1], 1, histsize, range);//对被拆分的图片单独进行计算
            Cv2.CalcHist(mats2, channels2, mask, oldHists[2], 1, histsize, range);//对被拆分的图片单独进行计算
            var hists = oldHists;
            if (logButton.BtnSelect)
            {
                //取对数
                for (int j = 0; j < hists.Length; j++)
                {
                    List<float> ProbPixel = new List<float>();

                    for (int i = 0; i < hists[j].Rows; i++)
                    {
                        if (((float*)hists[j].Ptr(0))[i] == 0)
                        {
                            ((float*)hists[j].Ptr(0))[i] = ((float*)hists[j].Ptr(0))[i];
                            ProbPixel.Add(0);
                        }
                        else
                        {
                            ((float*)hists[j].Ptr(0))[i] = (float)Math.Log10(((float*)hists[j].Ptr(0))[i]/* + 9*/);
                            ProbPixel.Add(1);
                        }
                    }

                    double max1jVal = 0;
                    double min1jVal = 0;
                    //找到直方图中的最大值和最小值
                    Cv2.MinMaxLoc(hists[j], out min1jVal, out max1jVal);

                    if (min1jVal >= max1jVal)
                    {
                        continue;
                    }
                    //归一化到0~255，并根据AxioVision添加偏置值
                    for (int i = 0; i < hists[j].Rows; i++)
                    {
                        ((float*)hists[j].Ptr(0))[i] = (float)((((float*)hists[j].Ptr(0))[i] - 0) * 255.0 / (max1jVal - 0)) + (float)(min1jVal > 0 ? (ProbPixel[i] * min1jVal * 255.0 / max1jVal) : ProbPixel[i] * 5);
                    }
                }
            }
            if (skipButton.BtnSelect)
            {
                //去掉黑色部分 和 白色部分
                for (int j = 0; j < hists.Length; j++)
                {
                    ((float*)hists[j].Ptr(0))[0] = 0;
                    ((float*)hists[j].Ptr(0))[255] = 0;
                }
            }

            double max2Val = 0;
            double max1Val = 0;
            double max0Val = 0;
            double minVal = 0;
            //为了更好显示直方图细节，使用4倍尺寸绘制直方图
            int histSize = hists[0].Rows * 4;
            Mat histImg = new Mat(histSize, histSize, MatType.CV_8UC3, new Scalar(255, 255, 255));
            //找到直方图中的最大值和最小值
            Cv2.MinMaxLoc(hists[2], out minVal, out max2Val);
            Cv2.MinMaxLoc(hists[1], out minVal, out max1Val);
            Cv2.MinMaxLoc(hists[0], out minVal, out max0Val);
            double maxVal = Math.Max(max2Val, Math.Max(max0Val, max1Val));

            if (maxVal < 1)
                return;

            // 设置最大峰值为图像高度的90%
            double hpt = 0.9 * histSize;

