using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace LB_SmartVisionCameraSDK.PHM6000
{
    //typedef void (__stdcall* ShowInfo) (void* pData, int nSize);
    /// <summary>
    /// 此回调函数用于显示参数信息，调试时使用，无返回值
    /// </summary>
    /// <param name="pData">为字符串</param>
    /// <param name="nSize">为字符串长度</param>
    [UnmanagedFunctionPointer(CallingConvention.StdCall)]
    public delegate void ShowInfo(IntPtr pData, int nSize);

    //typedef void (__stdcall* ShowRectInfo) (int left, int top, int right, int bottom);
    /// <summary>
    /// 此回调函数用于在画兴趣区时显示矩形参数，无返回值
    /// </summary>
    /// <param name="left">左上角x坐标</param>
    /// <param name="top">左上角y坐标</param>
    /// <param name="right">右下角x坐标</param>
    /// <param name="bottom">右下角y坐标</param>
    [UnmanagedFunctionPointer(CallingConvention.StdCall)]
    public delegate void ShowRectInfo(int left, int top, int right, int bottom);

    //typedef void (__stdcall* ShowObjectInfo) (int nType, void* pObjectInfo, int nCount);
    /// <summary>
    /// 此回调函数用于在画兴趣区时显示所绘对象的参数，无返回值
    /// </summary>
    /// <param name="nType">对象类型</param>
    /// <param name="pObjectInfo">对象指针</param>
    /// <param name="nCount">对象数据个数</param>
    [UnmanagedFunctionPointer(CallingConvention.StdCall)]
    public delegate void ShowObjectInfo(int nType, IntPtr pObjectInfo, int nCount);
    /// <summary>
    /// 图像的2D操作类
    /// </summary>
    public class Pilot2D
    {
        //PILOT2D_API(void*) CreatePilot2DEntry(void* hWnd);
        /// <summary>
        /// 创建二维图显示接口，返回其句柄
        /// </summary>
        /// <param name="hWnd">为容纳二维显示控件的容器句柄</param>
        /// <returns>返回二维显示控件的句柄</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "CreatePilot2DEntry")]
        public static extern IntPtr CreatePilot2DEntry(IntPtr hWnd);

        //PILOT2D_API(void) DestroyPilot2DEntry(void* pHandle);
        /// <summary>
        /// 销毁二维图显示接口
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "DestroyPilot2DEntry")]
        public static extern void DestroyPilot2DEntry(IntPtr pHandle);

        //PILOT2D_API(void) SetImageSize(void* pHandle, int nWidth, int nHeight);
        /// <summary>
        /// 设置图像大小，用于逐行添加显示数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="nWidth">宽度</param>
        /// <param name="nHeight">高度</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetImageSize")]
        public static extern void SetImageSize(IntPtr pHandle, int nWidth, int nHeight);

        //PILOT2D_API(void) GetImageSize(void* pHandle, int& nWidth, int& nHeight);
        /// <summary>
        /// 获取图像大小
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="nWidth">宽度</param>
        /// <param name="nHeight">高度</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetImageSize")]
        public static extern void GetImageSize(IntPtr pHandle, ref int nWidth, ref int nHeight);

        //PILOT2D_API(void) SetImageRotated(void* pHandle, int nIsRotated);
        /// <summary>
        /// 设置图像旋转九十度
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="nIsRotated">为1时旋显示，为0时正常显示</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetImageRotated")]
        public static extern void SetImageRotated(IntPtr pHandle, int nIsRotated);

        //PILOT2D_API(void) ResizePilot2D(void* pHandle, int nWidth, int nHeight);
        /// <summary>
        /// 调整窗口大小，在主程序窗口大小发生变化时调用
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="nWidth">宽度</param>
        /// <param name="nHeight">高度</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ResizePilot2D")]
        public static extern void ResizePilot2D(IntPtr pHandle, int nWidth, int nHeight);

        //PILOT2D_API(void) RefreshPilot2D(void* pHandle);
        /// <summary>
        /// 刷新显示窗口，此控件在传入数据时并不更新显示，直到调用此函数。
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ResizePilot2D")]
        public static extern void ResizePilot2D(IntPtr pHandle);

        //PILOT2D_API(void) RefreshPilot2D(void* pHandle);
        /// <summary>
        /// 刷新显示窗口，此控件在传入数据时并不更新显示，直到调用此函数。
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RefreshPilot2D")]
        public static extern void RefreshPilot2D(IntPtr pHandle);

