CCDCount/TestWork.DLL/ShuLiClass.cs

using CCDCount.MODEL.ConfigModel;
using CCDCount.MODEL.ShuLiModel;
using LogClass;
using MvCameraControl;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices.WindowsRuntime;
using System.Threading;
using System.Threading.Tasks;

namespace CCDCount.DLL
{
    public class ShuLiClass
    {
        #region 变量
        /// <summary>
        /// 当活跃物体转变为历史物体时的回调事件
        /// </summary>
        public event EventHandler<ActiveObjectEventArgsClass> WorkCompleted;
        private List<ActiveObjectClass> activeObjects = new List<ActiveObjectClass>(); // 当前跟踪中的物体
        private List<ActiveObjectClass> historyActiveObjects = new List<ActiveObjectClass>(); // 历史物体
        private ConcurrentQueue<IImage> IFrameDatas = new ConcurrentQueue<IImage>(); //图像数据队列
        private Thread IdentifyImageProcessThread = null; // 识别线程
        private bool IsIdentify = false; //线程是否开始识别的标志
        private long currentLine = 0; //行数记录
        private ShuLiConfigClass shuLiConfig = null;// 数粒参数配置文件
        public List<int> ChannelsRoi { get { return _ChannelsRoi; } }
        private List<int> _ChannelsRoi = new List<int>();
        private int ChannelWidth = 0;//每个区域的宽度
        private int IdentifyImageWidth = -1;
        private static readonly object _lockObj = new object(); // 专用锁对象
        private int ObjectNum = 0;
        public int ImageNum { get { return IFrameDatas.Count; } }
        #endregion

        #region 公共方法
        /// <summary>
        /// 初始化构造方法
        /// </summary>
        public ShuLiClass()
        {
            // 加载默认参数
            shuLiConfig = new ShuLiConfigClass()
            {
                Channel = 8,
                PandingCode = 2
            };
        }
        public ShuLiClass(ShuLiConfigClass config)
        {
            if (config.IsLoadCanfig)
            {
                // 加载传出的参数
                shuLiConfig = config;
            }
            else
            {
                // 加载默认参数
                shuLiConfig = new ShuLiConfigClass()
                {
                    Channel = 8,
                    PandingCode = 2
                };
            }
            InitChannel();
        }

        public long InitCurrentLine(int line)
        {
            currentLine = line;
            return currentLine;
        }

        public int InitNum(int num)
        {
            ObjectNum = num;
            return ObjectNum;
        }

        /// <summary>
        /// 处理图像序列的主入口
        /// </summary>
        /// <param name="image">图像像素数据</param>
        /// <param name="ImageWidth">图像宽</param>
        /// <param name="currentLine">当前行数</param>
        /// <returns>检测到的物体总数</returns>
        public bool ProcessImageSequence(IImage image)
        {
            bool result = false;
            for (int i = 0; i < image.Height; i++)
            {
                result = ProcessLine(image, i);
                currentLine += 1;
            }

            //识别到结果并输出
            lock (_lockObj)
            {
                // 清理超时未更新的物体
                var lostObjects = activeObjects
                .Where(o => (currentLine - o.LastSeenLine) > shuLiConfig.MAX_GAP || (o.LastSeenLine - o.StartLine) > shuLiConfig.MAX_Idetify_Height)
                .ToList();

                List<ActiveObjectClass> OneActive = new List<ActiveObjectClass>();