            //灰度图的显示直方图较为简单，显示一个通道即可
            if (isGray)
            {
                Mat hist = hists[0];
                int lastY2 = histSize - 1;
                for (int h = 0; h < hists[0].Rows; h++)
                {
                    int intensity = (int)(hist.At<float>(h) * hpt / maxVal);
                    int lastY1 = lastY2;
                    lastY2 = histSize - intensity - 1 - (hist.At<float>(h) > 0 ? 4 : 0);
                    if (lastY2 < lastY1)
                    {
                        Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lastY1), new OpenCvSharp.Point(h * 4, Math.Min(lastY2, lastY1 - 2)), new Scalar(0, 0, 0, 255), 2, LineTypes.Link4);
                    }
                    else
                    {
                        Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lastY1), new OpenCvSharp.Point(h * 4, Math.Max(lastY2, lastY1 + 2)), new Scalar(0, 0, 0, 255), 2, LineTypes.Link4);
                    }
                }
            }
            //彩度图显示BGR三个通道的直方图
            else
            {
                int lineWidth = 2;
                for (int j = hists.Length - 1; j >= 0; j--)
                {
                    Mat hist = hists[j];
                    int lastY2 = histSize - 1;
                    for (int h = 0; h < hists[0].Rows; h++)
                    {
                        int intensity = (int)(hist.At<float>(h) * hpt / maxVal);
                        int lastY1 = lastY2;
                        lastY2 = histSize - intensity - 1 - (hist.At<float>(h) > 0 ? 4 : 0);
                        if (h > 0)
                        {
                            //显示0.5位置的直方图，这样与AxioVision效果更加近似
                            int lasty12 = (lastY1 + lastY2) / 2;
                            if (lasty12 < lastY1)
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4 - 2, lastY1), new OpenCvSharp.Point(h * 4 - 2, Math.Min(lasty12, lastY1 - 2)), color[j], lineWidth, LineTypes.Link4);
                            }
                            else
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4 - 2, lastY1), new OpenCvSharp.Point(h * 4 - 2, Math.Max(lasty12, lastY1 + 2)), color[j], lineWidth, LineTypes.Link4/*AntiAlias*/);
                            }
                            if (lastY2 < lasty12)
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lasty12), new OpenCvSharp.Point(h * 4, Math.Min(lastY2, lasty12 - 2)), color[j], lineWidth, LineTypes.Link4);
                            }
                            else
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lasty12), new OpenCvSharp.Point(h * 4, Math.Max(lastY2, lasty12 + 2)), color[j], lineWidth, LineTypes.Link4/*AntiAlias*/);
                            }
                        }
                        else
                        {
                            //灰度值为0的线的绘制
                            if (lastY2 < lastY1)
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lastY1), new OpenCvSharp.Point(h * 4, Math.Min(lastY2, lastY1 - 2)), color[j], lineWidth, LineTypes.Link4);
                            }
                            else
                            {
                                Cv2.Line(histImg, new OpenCvSharp.Point(h * 4, lastY1), new OpenCvSharp.Point(h * 4, Math.Max(lastY2, lastY1 + 2)), color[j], lineWidth, LineTypes.Link4/*AntiAlias*/);
                            }
                        }
                    }
                }
            }

            this.pictureBox1.BackgroundImage = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(histImg);
        }

        /// <summary>
        /// 伽马1.00
        /// 需要调整直线的弧度
        /// 直方图曲线根据伽马值进行变化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button4_Click(object sender, EventArgs e)
        {
            this.trackBar3.Value = 100;
            trackBar3_Scroll(null, null);
        }

        /// <summary>
        /// 原始状态
        /// </summary>
        private void button5_Click(object sender, EventArgs e)
        {
            this.trackBar1.Value = 64;
            Light_Scroll(null, null);
            this.trackBar2.Value = 33;
            trackBar2_Scroll(null, null);
            this.trackBar3.Value = 100;
            trackBar3_Scroll(null, null);

            m_camera.LeftLevel = 0;
            m_camera.RightLevel = 255;
            ucTrackBar1.Value1 = 0;
            ucTrackBar1.Value3 = 255;
        }

        /// <summary>
        /// skip按钮
        /// 显示直方图时，忽略黑色的灰度或颜色值。 
        /// 这使您可以为背景为黑色的图像实现有意义的直方图显示。
        /// </summary>
        private void skipButton_Click(object sender, EventArgs e)
        {
            if (this.OldMat == null)
            {
                return;
            }
            //设置按钮的选中/非选择的状态
            skipButton.BtnSelect = !skipButton.BtnSelect;
        }

        /// <summary>
        /// log按钮
        /// 以对数比例显示直方图
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void logButton_Click(object sender, EventArgs e)
        {
            if (this.OldMat == null)
            {
                return;
            }
            //设置按钮的选中/非选择的状态
            logButton.BtnSelect = !logButton.BtnSelect;
        }

        /// <summary>
        /// 亮度改变
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Light_Scroll(object sender, EventArgs e)
        {
            var value = trackBar1.Value;
            m_camera.Light = value;
            label5.Text = value + "";
        }