        //PILOT2D_API(int) AddIntensityData(void* pHandle, LBPointZA* points, int nCount);
        /// <summary>
        /// 添加强度数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">兰宝线扫描传感器输出的数据指针, LBPointZA* points</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddIntensityData")]
        public static extern int AddIntensityData(IntPtr pHandle, IntPtr points, int nCount);

        //PILOT2D_API(int) AddDepthData(void* pHandle, LBPointZA* points, int nCount, short nMinDepth, short nMaxDepth);
        /// <summary>
        /// 添加深度数据，此函数具有颜色渲染功能
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">兰宝线扫描传感器输出的数据指针, LBPointZA* points</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <param name="nMinDepth">指定深度中的最小值，用于颜色渲染，建议值最小值-1</param>
        /// <param name="nMaxDepth">指定深度中的最大值，用于颜色渲染，建议值最大值+1</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddDepthData")]
        public static extern int AddDepthData(IntPtr pHandle, IntPtr points, int nCount, short nMinDepth, short nMaxDepth);

        //PILOT2D_API(int) AddIntensityArray(void* pHandle, unsigned char* points, int nCount);
        /// <summary>
        /// 添加强度数据（提供另一种数据输入格式，不常用）
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">强度数据为8位无符号字符型数据指针, unsigned char* points</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddIntensityArray")]
        public static extern int AddIntensityArray(IntPtr pHandle, IntPtr points, int nCount);

        //PILOT2D_API(int) AddDepthArray(void* pHandle, float* points, int nCount, short nMinDepth, short nMaxDepth);
        /// <summary>
        /// 添加深度数据（提供另一种数据输入格式，不常用）
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points"></param>
        /// <param name="nCount">强度数据为浮点型数据指针, float* points</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <param name="nMinDepth">指定深度中的最小值，用于颜色渲染，建议值最小值-1</param>
        /// <param name="nMaxDepth">指定深度中的最大值，用于颜色渲染，建议值最大值+1</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddDepthArray")]
        public static extern int AddDepthArray(IntPtr pHandle, IntPtr points, int nCount, short nMinDepth, short nMaxDepth);

        //PILOT2D_API(int) AddRawImagePoints(void* pHandle, LBPointBGRA* points, int nWidth, int nHeight);
        /// <summary>
        /// 添加原始图像数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">原始图像数据指针, LBPointBGRA* points</param>
        /// <param name="nCount">原始图像的宽度</param>
        /// <param name="nMinDepth">原始图像的高度</param>
        /// <param name="nMaxDepth">函数调用成功返回1，失败返回-1</param>
        /// <returns></returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddRawImagePoints")]
        public static extern int AddRawImagePoints(IntPtr pHandle, IntPtr points, int nCount, short nMinDepth, short nMaxDepth);

        //PILOT2D_API(void) SetImageData(void* pHandle, LBPointBGRA* points, int nWidth, int nHeight);
        /// <summary>
        /// 设置图像数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">图像数据指针</param>
        /// <param name="nWidth">图像的宽度</param>
        /// <param name="nHeight">图像的高度</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetImageData")]
        public static extern void SetImageData(IntPtr pHandle, IntPtr points, int nWidth, int nHeight);

        //PILOT2D_API(void) GetImageData(void* pHandle, LBPointBGRA* points, int nWidth, int nHeight);
        /// <summary>
        /// 获取图像数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">图像数据指针, LBPointBGRA* points</param>
        /// <param name="nWidth">图像的宽度</param>
        /// <param name="nHeight">图像的高度</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetImageData")]
        public static extern void GetImageData(IntPtr pHandle, IntPtr points, int nWidth, int nHeight);

        //PILOT2D_API(int) AddBarycentreDataZA(void* pHandle, LBPointZA* points, int nCount, float fMinDistance, float fMaxDistance, float fStdDistance);
        /// <summary>
        /// 添加质心数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">兰宝线扫描传感器输出的数据指针</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <param name="fMinDistance">兰宝线扫描传感器检测的最小距离（从说明书获得，取值225.0）</param>
        /// <param name="fMaxDistance">兰宝线扫描传感器检测的最大距离（从说明书获得，取值473.0）</param>
        /// <param name="fStdDistance">兰宝线扫描传感器检测的标准距离（从说明书获得，取值325.0）</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddBarycentreDataZA")]
        public static extern int AddBarycentreDataZA(IntPtr pHandle, IntPtr points, int nCount, float fMinDistance, float fMaxDistance, float fStdDistance);