                // 有物体转变为活跃物体，返回值转为true
                if (lostObjects.Count() > 0)
                {
                    result = true;
                    foreach (var item in lostObjects)
                    {
                        //噪点判定
                        if (item.Area < shuLiConfig.NoiseFilter_Threshold)
                        {
                            item.StateCode = 9;
                            //LOG.log(string.Format("噪点过滤，噪点面积：{0}", item.Area), 6);
                            continue;
                        }
                        //转为历史物体，添加缺少的参数
                        item.Num = ObjectNum += 1;
                        item.ChannelNO = ActiveChannel(item);
                        item.EndCheckTime = DateTime.Now;
                        item.MaxLength = GetActionMaxLength(item.RowsData);
                        if ((item.LastSeenLine - item.StartLine) > shuLiConfig.MAX_Idetify_Height)
                        {
                            item.StateCode = 7;
                            FaultLog.RecordLogMessage("ShuLiClass-ProcessLine：非颗粒，视野异常", 3);
                            LOG.log(string.Format("ShuLiClass-ProcessLine：非颗粒，视野异常"), 6);
                            Console.WriteLine("ShuLiClass-ProcessLine：非颗粒，视野异常");
                        }
                        else if (shuLiConfig.PandingCode != -1)
                        {
                            if (item.StateCode != -1)
                            {
                                if (item.StateCode == 8)
                                {
                                    LOG.log(string.Format("颗粒编号{0}：疑似叠片或缺损", item.Num));
                                }
                            }
                            else if (item.Area < shuLiConfig.MinArea
                                && (shuLiConfig.PandingCode == 2 || shuLiConfig.PandingCode == 1))
                            {
                                item.StateCode = 5;
                                LOG.log(string.Format("颗粒编号{0}：面积过小", item.Num));
                                Console.WriteLine("颗粒编号{0}：面积过小", item.Num);
                            }
                            else if (item.Area > shuLiConfig.MaxArea
                                && (shuLiConfig.PandingCode == 2 || shuLiConfig.PandingCode == 1))
                            {
                                item.StateCode = 6;
                                LOG.log(string.Format("颗粒编号{0}：面积过大", item.Num));
                                Console.WriteLine("颗粒编号{0}：面积过大", item.Num);
                            }
                            else if (item.MaxLength < shuLiConfig.MIN_Object_LENGTH
                                && (shuLiConfig.PandingCode == 2 || shuLiConfig.PandingCode == 0))
                            {
                                item.StateCode = 2;
                                LOG.log(string.Format("颗粒编号{0}：超短粒", item.Num));
                                Console.WriteLine("颗粒编号{0}：超短粒", item.Num);
                            }
                            else if (item.MaxLength > shuLiConfig.MAX_Object_LENGTH
                                && (shuLiConfig.PandingCode == 2 || shuLiConfig.PandingCode == 0))
                            {
                                item.StateCode = 1;
                                LOG.log(string.Format("颗粒编号{0}：超长粒", item.Num));
                                Console.WriteLine("颗粒编号{0}：超长粒", item.Num);
                            }
                            else
                            {
                                item.StateCode = 0;
                                LOG.log(string.Format("颗粒编号{0}：正常粒", item.Num));
                                Console.WriteLine("颗粒编号{0}：正常粒", item.Num);
                            }
                        }
                        OneActive.Add(item);
                    }

                    if (OneActive.Count > 0)
                    {
                        LOG.log(string.Format("识别完成，首个颗粒编号：{0},颗粒数量：{1}", OneActive[0].Num, OneActive.Count), 6);
                        //触发回调事件
                        Task.Run(() =>
                        {
                            OnWorkCompleted(OneActive);
                        });
                    }
                }
                else
                {
                    OneActive = null;
                }

                // 累加到总数并从活跃物体转移到历史物体
                lostObjects.Where(o => o.Area >= shuLiConfig.NoiseFilter_Threshold && o.StateCode != 7 && o.StateCode != 9).ToList().ForEach(o => TryAdd(historyActiveObjects, o, 2500));
                lostObjects.ForEach(o => activeObjects.Remove(o));
            }
            return result;
        }

        /// <summary>
        /// 返回最后一个历史物品
        /// </summary>
        /// <returns></returns>
        public ActiveObjectClass GetLastActive()
        {
            if (historyActiveObjects.Count() == 0)
                return null;
            return historyActiveObjects.Last();
        }

