RUS/SourceCode/OnGoingTasks/VisionRoughPositioning/Demo/MainWindow.xaml.cs

using System;
using System.Windows;
using System.Windows.Threading;
using System.Windows.Media.Imaging;
using System.Threading.Tasks;
using System.Drawing;
using System.Drawing.Imaging;
using Microsoft.Win32;
using System.Threading;
using System.Diagnostics;
using Accord.Video.FFMPEG;
using System.IO;
using System.Runtime.InteropServices;
using Accord.Video.DirectShow;
using Accord.Video;
using AI.Common;
using AI.Common.Log;
using Rect = AI.Common.Rect;
using Rectangle = System.Drawing.Rectangle;
using CameraDataCapture;
using RUSCommon.CameraConfigure;
using ImageShowUtilsLib;
using HumanOrganSegDemo.HumanBodyPartAnalyser;
using HumanOrganSegDemo;
using EnumOrgans = HumanOrganSegDemo.EnumOrgans;
using HumanOrganSegDemo.RoughPositioningAnalyser;

namespace HumanOrganSegmentDemo
{
    /// <summary>
    /// MainWindow.xaml 的交互逻辑
    /// </summary>
    public partial class MainWindow : Window
    {
        private int _doneImageNum = 0;
        private volatile bool _isCropped = false;
        private Stopwatch _stopWatch = new Stopwatch();
        private int _coreCount = Environment.ProcessorCount * 2;
        private int _numCPU;

        private volatile bool _continuouslyDetecting = false;

        private DetectedObject _inferResult = new DetectedObject();
        private readonly object _videoReaderLocker = new object();
        private ManualResetEvent _videoPlayEvent = new ManualResetEvent(false);
        private Thread _videoPlayThread = null;
        private VideoFileReader _videoReader;
        private volatile bool _readingVideo = false;
        private volatile bool _pausing = false;
        private volatile int _frameCount = 0;
        private volatile int _frameIndex = 0;
        private volatile int _frameIntervalTime = 0;
        private volatile int _lastDetectTickCount;
        private volatile int _fpsStartTickCount;
        private volatile int _displayCount = 0;
        private ManualResetEvent _playEvent = new ManualResetEvent(false);
        private VideoCaptureDevice _cameraCapture;


        // 相机图像
        private CameraDataCapture.CameraDataCapture _cameraImageCapture;
        private bool _isConfirmCameraInfo;// 是否已确认相机信息

        private CameraInformation _cameraInfo;
        private ICameraPara _cameraPara;
        private DateTime _cameraImageReceiveStartTime;
        private volatile int _cameraImageReceiveCount = 0;

        private EnumOrgans _organInfo;

        private volatile bool _isLoadNet = false;

        private string _netDir = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "Networks");
        private IHumanSurfaceOrganAnalyser _humanSurfaceOrganAnalyser;
        private IRoughPositioningAnalyser _rooughPositioningAnalyser = new RoughPositioningAnalyser();

        private volatile bool _enable = false;

        public MainWindow()
        {
            InitializeComponent();
            try
            {
                _numCPU = Convert.ToInt32(TextBoxCPU.Text);
                if (_numCPU <= 0 || _numCPU > _coreCount)
                    throw new Exception("CPU数目设置错误");

                try
                {
                    RefreshComboBoxVideoCards();

                    // 遍历所有的相机、采集卡
                    var videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
                    foreach (var device in videoDevices)
                    {
                        ComboBoxCameras.Items.Add(device);
                    }

                    // 相机类型(当前仅支持知微)
                    ComboBoxCameraType.Items.Add("Intel");
                    ComboBoxCameraType.Items.Add("知微");
                    ComboBoxCameraType.Items.Add("单目");
                    ComboBoxCameraType.SelectedIndex = 0;
                }
                catch (Exception e)
                {
                    MessageBox.Show("初始化过程中出错：" + e);
                }

                try
                {
                    // 脏器类型(当前仅支持心脏、肝脏)
                    ComboBoxOrganType.Items.Add("心脏");
                    ComboBoxOrganType.Items.Add("肝脏");
                    ComboBoxOrganType.SelectedIndex = 0;
                }
                catch (Exception e)
                {
                    MessageBox.Show("初始化过程中出错：" + e);
                }