        /// <summary>
        /// 对比度改变
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void trackBar2_Scroll(object sender, EventArgs e)
        {
            var value = trackBar2.Value;
            label6.Text = value + "";
            m_camera.Contrast = value;
        }

        /// <summary>
        /// gamma改变
        /// gamma值小于1时，会拉伸图像中灰度级较低的区域，同时会压缩灰度级较高的部分
        /// gamma值大于1时，会拉伸图像中灰度级较高的区域，同时会压缩灰度级较低的部分
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void trackBar3_Scroll(object sender, EventArgs e)
        {
            var value = trackBar3.Value;
            label7.Text = (value / 100.0).ToString("f2");
            m_camera.Gamma = value;
            ucTrackBar1.Value2 = value;
        }

        /// <summary>
        /// 将拟合点绘制到空白图上
        /// //原文链接：https://blog.csdn.net/guduruyu/article/details/72866144
        /// </summary>
        /// <param name="key_point">拟合点</param>
        /// <param name="n">拟合矩阵的？？数量</param>
        /// <param name="A">空白图</param>
        /// <returns></returns>
        private unsafe bool polynomial_curve_fit(OpenCvSharp.Point[] key_point, int n, Mat A)
        {
            //Number of key points	
            int N = key_point.Length;
            //构造矩阵X	
            Mat X = new Mat(n + 1, n + 1, MatType.CV_64FC1, new Scalar(0));// cv::Mat X = cv::Mat::zeros(n + 1, n + 1, CV_64FC1);
            for (int i = 0; i < n + 1; i++)
            {
                for (int j = 0; j < n + 1; j++)
                {
                    ((double*)X.Ptr(i))[j] = 0;//111
                    for (int k = 0; k < N; k++)
                    {
                        ((double*)X.Ptr(i))[j] = X/*[i]*/.At<double>(i, j) + (double)Math.Pow(key_point[k].X, i + j);// X.at<double>(i, j) = X.at<double>(i, j) + std::pow(key_point[k].x, i + j);
                    }
                }
            }
            //构造矩阵Y	
            Mat Y = new Mat(n + 1, 1, MatType.CV_64FC1, new Scalar(0));// cv::Mat Y = cv::Mat::zeros(n + 1, 1, CV_64FC1);
            for (int i = 0; i < n + 1; i++)
            {
                ((double*)Y.Ptr(i))[0] = 0;//111
                for (int k = 0; k < N; k++)
                {
                    ((double*)Y.Ptr(i))[0] = Y.At<double>(i, 0) + (double)(Math.Pow(key_point[k].X, i) * key_point[k].Y);// Y.at<double>(i, 0) = Y.at<double>(i, 0) + std::pow(key_point[k].x, i) * key_point[k].y;
                }
            }
            //A = new Mat(n + 1, 1, MatType.CV_64FC1, new Scalar(0));// A = cv::Mat::zeros(n + 1, 1, CV_64FC1);

            //List<double> dataFitted = new List<double>();
            //dataFitted.Add(Y.At<double>(0, 0));
            //dataFitted.Add(Y.At<double>(1, 0));
            //dataFitted.Add(Y.At<double>(2, 0));
            //dataFitted.Add(Y.At<double>(3, 0));

            //for (int i = 0; i < n + 1; i++)
            //{
            //    for (int j = 0; j < n + 1; j++)
            //    {
            //        dataFitted.Add(X.At<double>(i, j));
            //    }
            //}

            //求解矩阵A	
            Cv2.Solve(X, Y, A, DecompTypes.LU);//Cv2.Solve(X, Y, A, DecompTypes.LU); cv::solve(X, Y, A, cv::DECOMP_LU);