        /// <summary>
        /// 返回历史物品
        /// </summary>
        /// <returns></returns>
        public List<ActiveObjectClass> GetHistoryActive()
        {
            lock (_lockObj) // 加锁
            {
                return historyActiveObjects.ToList();
            }
        }

        /// <summary>
        /// 返回缓存在内存的历史物品的总数量
        /// </summary>
        /// <returns></returns>
        public int GetHistoryActiveNum()
        {
            lock (_lockObj) // 加锁
                return historyActiveObjects.Count();
        }

        /// <summary>
        /// 获取历史数据中，正常数据数量
        /// </summary>
        /// <returns></returns>
        public int GetOkHistoryNum()
        {
            lock (_lockObj)
                return historyActiveObjects.Where(o => o.StateCode == 0).Count();
        }

        /// <summary>
        /// 获取历史数据中，异常数据数量
        /// </summary>
        /// <returns></returns>
        public int GetNgHistoryNum()
        {
            lock (_lockObj)
                return historyActiveObjects.Where(o => o.StateCode != 0).Count();
        }

        /// <summary>
        /// 清除历史数据
        /// </summary>
        /// <returns></returns>
        public bool ClearHistoryActive()
        {
            lock (_lockObj)
            {
                historyActiveObjects.Clear();
                return true;
            }
        }

        /// <summary>
        /// 开启识别
        /// </summary>
        public void StartIdentifyFuntion(int ImaageWidth)
        {
            UpdateIdentifyImageWidth(ImaageWidth);
            InitChannel();
            try
            {
                // 标志位置位true
                IsIdentify = true;
                // 打开识别线程
                IdentifyImageProcessThread = new Thread(IdentifyImageProcess)
                {
                    Priority = ThreadPriority.Highest
                };
                IdentifyImageProcessThread.Start();
            }
            catch (Exception ex)
            {
                FaultLog.RecordErrorMessage("Start thread failed!, " + ex.Message);
                throw;
            }
        }

        /// <summary>
        /// 关闭识别
        /// </summary>
        public void StopIdentifyFuntion()
        {
            try
            {
                // 标志位设为false
                IsIdentify = false;
                if (IdentifyImageProcessThread != null && IdentifyImageProcessThread.IsAlive)
                    IdentifyImageProcessThread.Join();
            }
            catch (Exception ex)
            {
                FaultLog.RecordErrorMessage("Stop thread failed!, " + ex.Message);
                throw;
            }
        }

        /// <summary>
        /// 向识别队列添加一个数据
        /// </summary>
        /// <param name="items"></param>
        public void SetOnceIdentifyImageData(IImage items)
        {
            IFrameDatas.Enqueue(items.Clone() as IImage);
        }

        /// <summary>
        /// 保存参数
        /// </summary>
        public void SaveConfig()
        {
            if (!Directory.Exists(".\\Config\\")) Directory.CreateDirectory(".\\Config\\");
            XmlStorage.SerializeToXml(shuLiConfig, ".\\Config\\ShuLiConfig.xml");
        }

        /// <summary>
        /// 更新检测宽度信息
        /// </summary>
        /// <param name="Width"></param>
        public void UpdateIdentifyImageWidth(int Width)
        {
            IdentifyImageWidth = Width;
        }

        /// <summary>
        /// 初始化通道划分
        /// </summary>
        /// <param name="ImageWidth"></param>
        public void InitChannel()
        {
            _ChannelsRoi.Clear();
            shuLiConfig.ImageWidth = IdentifyImageWidth == -1 ? shuLiConfig.ImageWidth : IdentifyImageWidth;
            if (shuLiConfig.Channel > 0)
            {
                if (shuLiConfig.IsIdentifyRoiOpen)
                {
                    ChannelWidth = (shuLiConfig.IdentifyStopX - shuLiConfig.IdentifyStartX) / shuLiConfig.Channel;
                }
                else
                {
                    ChannelWidth = shuLiConfig.ImageWidth / shuLiConfig.Channel;
                }
                for (int i = 0; i < shuLiConfig.Channel; i++)
                {
                    _ChannelsRoi.Add(ChannelWidth + i * ChannelWidth);
                }
            }
        }