            }
            catch (Exception excep)
            {
                MessageBox.Show("CPU数目设置错误，只能为正整数且小于本机CPU线程总数！");
                return;
            }
        }

        private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
        {
            try
            {
                if (_humanSurfaceOrganAnalyser != null)
                {
                    _humanSurfaceOrganAnalyser.NotifyError -= OnErrorOccur;
                    _humanSurfaceOrganAnalyser.NotifyLogWrite -= OnLogWrite;
                    _humanSurfaceOrganAnalyser.NotifyHumanDetectFinish -= OnHumanSurfaceOrganProcessFinish;
                    _humanSurfaceOrganAnalyser.Dispose();
                    _humanSurfaceOrganAnalyser = null;
                }
            }
            catch (Exception excep)
            {
                MessageBox.Show("释放时出错：" + excep);
            }
        }

        private void OnCheckedIsCropped(object sender, RoutedEventArgs e)
        {
            _isCropped = true;
        }

        private void OnUncheckedIsCropped(object sender, RoutedEventArgs e)
        {
            _isCropped = false;
        }

        private void OnComboBoxCameraTypeSelectionChanged(object sender, System.Windows.Controls.SelectionChangedEventArgs e)
        {
            switch (ComboBoxCameraType.SelectedIndex)
            {
                case 0:
                    _cameraInfo.CameraType = EnumCameraType.CameraRealSense435;
                    break;
                case 1:
                    _cameraInfo.CameraType = EnumCameraType.CameraZhiSensor;
                    break;
                case 2:
                    _cameraInfo.CameraType = EnumCameraType.CameraMonocular;
                    break;
            }
        }

        /// <summary>
        /// 加载本地数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnBtnLoadImagClicked(object sender, RoutedEventArgs e)
        {
            StopPlay();
            try
            {
                OpenFileDialog openFileDialog = new OpenFileDialog
                {
                    Filter = "图片文件|*.png;*.bmp;*.jpg;*.jpeg;*.avi;*.mp4",
                    Multiselect = true,
                    Title = "选择一幅或多幅图",
                };
                if (openFileDialog.ShowDialog() == true)
                {
                    var fileName = openFileDialog.FileName;
                    var fileExtension = Path.GetExtension(fileName);
                    if (fileExtension == ".mp4" || fileExtension == ".avi")
                    {
                        long frameCount;
                        lock (_videoReaderLocker)
                        {
                            _videoReader = new VideoFileReader();
                            _videoReader.Open(fileName);
                            frameCount = _videoReader.FrameCount;
                        }
                        _displayCount = 0;
                        _playEvent.Reset();

                        if (_humanSurfaceOrganAnalyser == null)
                        {
                            _humanSurfaceOrganAnalyser = new HumanSurfaceOrganAnalyser(_organInfo, _numCPU, _netDir);
                            _humanSurfaceOrganAnalyser.NotifyHumanDetectFinish += OnHumanSurfaceOrganProcessFinish;
                            _humanSurfaceOrganAnalyser.NotifyError += OnErrorOccur;
                            _humanSurfaceOrganAnalyser.NotifyLogWrite += OnLogWrite;
                            _humanSurfaceOrganAnalyser.Enable = true;
                        }
                        Task.Run(() =>
                        {
                            _continuouslyDetecting = true;
                            bool breakFlag = false;
                            while (!_playEvent.WaitOne(1) && !breakFlag)
                            {
                                for (var ni = 0; ni < frameCount; ni++)
                                {
                                    if (_playEvent.WaitOne(1))
                                    {
                                        breakFlag = true;
                                        break;
                                    }
                                    Bitmap bitmap;
                                    lock (_videoReaderLocker)
                                    {
                                        bitmap = _videoReader.ReadVideoFrame(ni);
                                    }
                                    _displayCount++;
                                    _enable = true;
                                    if (_enable)
                                    {
                                        DoImgProcess(bitmap);
                                    }
                                    // 更新显示图像
                                    MyImageCanvas.UpdateImage(bitmap);
                                    bitmap.Dispose();