        //PILOT2D_API(int) AddBarycentreArray(void* pHandle, float* points, int nCount);
        /// <summary>
        /// 添加质心数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">质心数据为浮点型数据指针, float* points</param>
        /// <param name="nCount">指定上述数据的指针里的点的数量</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddBarycentreArray")]
        public static extern int AddBarycentreArray(IntPtr pHandle, IntPtr points, int nCount);


        //PILOT2D_API(void) ClearBarycentreArray(void* pHandle);
        /// <summary>
        /// 清除质心数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ClearBarycentreArray")]
        public static extern void ClearBarycentreArray(IntPtr pHandle);

        //PILOT2D_API(void) SetBarycentreColor(void* pHandle, int r, int g, int b);
        /// <summary>
        /// 设置质心颜色
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="r">红色分量，八位无符号字符型数值</param>
        /// <param name="g">绿色分量，八位无符号字符型数值</param>
        /// <param name="b">蓝色分量，八位无符号字符型数值</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetBarycentreColor")]
        public static extern void SetBarycentreColor(IntPtr pHandle, int r, int g, int b);

        //PILOT2D_API(void) ClearAllPoints(void* pHandle);
        /// <summary>
        /// 清除数据，在显示新的图象前调用
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ClearAllPoints")]
        public static extern void ClearAllPoints(IntPtr pHandle);

        //PILOT2D_API(int) LoadPicture(void* pHandle, char* szFileName);
        /// <summary>
        /// 加载图像数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="szFileName">文件名，GB2312编码字符串, char* szFileName</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "LoadPicture")]
        public static extern int LoadPicture(IntPtr pHandle, byte[] szFileName);

        //PILOT2D_API(int) SavePicture(void* pHandle, char* szFileName);
        /// <summary>
        /// 保存图像数据
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="szFileName">文件名，GB2312编码字符串, char* szFileName</param>
        /// <returns>函数调用成功返回1，失败返回-1</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SavePicture")]
        public static extern int SavePicture(IntPtr pHandle, byte[] szFileName);

        //PILOT2D_API(void) BeginDrawTool(void* pHandle);
        /// <summary>
        /// 开始绘制兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "BeginDrawTool")]
        public static extern void BeginDrawTool(IntPtr pHandle);

        //PILOT2D_API(void) EndDrawTool(void* pHandle);
        /// <summary>
        /// 结束绘制兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "EndDrawTool")]
        public static extern void EndDrawTool(IntPtr pHandle);

        //PILOT2D_API(void) SetDrawRect(void* pHandle);
        /// <summary>
        /// 设为绘制矩形兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetDrawRect")]
        public static extern void SetDrawRect(IntPtr pHandle);

        //PILOT2D_API(void) SetDrawPolygon(void* pHandle);
        /// <summary>
        /// 设为绘制多边形兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetDrawPolygon")]
        public static extern void SetDrawPolygon(IntPtr pHandle);

        //PILOT2D_API(void) SetDrawCircle(void* pHandle);
        /// <summary>
        /// 设为绘制圆形兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetDrawCircle")]
        public static extern void SetDrawCircle(IntPtr pHandle);

        //PILOT2D_API(void) SetDrawAnnulus(void* pHandle);
        /// <summary>
        /// 设为绘制环形兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetDrawAnnulus")]
        public static extern void SetDrawAnnulus(IntPtr pHandle);

        //PILOT2D_API(void) SetDrawSelection(void* pHandle);
        /// <summary>
        /// 设为选择兴趣区状态
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetDrawSelection")]
        public static extern void SetDrawSelection(IntPtr pHandle);

        //PILOT2D_API(void) SetRectColor(void* pHandle, int r, int g, int b);
        /// <summary>
        /// 设置绘制矩形兴趣区颜色
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="r">红色分量，八位无符号字符型数值</param>
        /// <param name="g">绿色分量，八位无符号字符型数值</param>
        /// <param name="b">蓝色分量，八位无符号字符型数值</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "SetRectColor")]
        public static extern void SetRectColor(IntPtr pHandle, int r, int g, int b);

        //PILOT2D_API(void) AddRect(void* pHandle, int left, int top, int right, int bottom);
        /// <summary>
        /// 添加矩形兴趣区
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="left">待添加的矩形兴趣区左上角的x坐标</param>
        /// <param name="top">待添加的矩形兴趣区左上角的y坐标</param>
        /// <param name="right">待添加的矩形兴趣区右下角的x坐标</param>
        /// <param name="bottom">待添加的矩形兴趣区右下角的y坐标</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddRect")]
        public static extern void AddRect(IntPtr pHandle, int left, int top, int right, int bottom);