        /// <summary>
        /// 获取配置信息
        /// </summary>
        /// <returns></returns>
        public ShuLiConfigClass GetConfigValue()
        {
            ShuLiConfigClass result = shuLiConfig;

            return result;
        }

        public int GetConfigImageWidth()
        {
            int result = -1;
            if (shuLiConfig != null)
                result = shuLiConfig.ImageWidth;
            return result;
        }
        #endregion

        #region 私有方法

        /// <summary>
        /// 对外通知事件
        /// </summary>
        private void OnWorkCompleted(List<ActiveObjectClass> activeObject)
        {
            ActiveObjectEventArgsClass activeObjectEventArgs = new ActiveObjectEventArgsClass(activeObject);
            // 触发事件
            WorkCompleted?.Invoke(this, activeObjectEventArgs);
        }

        private bool IsPrintLightOnError = false;

        /// <summary>
        /// 处理单行像素数据
        /// 返回值为false的时候无活跃物体转变为历史物体
        /// 返回值为true的时候有活跃物体转变为历史物体
        /// </summary>
        /// <param name="image">当前行像素数组</param>
        private bool ProcessLine(IImage imagedata, int RowNo)
        {
            bool result = false;
            // 步骤1：检测当前行的有效区域
            var currentRegions = FindValidRegions(imagedata, RowNo);

            if (currentRegions.Count == 1)
            {
                if (currentRegions[0].End - (currentRegions[0]).Start + 1 == imagedata.Width)
                {
                    if (!IsPrintLightOnError)
                    {
                        FaultLog.RecordLogMessage("当前行有效区域为整行,检查视野和光源", 5);
                        IsPrintLightOnError = true;
                    }
                    return false;
                }
            }
            IsPrintLightOnError = false;
            lock (_lockObj)
            {
                foreach (var region in currentRegions)
                {
                    // 查找全部可合并的活跃物体（有重叠+在允许间隔内）
                    var matcheds = activeObjects.Where(o =>
                        IsOverlapping(o, region) &&
                        (currentLine - o.LastSeenLine - 1) <= shuLiConfig.MAX_GAP).ToList();
                    //当有多个可合并的活跃物体时，将多个物体合并
                    if (matcheds.Count >= 2)
                    {
                        // 合并有效区域队列
                        var CopeRowsData = new List<RowStartEndCol>();
                        matcheds.ForEach(o => CopeRowsData = CopeRowsData.Concat(o.RowsData).ToList());
                        // 合并有效区域并保存在新的区域中
                        var MergeMatched = new ActiveObjectClass
                        {
                            MinStartCol = matcheds.Min(o => o.MinStartCol),
                            MaxEndCol = matcheds.Max(o => o.MaxEndCol),
                            StartLine = matcheds.Min(o => o.StartLine),
                            LastSeenLine = matcheds.Max(o => o.LastSeenLine),
                            LastSeenLineStartCol = matcheds.Min(o => o.LastSeenLineStartCol),
                            LastSeenLineEndCol = matcheds.Max(o => o.LastSeenLineEndCol),
                            StartCheckTime = matcheds.Min(o => o.StartCheckTime),
                            EndCheckTime = matcheds.Max(o => o.EndCheckTime),
                            Area = matcheds.Sum(o => o.Area),
                            RowsData = CopeRowsData,
                            ImageWidth = matcheds.FirstOrDefault().ImageWidth,
                            //StateCode = 8
                        };
                        // 从活跃区域中删除被合并的区域
                        matcheds.ForEach(o => activeObjects.Remove(o));
                        // 保存新的区域到活跃区域中
                        activeObjects.Add(MergeMatched);
                    }