            //dataFitted.Add(A.At<double>(0, 0));
            //dataFitted.Add(A.At<double>(1, 0));
            //dataFitted.Add(A.At<double>(2, 0));
            //dataFitted.Add(A.At<double>(3, 0));

            return true;
        }

        /// <summary>
        /// 通过颜色通道去除像素点的千分比计算有效阈值
        /// </summary>
        /// <param name="hists"></param>
        /// <param name="percentValue"></param>
        /// <returns></returns>
        private OpenCvSharp.Point getStartIndex(Mat mat, float percentValue)
        {
            if (mat.Channels() == 3)
            {
                Cv2.CvtColor(mat, mat, ColorConversionCodes.RGB2GRAY);
            }

            Mat mask = new Mat();//不做掩码
            Mat[] mats = Cv2.Split(mat);//一张图片，将panda拆分成3个图片装进mat
            Mat[] mats0 = new Mat[] { mats[0] };//B

            int[] channels0 = new int[] { 0 };//一个通道,初始化为通道0,这些东西可以共用设置一个就行
            int[] histsize = new int[] { 256 };//一个通道，初始化为256箱子
            Rangef[] range = new Rangef[1];//一个通道，范围
            range[0] = new Rangef(0.0F, 256.0F);
            //range[0].Start = 0.0F;//从0开始(含)
            //range[0].End = 256.0F;//到256结束(不含)
            Mat hist = new Mat();
            Cv2.CalcHist(mats0, channels0, mask, hist, 1, histsize, range);//对被拆分的图片单独进行计算

            return this.getStartRange(hist, percentValue);
        }

        private OpenCvSharp.Point getStartRange(Mat matGray, float percentValue)
        {
            if (this.OldMat == null)
            {
                return new OpenCvSharp.Point(1, 254); ;
            }
            //计算灰度分布密度
            float totalPoints = this.OldMat.Cols * this.OldMat.Rows;
            OpenCvSharp.Point startIndex = new OpenCvSharp.Point(0, matGray.Rows);
            bool foundStartTag = false;
            bool foundEndTag = false;
            //根据累计直方图分布计算左右阈值
            float equalizeHists = 0;
            for (int i = 0; i < matGray.Rows; ++i)
            {
                equalizeHists += ((float)(matGray.At<float>(i) / (totalPoints * 1.0))) * 1000;

                if (!foundStartTag && equalizeHists > percentValue)
                {
                    foundStartTag = true;
                    startIndex.X = i;
                }
                else if (equalizeHists >= 1000 - percentValue)
                {
                    foundEndTag = true;
                    startIndex.Y = i;
                }

                if (foundStartTag && foundEndTag)
                    break;
            }
            startIndex.Y = Math.Min(255 - 1, startIndex.Y);
            startIndex.X = Math.Max(startIndex.X, 1);
            startIndex.Y = Math.Max(startIndex.X + 1, startIndex.Y);
            return startIndex;
        }

        /// <summary>
        /// 更新直方图特征曲线
        /// </summary>
        /// <param name="updateThreePoints">是否需要更新三个控制点的位置</param>
        private void updateHistogramRect(bool updateThreePoints)
        {
            //为了更好显示直方图细节，使用4倍尺寸绘制直方图
            int histSize = 256/*oldHists[0].Rows*/ * 4;

            //创建用于绘制的深蓝色背景图像	
            Mat image = new Mat(histSize, histSize, MatType.CV_8UC4, new Scalar(0, 0, 0, 0));
            //输入拟合点  	
            List<OpenCvSharp.Point> points = new List<OpenCvSharp.Point>();

            //根据亮度和对比度计算左右阈值
            int grayMin = (int)ucTrackBar1.Value1;
            int grayMax = (int)ucTrackBar1.Value3;
            if (grayMin >= grayMax)
            {
                return;
            }
            if (updateThreePoints)
            {
                ucTrackBar1.Value1 = grayMin;
                ucTrackBar1.Value3 = grayMax;
                //ucTrackBar1.Value2 = (float)((grayMin + grayMax) / 2.0);
            }

            if (this.IsDisposed)
                return;