                                    if (_playEvent.WaitOne(0))
                                    {
                                        breakFlag = true;
                                        break;
                                    }
                                }
                            }
                            _continuouslyDetecting = false;
                        });

                        VideoFileReader videoReader = new VideoFileReader();
                        videoReader.Open(fileName);
                        int totalCount = (int)videoReader.FrameCount;

                        videoReader.Close();
                        for (int ni = 0; ni < totalCount; ni++)
                        {
                            videoReader.Open(fileName);

                            videoReader.Close();
                        }
                        videoReader.Dispose();
                    }
                    if (fileExtension == ".png" || fileExtension == ".jpg" || fileExtension == ".bmp")
                    {
                        var bitmap = new Bitmap(fileName);

                        if (_humanSurfaceOrganAnalyser == null)
                        {
                            _humanSurfaceOrganAnalyser = new HumanSurfaceOrganAnalyser(_organInfo, _numCPU, _netDir);
                            _humanSurfaceOrganAnalyser.NotifyHumanDetectFinish += OnHumanSurfaceOrganProcessFinish;
                            _humanSurfaceOrganAnalyser.NotifyError += OnErrorOccur;
                            _humanSurfaceOrganAnalyser.NotifyLogWrite += OnLogWrite;
                            _humanSurfaceOrganAnalyser.Enable = true;
                        }

                        DoImgProcess(bitmap);

                        MyImageCanvas.UpdateImage(bitmap);
                        // 异步测试，如果这里图像dispose了，结果无法show出来，暂时屏蔽，有时间再好好处理，todo
                        //bitmap.Dispose();
                    }

                }
            }
            catch (Exception excep)
            {
                MessageBox.Show("加载测试图片时出错：" + excep);
            }
        }

        private void DoImgProcess(Bitmap bmp)
        {
            try
            {
                RawImage rawImg = BitmapToRawImage(bmp);
                _humanSurfaceOrganAnalyser.EvaluateOneImage(rawImg);
                _doneImageNum += 1;
            }
            catch (Exception excep)
            {
                MessageBox.Show("测试图像时出错：" + excep);
            }
        }

        /// <summary>
        /// 有检测结果更新
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnHumanSurfaceOrganProcessFinish(object sender, HumanDetectResultPerImage e)
        {
            Dispatcher.BeginInvoke(DispatcherPriority.Normal, new Action(() =>
            {
                ForwardTime.Text = e.TimeElapsed.ToString();
            }));

            MyImageCanvas.UpdateHumanDetectResults(e);

            Point2D[] roughPathPts = _rooughPositioningAnalyser.GetRoughSanPathInPCS(_organInfo, e.ObjectOrientationInPCS, e.ObjectBoundingBox, e.ObjectOrganContours);
            MyImageCanvas.UpdateRoughPathResults(roughPathPts);

        }

        private void StopPlay()
        {
            _playEvent.Set();
            lock (_videoReaderLocker)
            {
                if (_videoReader != null)
                {
                    _videoReader.Close();
                    _videoReader.Dispose();
                    _videoReader = null;
                }
            }
            if (_cameraImageCapture != null)
            {
                _cameraImageCapture.StopCameraDataAcquire();
                _cameraImageCapture.NotifyCameraDataUpdate -= OnCameraDatasUpdate;
                _cameraImageCapture.NotifyError -= OnErrorOccur;
                _cameraImageCapture.Dispose();
                _cameraImageCapture = null;
            }
            _continuouslyDetecting = false;
        }