                    // 搜获可用且可合并的活跃区域
                    var matched = activeObjects.FirstOrDefault(o =>
                        IsOverlapping(o, region) &&
                        (currentLine - o.LastSeenLine - 1) <= shuLiConfig.MAX_GAP);
                    if (matched != null)
                    {
                        // 合并区域：扩展物体边界并更新状态
                        matched.MinStartCol = Math.Min(matched.MinStartCol, region.Start);
                        matched.MaxEndCol = Math.Max(matched.MaxEndCol, region.End);
                        matched.Area += region.End - region.Start + 1;
                        matched.LastSeenLine = currentLine;
                        matched.RowsData.Add(new RowStartEndCol
                        {
                            StartCol = region.Start,
                            EndCol = region.End,
                            RowsCol = currentLine,
                        });
                        matched.LastSeenLineStartCol = region.Start;
                        matched.LastSeenLineEndCol = region.End;
                    }
                    else
                    {
                        // 创建新物体（首次出现的区域）
                        activeObjects.Add(new ActiveObjectClass
                        {
                            MinStartCol = region.Start,
                            MaxEndCol = region.End,
                            StartLine = currentLine,
                            LastSeenLine = currentLine,
                            LastSeenLineStartCol = region.Start,
                            LastSeenLineEndCol = region.End,
                            StartCheckTime = DateTime.Now,
                            Area = region.End - region.Start + 1,
                            ImageWidth = IdentifyImageWidth,
                            RowsData = new List<RowStartEndCol> {
                                new RowStartEndCol {
                                    StartCol = region.Start,
                                    EndCol = region.End,
                                    RowsCol = currentLine,
                                }
                            }
                        });
                    }
                }
            }

            currentRegions.Clear();
            
            return result;
        }

        /// <summary>
        /// 检测有效物体区域（横向连续黑色像素段）
        /// </summary>
        /// <param name="line">当前行像素数组</param>
        /// <returns>有效区域列表（起始/结束位置）</returns>
        private List<ValidRegionModelClass> FindValidRegions(IImage image, int RowNo)
        {
            List<ValidRegionModelClass> regions = new List<ValidRegionModelClass>();
            int start = -1; // 当前区域起始标记
            int end = -1;
            // 遍历所有像素列
            if (shuLiConfig.IsIdentifyRoiOpen)
            {
                for (int i = (int)image.Width * RowNo + shuLiConfig.IdentifyStartX; i < (int)image.Width * RowNo + shuLiConfig.IdentifyStopX; i++)
                {
                    if (image.PixelData[i] < shuLiConfig.RegionThreshold) // 发现黑色像素
                    {
                        if (start == -1) start = i % (int)image.Width; // 开始新区域
                    }
                    else if (start != -1) // 遇到白色像素且存在进行中的区域
                    {
                        end = (i - 1) % (int)image.Width;
                        // 检查区域宽度是否达标
                        if (end - start >= shuLiConfig.NoiseFilter_Threshold)
                        {
                            regions.Add(new ValidRegionModelClass()
                            {
                                Start = start,
                                End = end
                            }); // 记录有效区域
                        }
                        start = -1; // 重置区域标记
                        end = -1;
                    }
                }
            }
            else
            {
                for (int i = (int)image.Width * RowNo; i < (int)image.Width * (RowNo + 1); i++)
                {
                    if (image.PixelData[i] < shuLiConfig.RegionThreshold) // 发现黑色像素
                    {
                        if (start == -1) start = i % (int)image.Width; // 开始新区域
                    }
                    else if (start != -1) // 遇到白色像素且存在进行中的区域
                    {
                        end = (i - 1) % (int)image.Width;
                        // 检查区域宽度是否达标
                        if (end - start >= shuLiConfig.NoiseFilter_Threshold)
                        {
                            regions.Add(new ValidRegionModelClass()
                            {
                                Start = start,
                                End = end
                            }); // 记录有效区域
                        }
                        start = -1; // 重置区域标记
                        end = -1;
                    }
                }
            }