        //PILOT2D_API(void) AddCircle(void* pHandle, int x, int y, int radius);
        /// <summary>
        /// 添加圆形兴趣区
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="x">待添加的圆形兴趣区中心的x坐标</param>
        /// <param name="y">待添加的圆形兴趣区中心的y坐标</param>
        /// <param name="radius">待添加的圆形兴趣区的x半径</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddCircle")]
        public static extern void AddCircle(IntPtr pHandle, int x, int y, int radius);

        //PILOT2D_API(void) AddAnnulus(void* pHandle, int x, int y, int radius, float fRadiusRatio);
        /// <summary>
        /// 添加环形兴趣区
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="x">待添加的环形兴趣区中心的x坐标</param>
        /// <param name="y">待添加的环形兴趣区中心的y坐标</param>
        /// <param name="radius">待添加的环形兴趣区的x半径</param>
        /// <param name="fRadiusRatio">待添加的环形兴趣区内外半径比</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddAnnulus")]
        public static extern void AddAnnulus(IntPtr pHandle, int x, int y, int radius, float fRadiusRatio);

        //PILOT2D_API(void) AddPolygon(void* pHandle, void* points, int nCount);
        /// <summary>
        /// 添加多边形兴趣区
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="points">待添加的多边形兴趣区的顶点坐标的指针</param>
        /// <param name="nCount">待添加的多边形兴趣区的顶点坐标的数量</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "AddPolygon")]
        public static extern void AddPolygon(IntPtr pHandle, IntPtr points, int nCount);

        //PILOT2D_API(void) DeleteRect(void* pHandle);
        /// <summary>
        /// 删除矩形兴趣区（删除前要选中）
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "DeleteRect")]
        public static extern void DeleteRect(IntPtr pHandle);

        //PILOT2D_API(void) DeleteROI(void* pHandle);
        /// <summary>
        /// 删除兴趣区对象（删除前要选中）
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "DeleteROI")]
        public static extern void DeleteROI(IntPtr pHandle);

        //PILOT2D_API(void) RegisterShowRectInfoCallback(void* pHandle, ShowRectInfo callback);
        /// <summary>
        /// 注册画兴趣区时显示矩形参数的回调函数
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="callback">回调函数的指针</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RegisterShowRectInfoCallback")]
        public static extern void RegisterShowRectInfoCallback(IntPtr pHandle, ShowRectInfo callback);

        //PILOT2D_API(void) RegisterShowInfoCallback(void* pHandle, ShowInfo callback);
        /// <summary>
        /// 注册显示调试信息的回调函数
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="callback">回调函数的指针</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RegisterShowInfoCallback")]
        public static extern void RegisterShowInfoCallback(IntPtr pHandle, ShowInfo callback);

        //PILOT2D_API(void) RegisterShowObjectInfoCallback(void* pHandle, ShowObjectInfo callback);
        /// <summary>
        /// 注册画兴趣区时显示对象参数的回调函数
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="callback">回调函数的指针</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RegisterShowObjectInfoCallback")]
        public static extern void RegisterShowObjectInfoCallback(IntPtr pHandle, ShowInfo callback);

        #region  图像处理相关操作

        //PILOT2D_API(BITMAPINFO) GetImageBITMAPINFO(void* pHandle);
        /// <summary>
        /// 获取图像的BITMAPINFO结构体
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <returns>返回BITMAPINFO结构体</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetImageBITMAPINFO")]
        public static extern BITMAPINFO GetImageBITMAPINFO(IntPtr pHandle);

        //PILOT2D_API GetImageBufferPtr(void* pHandle);
        /// <summary>
        /// 获取图像数据的指针
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <returns>返回图像数据的指针，(LBPointBGRA*)</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetImageBufferPtr")]
        public static extern IntPtr GetImageBufferPtr(IntPtr pHandle);