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnBtnOpenCameraClick(object sender, RoutedEventArgs e)
        {
            if (ComboBoxCameraType.SelectedIndex == -1)
            {
                MessageBox.Show("未选中相机类型");
                return;
            }

            if (ComboBoxCameras.SelectedIndex == -1)
            {
                MessageBox.Show("未选中相机源（用于拍摄人体）");
                return;
            }

            // 如果已打开相机，则关闭
            if (_cameraImageCapture != null)
            {
                _cameraImageCapture.StopCameraDataAcquire();
                _cameraImageCapture.NotifyCameraDataUpdate -= OnCameraDatasUpdate;
                _cameraImageCapture.NotifyError -= OnErrorOccur;
                _cameraImageCapture.Dispose();
                _cameraImageCapture = null;
                // 记录一下总共收到多少幅相机图像（主要用来对比一下保存数据输入记录、启用模型监测和不做任何操作时，是否有影响帧率）
                var timeSpan = DateTime.Now - _cameraImageReceiveStartTime;
                LogHelper.InfoLog("TotalReceivedCameraImageCount:" + _cameraImageReceiveCount + ",TimeSpan:" + timeSpan.TotalMilliseconds + "(ms).", string.Empty);
                BtnOpenCameras.Content = "打开相机";
                _isConfirmCameraInfo = false;

                ComboBoxCameraType.IsEnabled = true;
                ComboBoxCameras.IsEnabled = true;
                BtnRefreshCameras.IsEnabled = true;
            }
            else
            {
                // 检查有没有重复打开同一个视频源
                var device = (FilterInfo)ComboBoxCameras.SelectedItem;
                var deviceName = device.MonikerString;
                _cameraInfo.CameraDeviceName = deviceName;
                // 临时设置相机参数
                SetCameraPara(_cameraInfo.CameraType);
                // todo 根据不同的相机类型选则相应实例

                switch (_cameraInfo.CameraType)
                {
                    case EnumCameraType.CameraRealSense435:
                        break;
                    case EnumCameraType.CameraZhiSensor:
                        _cameraInfo.CameraDeviceName = "172.31.0.7";
                        break;

                    case EnumCameraType.CameraMonocular:
                        break;

                    default:
                        break;
                }

                _cameraImageCapture = new CameraDataCapture.CameraDataCapture(_cameraInfo);
                _cameraImageCapture.NotifyCameraDataUpdate += OnCameraDatasUpdate;
                _cameraImageCapture.NotifyError += OnErrorOccur;
                _cameraPara = _cameraImageCapture.GetCameraParaInfo;
                _cameraImageCapture.StartCameraDataAcquire();
                BtnOpenCameras.Content = "关闭相机";
                _isConfirmCameraInfo = true;
                _cameraImageReceiveStartTime = DateTime.Now;
                ComboBoxCameraType.IsEnabled = false;
                ComboBoxCameras.IsEnabled = false;
                BtnRefreshCameras.IsEnabled = false;
            }
        }

        /// <summary>
        /// 相机数据更新
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private unsafe void OnCameraDatasUpdate(object sender, CameraDataUpdateEventArgs e)
        {
            var imgColor = e.UpdateCameraImageData.ImageColor;
            var bitmapRGB = RawImageShowUtils.RawImageToBitmap(imgColor.Clone());

            if (_enable)
            {
                DoImgProcess(bitmapRGB);
            }

            // 更新界面上显示的图片
            MyImageCanvas.UpdateImage(bitmapRGB);
            bitmapRGB.Dispose();

            imgColor.Dispose();
            bitmapRGB.Dispose();
        }

        /// <summary>
        /// 被选择的采集卡有变
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnComboBoxCardsSelectionChanged(object sender, System.Windows.Controls.SelectionChangedEventArgs e)
        {
            StopPlay();
        }

        /// <summary>
        /// 刷新所有采集卡
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnRefreshCardsClick(object sender, RoutedEventArgs e)
        {
            RefreshComboBoxVideoCards();
        }