            // 处理行尾未闭合的区域
            if (start != -1 && image.Width - start >= shuLiConfig.NoiseFilter_Threshold)
            {
                regions.Add(new ValidRegionModelClass()
                {
                    Start = start,
                    End = (int)image.Width - 1
                });
            }
            return regions;
        }

        /// <summary>
        /// 判断区域重叠（与活跃物体的横向坐标重叠检测）
        /// </summary>
        /// <param name="obj">活跃物体</param>
        /// <param name="region">当前区域</param>
        /// <returns>是否发生重叠</returns>
        private bool IsOverlapping(ActiveObjectClass obj, ValidRegionModelClass region)
        {
            // 判断区域是否不相交的逆条件
            return !(region.End < obj.LastSeenLineStartCol || region.Start > obj.LastSeenLineEndCol);
        }

        /// <summary>
        /// 通道区域判定
        /// </summary>
        /// <param name="activeObject"></param>
        /// <returns></returns>
        private int ActiveChannel(ActiveObjectClass activeObject)
        {
            int result = -1;
            int StartChannel = activeObject.MinStartCol / ChannelWidth;
            int EndChannel = activeObject.MaxEndCol / ChannelWidth;
            if (StartChannel == EndChannel)
            {
                result = StartChannel;
            }
            else if (EndChannel - StartChannel > 1)
            {
                Console.WriteLine("ActiveChannel-Error");
                //error
            }
            else
            {
                result = _ChannelsRoi[StartChannel] - activeObject.MinStartCol > activeObject.MaxEndCol - _ChannelsRoi[StartChannel] ? StartChannel : EndChannel;
            }
            return result;
        }

        /// <summary>
        /// 获取结果最长长边
        /// </summary>
        /// <param name="Rows"></param>
        /// <returns></returns>
        private double GetActionMaxLength(List<RowStartEndCol> Rows)
        {
            //Stopwatch stopwatch = Stopwatch.StartNew();
            List<Point> points = ConvexHull(Rows);
            //stopwatch.Stop();
            //Console.WriteLine($"凸包计算耗时：{stopwatch.Elapsed}");
            //var test = CalculateMinimumBoundingRectangle(points);
            var result = RotatingCalipers(points);
            if (result!= null)
            {
                return result.Height;
            }
            else
            {
                return 0;
            }
        }

        /// <summary>
        /// 凸包点集合获取
        /// </summary>
        /// <param name="Rows"></param>
        /// <returns></returns>
        private List<Point> ConvexHull(List<RowStartEndCol> Rows)
        {
            List<Point> points = Rows.Select(o => new Point(o.StartCol, (int)o.RowsCol)).ToList();
            points.AddRange(Rows.Select(o => new Point(o.EndCol, (int)o.RowsCol)).ToList());
            points = points.OrderBy(o => o.X).ThenBy(o => o.Y).ToList();
            var lower = new List<Point>();
            foreach (var p in points)
            {
                while (lower.Count >= 2 && Cross(lower[lower.Count - 2], lower[lower.Count - 1], p) <= 0)
                    lower.RemoveAt(lower.Count - 1);
                lower.Add(p);
            }

            var upper = new List<Point>();
            for (int i = points.Count - 1; i >= 0; i--)
            {
                var p = points[i];
                while (upper.Count >= 2 && Cross(upper[upper.Count - 2], upper[upper.Count - 1], p) <= 0)
                    upper.RemoveAt(upper.Count - 1);
                upper.Add(p);
            }

            lower.RemoveAt(lower.Count - 1);
            upper.RemoveAt(upper.Count - 1);
            lower.AddRange(upper);
            return lower;
        }