            //gamma运算，gamma值根据AxioVision对比 取最小值0.01进行计算
            double gamma = Math.Max(0.01, double.Parse(label7.Text));

            //计算Value2
            //  ucTrackBar1.Value2 = (float)Math.Max(grayMin, Math.Min(grayMax, Math.Pow(0.5, 1.0 / gamma) * (grayMax - grayMin) + grayMin));
            this.Invoke(new Action(() =>
            {
                ucTrackBar1.Refresh();
            }));

            int lastY2 = histSize + 0;// histSize - 1;
            for (int h = 0; h <= 256; h++)
            {
                if (h < grayMin)
                {
                    points.Add(new OpenCvSharp.Point(h * 4, lastY2));
                    continue;
                }
                else if (h > grayMax)
                {
                    lastY2 = -1;// 0;
                    points.Add(new OpenCvSharp.Point(h * 4, lastY2));
                    continue;
                }
                int lastY1 = (int)Math.Round((1.0 - Math.Pow((h - grayMin) * 1.0 / (grayMax - grayMin), gamma)) * (histSize + 1/*histSize - 1*/)) - 1;
                lastY1 = Math.Min(lastY2, Math.Max(0, lastY1));
                if (lastY2 == lastY1)
                {
                    if (h == 0 || h == 256)
                    {
                        points.Add(new OpenCvSharp.Point(h * 4, lastY1));
                    }
                }
                else
                {
                    points.Add(new OpenCvSharp.Point(h * 4, lastY1));
                    lastY2 = lastY1;
                }
            }
            lastY2 = histSize + 0;// histSize - 1;
                                  //将第一个点的位置设置最底部，保证曲线平滑性
                                  //if (points[0].X > 4 && points[0].Y < lastY2)
                                  //{
                                  //    points.Insert(0, new OpenCvSharp.Point(points[0].X - 4, lastY2));
                                  //}
            List<List<OpenCvSharp.Point>> pointsIn = new List<List<OpenCvSharp.Point>>()
                {
                    points
                };
            //绘制折线	
            Cv2.Polylines(image, pointsIn/*(IEnumerable<OpenCvSharp.Point>)(points.ToArray())*/, false, new Scalar(0, 0/*255*/, 0, 255), 4/*1*/, LineTypes.Link8, 0); //cv::polylines(image, points, false, cv::Scalar(0, 255, 0), 1, 8, 0);
                                                                                                                                                                      //this.pictureBox1.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(image);
            Mat A = new Mat(3 + 1, 1, MatType.CV_64FC1, new Scalar(0));
            polynomial_curve_fit(points.ToArray(), 3, A);
            this.pictureBox1.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(image);
        }

        /// <summary>
        /// 拖动左侧三角形
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void LeftLevelChanged(object sender, EventArgs e)
        {
            var valueL = ucTrackBar1.Value1;
            var valueR = ucTrackBar1.Value3;
            if (valueR - valueL < 1)
            {
                valueL = valueR - 1;
                ucTrackBar1.Value1 = valueL;
            }
            m_camera.LeftLevel = (int)valueL;
        }

        /// <summary>
        /// 拖动右侧三角形
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void RightLevelChanged(object sender, EventArgs e)
        {
            var valueL = ucTrackBar1.Value1;
            var valueR = ucTrackBar1.Value3;
            if (valueR - valueL < 1)
            {
                valueR = valueL + 1;
                ucTrackBar1.Value3 = valueR;
            }
            m_camera.RightLevel = (int)valueR;
        }

        private void ucTrackBar1_Value2Changed(object sender, EventArgs e)
        {
            if (ucTrackBar1.Value2 < 64)
            {
                ucTrackBar1.Value2 = 64;
            }
            var value = (int)ucTrackBar1.Value2;
            trackBar3.Value = value;
            label7.Text = (value / 100.0).ToString("f2");
            m_camera.Gamma = value;
        }

        protected override void Dispose(bool disposing)
        {
            m_aeTimer?.Dispose();
            base.Dispose(disposing);
        }
    }
}