        /// <summary>
        /// 刷新列表中的采集卡
        /// </summary>
        private void RefreshComboBoxVideoCards()
        {
            StopPlay();
            ComboBoxCameras.Items.Clear();
            var videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
            foreach (var device in videoDevices)
            {
                ComboBoxCameras.Items.Add(device);
            }
            if (ComboBoxCameras.Items.Count > 0)
            {
                ComboBoxCameras.SelectedIndex = 0;
            }
        }

        /// <summary>
        /// 设置相机参数
        /// </summary>
        /// <param name="cameraType"></param>
        private void SetCameraPara(EnumCameraType cameraType)
        {
            switch (cameraType)
            {
                case EnumCameraType.CameraMonocular:
                    _cameraInfo.ImageWidth = 640;
                    _cameraInfo.ImageHeight = 480;
                    _cameraInfo.CameraIntrinsicParas = new StructCameraMatrix[1];
                    _cameraInfo.CameraIntrinsicParas[0] = new StructCameraMatrix { Fx = 968.7391609376731f, Cx = 287.327201924683f, Fy = 973.0819774437676f, Cy = 228.3629053369949f };
                    _cameraInfo.CameraDistortionParas = new StructDistortionCoeffs[1];
                    _cameraInfo.CameraDistortionParas[0] = new StructDistortionCoeffs
                    {
                        K1 = -0.1423318502459511f,
                        K2 = 0.9421222939220543f,
                        P1 = -0.00623928181067679f,
                        P2 = -0.0001133860088364576f,
                        K3 = -1.764144824643008f
                    };
                    //_cameraPara = new CameraPara(_cameraInfo.CameraType, _cameraInfo.CameraIntrinsicParas, _cameraInfo.CameraDistortionParas);
                    break;

                case EnumCameraType.CameraStereo:
                    _cameraInfo.ImageWidth = 640;
                    _cameraInfo.ImageHeight = 480;
                    _cameraInfo.CameraIntrinsicParas = new StructCameraMatrix[2];
                    _cameraInfo.CameraDistortionParas = new StructDistortionCoeffs[2];
                    _cameraInfo.CameraIntrinsicParas[0] = new StructCameraMatrix { Fx = 418.20295986882917f, Cx = 331.58936826262072f, Fy = 416.81959360159908f, Cy = 237.67218546829204f };
                    _cameraInfo.CameraDistortionParas[0] = new StructDistortionCoeffs
                    {
                        K1 = -0.054219464530630361f,
                        K2 = 0.34091210469992994f,
                        P1 = -0.0015726118762586696f,
                        P2 = -0.0044293500195294868f,
                        K3 = -0.54448581741567326f
                    };
                    _cameraInfo.CameraIntrinsicParas[1] = new StructCameraMatrix { Fx = 415.80928115541127f, Cx = 317.71374656324372f, Fy = 415.03444466070465f, Cy = 241.40091921800106f };
                    _cameraInfo.CameraDistortionParas[1] = new StructDistortionCoeffs
                    {
                        K1 = -0.10663788123585277f,
                        K2 = 0.52465203680907246f,
                        P1 = -0.0035902534296184912f,
                        P2 = -0.0031625627870525645f,
                        K3 = -0.81617126606653123f
                    };
                    _cameraInfo.CameraExteriorPara = new StructCamExternalParam
                    {
                        RVec1 = 0.0032517163600536804f,
                        RVec2 = -0.014466251153525995f,
                        RVec3 = -0.0020912953401341617f,
                        TVec1 = -120.19263575225523f,
                        TVec2 = 0.37262915065413843f,
                        TVec3 = -0.41720831397963321f
                    };
                    //_cameraPara = new CameraPara(_cameraInfo.CameraType, _cameraInfo.CameraIntrinsicParas, _cameraInfo.CameraDistortionParas);
                    break;