        /// <summary>
        /// 凸包最长边
        /// </summary>
        /// <param name="hull"></param>
        /// <returns></returns>
        private BoundingRectangleMdoel RotatingCalipers(List<Point> hull)
        {
            /* 老方法注释
            int n = hull.Count;
            if (n == 1) return 0;
            if (n == 2) return Distance(hull[0], hull[1]);

            int k = 1;
            double maxDist = 0;

            for (int i = 0; i < n; i++)
            {
                while (Area2(hull[i], hull[(i + 1) % n], hull[(k + 1) % n]) >
                       Area2(hull[i], hull[(i + 1) % n], hull[k]))
                {
                    k = (k + 1) % n;
                }

                double currentDist = DistanceToLine(hull[i], hull[(i + 1) % n], hull[k]);
                maxDist = Math.Max(maxDist, currentDist);
            }

            return maxDist;
            */

            BoundingRectangleMdoel result = null;
            int n = hull.Count;
            if (n == 1)
            {
                return result;
            }
            if (n == 2)
            {
                result = new BoundingRectangleMdoel
                {
                    points = hull,
                    CenterPoint = new Point() { X = (hull[1].X + hull[0].X) / 2, Y = (hull[1].Y + hull[0].Y) / 2 },
                    Width = 0,
                    Height = Distance(hull[0], hull[1]),
                    Angle = Math.Atan2(hull[1].Y - hull[0].Y, hull[1].X - hull[0].X)
                };
                return result;
            }

            double maxDist = 0;
            int pointIndex1 = 0;
            int pointIndex2 = 0;

            for (int i = 0; i < n; i++)
            {
                for (int j = i + 1; j < n; j++)
                {
                    if (Distance(hull[i], hull[j]) > maxDist)
                    {
                        maxDist = Distance(hull[i], hull[j]);
                        pointIndex1 = i;
                        pointIndex2 = j;
                    }
                }
            }


            double angle = Math.Atan2(hull[pointIndex2].Y - hull[pointIndex1].Y, hull[pointIndex2].X - hull[pointIndex2].X);
            var rotatedPoints = hull.Select(p => RotatePoint(p, -angle)).ToList();
            // 找到包围盒
            int minX = rotatedPoints.Min(p => p.X);
            int maxX = rotatedPoints.Max(p => p.X);
            int minY = rotatedPoints.Min(p => p.Y);
            int maxY = rotatedPoints.Max(p => p.Y);
            int centerX = (minX + maxX) / 2;
            int centerY = (minY + maxY) / 2;

            int height = maxX - minX;
            int width = maxY - minY;

            // 构造矩形的四个顶点并旋转回原来的角度
            var rectangle = new List<Point>
            {
                 RotatePoint(new Point(minX, minY), angle),
                 RotatePoint(new Point(maxX, minY), angle),
                 RotatePoint(new Point(maxX, maxY), angle),
                 RotatePoint(new Point(minX, maxY), angle)
            };

            result = new BoundingRectangleMdoel
            {
                points = rectangle,
                CenterPoint = RotatePoint(new Point() { X = centerX, Y = centerY }, angle),
                Width = width,
                Height = height,
                Angle = angle
            };

            return result;
        }

        /// <summary>
        /// 计算凸包的最小外接矩形
        /// </summary>
        /// <param name="convexHull">凸包顶点列表（按逆时针顺序排列）</param>
        /// <returns>最小外接矩形的四个顶点</returns>
        public List<Point> CalculateMinimumBoundingRectangle(List<Point> convexHull)
        {
            if (convexHull == null || convexHull.Count < 3)
                return null;

            double minArea = double.MaxValue;
            List<Point> minRectangle = null;

            int n = convexHull.Count;

            // 遍历每一条边作为基准边
            for (int i = 0; i < n; i++)
            {
                Point edgeStart = convexHull[i];
                Point edgeEnd = convexHull[(i + 1) % n];

                // 计算当前边的角度
                double angle = Math.Atan2(edgeEnd.Y - edgeStart.Y, edgeEnd.X - edgeStart.X);

                // 将所有点绕原点旋转-angle角度，使当前边与x轴平行
                var rotatedPoints = convexHull.Select(p => RotatePoint(p, -angle)).ToList();