                case EnumCameraType.CameraRealSense435:
                    _cameraInfo.ImageWidth = 848;
                    _cameraInfo.ImageHeight = 480;
                    _cameraInfo.CameraIntrinsicParas = new StructCameraMatrix[1];
                    //_cameraInfo.CameraIntrinsicParas[0] = new StructCameraMatrix { Fx = 603.784f, Cx = 324.581f, Fy = 602.461f, Cy = 253.871f };
                    // 848 * 480 下realsense的Cx 有误，已修改
                    _cameraInfo.CameraIntrinsicParas[0] = new StructCameraMatrix { Fx = 603.784f, Cx = 428.581f, Fy = 602.461f, Cy = 253.871f };
                    _cameraInfo.CameraDistortionParas = new StructDistortionCoeffs[1];
                    _cameraInfo.CameraDistortionParas[0] = new StructDistortionCoeffs
                    {
                        K1 = 0.0f,
                        K2 = 0.0f,
                        P1 = 0.0f,
                        P2 = 0.0f,
                        K3 = 0.0f
                    };
                    //_cameraPara = new CameraPara(_cameraInfo.CameraType, _cameraInfo.CameraIntrinsicParas, _cameraInfo.CameraDistortionParas);
                    break;
                case EnumCameraType.CameraZhiSensor:
                    _cameraInfo.ImageWidth = 1280;
                    _cameraInfo.ImageHeight = 720;
                    _cameraInfo.CameraIntrinsicParas = new StructCameraMatrix[1];
                    _cameraInfo.CameraIntrinsicParas[0] = new StructCameraMatrix { Fx = 957.37f, Cx = 660.29f, Fy = 950.03f, Cy = 479.29f };
                    _cameraInfo.CameraDistortionParas = new StructDistortionCoeffs[1];
                    _cameraInfo.CameraDistortionParas[0] = new StructDistortionCoeffs
                    {
                        K1 = 0.06723f,
                        K2 = -0.06952f,
                        P1 = -2.49e-03f,
                        P2 = 1.24e-03f,
                        K3 = 0.0f
                    };
                    //_cameraPara = new CameraPara(_cameraInfo.CameraType, _cameraInfo.CameraIntrinsicParas, _cameraInfo.CameraDistortionParas);
                    break;
            }
        }


        /// <summary>
        /// /下拉选择要分割的脏器类型
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnComboBoxOrganTypeSelectionChanged(object sender, System.Windows.Controls.SelectionChangedEventArgs e)
        {
            switch (ComboBoxOrganType.SelectedIndex)
            {
                case 0:
                    _organInfo = EnumOrgans.Heart;
                    break;
                case 1:
                    _organInfo = EnumOrgans.Liver;
                    break;
            }
        }

        /// <summary>
        /// 开始执行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnBtnRunClicked(object sender, RoutedEventArgs e)
        {
            if (_humanSurfaceOrganAnalyser == null)
            {
                _humanSurfaceOrganAnalyser = new HumanSurfaceOrganAnalyser(_organInfo, _numCPU, _netDir);
                _humanSurfaceOrganAnalyser.NotifyHumanDetectFinish += OnHumanSurfaceOrganProcessFinish;
                _humanSurfaceOrganAnalyser.NotifyError += OnErrorOccur;
                _humanSurfaceOrganAnalyser.NotifyLogWrite += OnLogWrite;
                _humanSurfaceOrganAnalyser.Enable = true;
            }
            _enable = true;
        }

        /// <summary>
        /// 停止执行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnBtnStopClicked(object sender, RoutedEventArgs e)
        {
            if (_humanSurfaceOrganAnalyser != null)
            {
                _humanSurfaceOrganAnalyser.NotifyHumanDetectFinish -= OnHumanSurfaceOrganProcessFinish;
                _humanSurfaceOrganAnalyser.NotifyError -= OnErrorOccur;
                _humanSurfaceOrganAnalyser.NotifyLogWrite -= OnLogWrite;
                _humanSurfaceOrganAnalyser.Enable = false;
                _humanSurfaceOrganAnalyser.Dispose();
                _humanSurfaceOrganAnalyser = null;
            }
            _enable = false;
            MyImageCanvas.Clear();
        }

        /// <summary>
        /// 收到发生了错误的通知
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnErrorOccur(object sender, ErrorEventArgs e)
        {
            MessageBox.Show("错误:" + e.GetException());
        }

        /// <summary>
        /// 有log要记
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void OnLogWrite(object sender, LogEventArgs e)
        {
            LogHelper.InfoLog(e.Msg, "");
        }

        public static void SaveBitmapImageIntoFile(BitmapImage bitmapImage, string filePath)
        {
            BitmapEncoder encoder = new PngBitmapEncoder();
            encoder.Frames.Add(BitmapFrame.Create(bitmapImage));

            using (var fileStream = new System.IO.FileStream(filePath, System.IO.FileMode.Create))
            {
                encoder.Save(fileStream);
            }
        }

        /// <summary>
        /// 将System.Drawimg.Bitmap转为RawImage
        /// </summary>
        /// <param name="image"></param>
        /// <param name="keepChannel"></param>
        /// <returns></returns>
        public static RawImage BitmapToRawImage(Bitmap image, bool keepColorType = false)
        {
            int width = image.Width;
            int height = image.Height;
            PixelFormat pixelFormat = image.PixelFormat;
            if (pixelFormat != PixelFormat.Format24bppRgb && pixelFormat != PixelFormat.Format32bppArgb && pixelFormat != PixelFormat.Format8bppIndexed)
            {
                throw new Exception("Unexpected image pixel format:" + pixelFormat);
            }
            EnumColorType origColorType = EnumColorType.Gray8;
            int origBytesPerPixel = 1;
            if (pixelFormat == PixelFormat.Format8bppIndexed)
            {
                origColorType = EnumColorType.Gray8;
                origBytesPerPixel = 1;
            }
            else if (pixelFormat == PixelFormat.Format24bppRgb)
            {
                // 注意Bitmap里的24bppRgb其实通道顺序是BGR
                origColorType = EnumColorType.Bgr;
                origBytesPerPixel = 3;
            }
            else
            {
                // 注意Bitmap里的32Argb其实通道顺序是Bgra
                origColorType = EnumColorType.Bgra;
                origBytesPerPixel = 4;
            }
            EnumColorType dstColorType;
            int dstBytesPerPixel;
            if (keepColorType)
            {
                dstColorType = origColorType;
                dstBytesPerPixel = origBytesPerPixel;
            }
            else
            {
                // 如果没有指定要keepColorType的话，默认都转成BGR
                dstColorType = EnumColorType.Bgr;
                dstBytesPerPixel = 3;
            }
            var bmData = image.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.ReadOnly, pixelFormat);
            byte[] dstDataArray = new byte[width * height * dstBytesPerPixel];
            unsafe
            {
                int stride = bmData.Stride;
                int dstStride = width * dstBytesPerPixel;
                IntPtr ptr = bmData.Scan0;
                IntPtr ptrH, ptrW;
                // 原图和目标图的ColorType相同
                if (origColorType == dstColorType)
                {
                    for (int nh = 0; nh < height; nh++)
                    {
                        ptrH = IntPtr.Add(ptr, nh * stride);
                        Marshal.Copy(ptrH, dstDataArray, nh * dstStride, dstStride);
                    }
                }
                // 原图和目标图的ColorType不同
                else
                {
                    // 如果原图是8位灰度图
                    if (origColorType == EnumColorType.Gray8)
                    {
                        byte gray;
                        int dstOffset;
                        for (int nh = 0; nh < height; nh++)
                        {
                            ptrH = IntPtr.Add(ptr, nh * stride);
                            for (int nw = 0; nw < width; nw++)
                            {
                                ptrW = IntPtr.Add(ptrH, nw * origBytesPerPixel);
                                gray = Marshal.ReadByte(ptrW);
                                dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                dstDataArray[dstOffset] = gray;
                                dstDataArray[dstOffset + 1] = gray;
                                dstDataArray[dstOffset + 2] = gray;
                            }
                        }
                        if (dstColorType == EnumColorType.Bgra)
                        {
                            for (int nh = 0; nh < height; nh++)
                            {
                                for (int nw = 0; nw < width; nw++)