                // 找到包围盒
                int minX = rotatedPoints.Min(p => p.X);
                int maxX = rotatedPoints.Max(p => p.X);
                int minY = rotatedPoints.Min(p => p.Y);
                int maxY = rotatedPoints.Max(p => p.Y);

                // 计算面积
                double area = (maxX - minX) * (maxY - minY);

                // 如果面积更小，则更新最小矩形
                if (area < minArea)
                {
                    minArea = area;

                    // 构造矩形的四个顶点并旋转回原来的角度
                    var rectangle = new List<Point>
                    {
                         RotatePoint(new Point(minX, minY), angle),
                         RotatePoint(new Point(maxX, minY), angle),
                         RotatePoint(new Point(maxX, maxY), angle),
                         RotatePoint(new Point(minX, maxY), angle)
                    };

                    minRectangle = rectangle;
                }
            }

            return minRectangle;
        }

        /// <summary>
        /// 绕原点旋转点
        /// </summary>
        /// <param name="point">待旋转的点</param>
        /// <param name="angle">旋转角度（弧度）</param>
        /// <returns>旋转后的点</returns>
        private static Point RotatePoint(Point point, double angle)
        {
            double cos = Math.Cos(angle);
            double sin = Math.Sin(angle);

            return new Point(
                (int)(point.X * cos - point.Y * sin),
                (int)(point.X * sin + point.Y * cos)
            );
        }

        /// <summary>
        /// 计算点到线段的距离
        /// </summary>
        /// <param name="a">线段点1</param>
        /// <param name="b">线段点2</param>
        /// <param name="c">点三</param>
        /// <returns></returns>
        private double DistanceToLine(Point a, Point b, Point c)
        {
            double area = Math.Abs(Area2(a, b, c));
            double baseLength = Distance(a, b);
            return area / baseLength;
        }

        // 计算向量叉积
        private int Cross(Point o, Point a, Point b) =>
            (a.X - o.X) * (b.Y - o.Y) - (a.Y - o.Y) * (b.X - o.X);

        // 计算三角形面积的两倍
        private int Area2(Point a, Point b, Point c) =>
            (b.X - a.X) * (c.Y - a.Y) - (b.Y - a.Y) * (c.X - a.X);

        // 计算两点间距离
        private double Distance(Point a, Point b)
        {
            int dx = a.X - b.X;
            int dy = a.Y - b.Y;
            return Math.Sqrt(dx * dx + dy * dy);
        }

        private bool TryAdd(List<ActiveObjectClass> list, ActiveObjectClass item, int maxSize)
        {
            list.Add(item);
            if (list.Count > maxSize)
            {
                list[list.Count - maxSize].RowsData.Clear();
            }
            return true;
        }
        #endregion

        #region 线程方法
        /// <summary>
        /// 识别图像线程
        /// </summary>
        private void IdentifyImageProcess()
        {
            //Stopwatch stopwatch = Stopwatch.StartNew();
            while (IsIdentify)
            {
                //判断队列中是否有数据
                if (IFrameDatas.Count() > 0)
                {
                    //stopwatch.Restart();
                    if (IFrameDatas.Count() > 50)
                        FaultLog.RecordErrorMessage($"图像数据队列中数据过多，请及时处理！当前数据数量为：{IFrameDatas.Count()}");
                    IFrameDatas.TryDequeue(out IImage IframeData);
                    //是否成功取得数据
                    if (IframeData != null)
                    {
                        //识别
                        ProcessImageSequence(IframeData);
                    }
                    else
                    {
                        Console.WriteLine("识别数据为空");
                        continue;
                    }
                    //输出耗时
                    //stopwatch.Stop();
                    //Console.WriteLine($"识别线程识别一张图片耗时：{stopwatch.Elapsed},待识别队列剩余数量{IFrameDatas.Count()}");
                }
                else
                {
                    Thread.Sleep(1);
                }
            }
        }
        #endregion
    }
}