                                {
                                    dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                    dstDataArray[dstOffset + 3] = 255;
                                }
                            }
                        }
                    }
                    // 如果原图是BGR彩色图
                    if (origColorType == EnumColorType.Bgr)
                    {
                        if (dstColorType == EnumColorType.Gray8)
                        {
                            byte red, green, blue, gray;
                            int dstOffset;
                            for (int nh = 0; nh < height; nh++)
                            {
                                ptrH = IntPtr.Add(ptr, nh * stride);
                                for (int nw = 0; nw < width; nw++)
                                {
                                    ptrW = IntPtr.Add(ptrH, nw * origBytesPerPixel);
                                    blue = Marshal.ReadByte(ptrW);
                                    ptrW = IntPtr.Add(ptrW, 1);
                                    green = Marshal.ReadByte(ptrW);
                                    ptrW = IntPtr.Add(ptrW, 1);
                                    red = Marshal.ReadByte(ptrW);
                                    gray = RawImage.PixelRGBToGray(red, green, blue);
                                    dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                    dstDataArray[dstOffset] = gray;
                                }
                            }
                        }
                        if (dstColorType == EnumColorType.Bgra)
                        {
                            int dstOffset;
                            for (int nh = 0; nh < height; nh++)
                            {
                                ptrH = IntPtr.Add(ptr, nh * stride);
                                for (int nw = 0; nw < width; nw++)
                                {
                                    ptrW = IntPtr.Add(ptrH, nw * origBytesPerPixel);
                                    dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                    Marshal.Copy(ptrW, dstDataArray, dstOffset, 3);
                                    dstDataArray[dstOffset + 3] = 255;
                                }
                            }
                        }
                    }
                    // 如果原图是BGRA彩色图
                    if (origColorType == EnumColorType.Bgra)
                    {
                        if (dstColorType == EnumColorType.Gray8)
                        {
                            byte red, green, blue, gray;
                            int dstOffset;
                            for (int nh = 0; nh < height; nh++)
                            {
                                ptrH = IntPtr.Add(ptr, nh * stride);
                                for (int nw = 0; nw < width; nw++)
                                {
                                    ptrW = IntPtr.Add(ptrH, nw * origBytesPerPixel);
                                    blue = Marshal.ReadByte(ptrW);
                                    ptrW = IntPtr.Add(ptrW, 1);
                                    green = Marshal.ReadByte(ptrW);
                                    ptrW = IntPtr.Add(ptrW, 1);
                                    red = Marshal.ReadByte(ptrW);
                                    gray = RawImage.PixelRGBToGray(red, green, blue);
                                    dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                    dstDataArray[dstOffset] = gray;
                                }
                            }
                        }
                        if (dstColorType == EnumColorType.Bgr)
                        {
                            int dstOffset;
                            for (int nh = 0; nh < height; nh++)
                            {
                                ptrH = IntPtr.Add(ptr, nh * stride);
                                for (int nw = 0; nw < width; nw++)
                                {
                                    ptrW = IntPtr.Add(ptrH, nw * origBytesPerPixel);
                                    dstOffset = nh * dstStride + nw * dstBytesPerPixel;
                                    Marshal.Copy(ptrW, dstDataArray, dstOffset, 3);
                                }
                            }
                        }
                    }
                }
            }
            image.UnlockBits(bmData);
            return new RawImage(dstDataArray, width, height, dstColorType);
        }
    }
}