        //PILOT2D_API(LBPointBGRA*) RotateImage(void* pHandle, int& destWidth, int& destHeight, double angle, int keepImageSize = 0);
        /// <summary>
        /// 图像旋转操作
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="destWidth">用于回传旋转后图像的宽度</param>
        /// <param name="destHeight">用于回传旋转后图像的高度</param>
        /// <param name="angle">旋转角度</param>
        /// <param name="keepImageSize">是否保持图像尺寸</param>
        /// <returns>返回操作后图像数据的指针,(LBPointBGRA*)</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RotateImage")]
        public static extern IntPtr RotateImage(IntPtr pHandle, ref int destWidth, ref int destHeight, double angle, int keepImageSize = 0);

        //PILOT2D_API(LBPointBGRA*) TranslateImage(void* pHandle, int& destWidth, int& destHeight, int dx, int dy, int keepImageSize = 0);
        /// <summary>
        /// 图像平移操作
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="destWidth">用于回传平移后图像的宽度</param>
        /// <param name="destHeight">用于回传平移后图像的高度</param>
        /// <param name="dx">平移操作的x增量</param>
        /// <param name="dy">平移操作的y增量</param>
        /// <param name="keepImageSize">是否保持图像尺寸</param>
        /// <returns>返回操作后图像数据的指针，(LBPointBGRA*)</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "RotateImage")]
        public static extern IntPtr RotateImage(IntPtr pHandle, ref int destWidth, ref int destHeight, int dx, int dy, int keepImageSize = 0);

        //PILOT2D_API(LBPointBGRA*) TransformImage(void* pHandle, int& destWidth, int& destHeight, int dx, int dy, double angle, int keepImageSize = 0);
        /// <summary>
        /// 图像旋转平移操作
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="destWidth">用于回传旋转平移后图像的宽度</param>
        /// <param name="destHeight">用于回传旋转平移后图像的高度</param>
        /// <param name="dx">平移操作的x增量</param>
        /// <param name="dy">平移操作的y增量</param>
        /// <param name="angle">旋转角度的增量</param>
        /// <param name="keepImageSize">是否保持图像尺寸</param>
        /// <returns>返回操作后图像数据的指针，(LBPointBGRA*)</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "TransformImage")]
        public static extern IntPtr TransformImage(IntPtr pHandle, ref int destWidth, ref int destHeight, int dx, int dy, double angle, int keepImageSize = 0);

        //PILOT2D_API(LBPointBGRA*) MirrorImage(void* pHandle, int& destWidth, int& destHeight, int hMiiror, int vMirror);
        /// <summary>
        /// 图像镜像操作
        /// </summary>
        /// <param name="pHandle">二维显示控件的句柄</param>
        /// <param name="destWidth">用于回传旋转平移后图像的宽度</param>
        /// <param name="destHeight">用于回传旋转平移后图像的高度</param>
        /// <param name="hMiiror">为1时，水平镜像，为0时水平不镜像</param>
        /// <param name="vMirror">为1时，垂直镜像，为0时垂直不镜像</param>
        /// <returns>返回操作后图像数据的指针</returns>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "MirrorImage")]
        public static extern IntPtr MirrorImage(IntPtr pHandle, ref int destWidth, ref int destHeight, int hMiiror, int vMirror);

        //PILOT2D_API(void) GetTransformParameter(void* pHandle, float& fAngle, int& xOffset, int& yOffset, int& hMirror, int& vMirror, int& KeepImageSize);
        /// <summary>
        /// 获取已执行过的转换参数
        /// </summary>
        /// <param name="pHandle">相机接口句柄</param>
        /// <param name="fAngle">回传旋转角度</param>
        /// <param name="xOffset">回传x向平移量</param>
        /// <param name="yOffset">回传y向平移量</param>
        /// <param name="hMirror">回传水平镜像标志，为1时水平镜像，为0时不变</param>
        /// <param name="vMirror">回传垂直镜像标志，为1时垂直镜像，为0时不变</param>
        /// <param name="KeepImageSize">回传保持图像大小标志</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "GetTransformParameter")]
        public static extern void GetTransformParameter(IntPtr pHandle, ref float fAngle, ref int xOffset, ref int yOffset, ref int hMirror, ref int vMirror, ref int KeepImageSize);

        //PILOT2D_API(void) ShowRoiHeight(void* pHandle, float* fRoiHeight, int nRow, int nCol);
        /// <summary>
        /// 显示ROI对应的高度值
        /// </summary>
        /// <param name="pHandle">相机接口句柄</param>
        /// <param name="fRoiHeight">兴趣区高度数组，fRoiHeight为NULL，或者nRow和nCol中有一个为0，就不显示, float* fRoiHeight</param>
        /// <param name="nRow">兴趣区行数</param>
        /// <param name="nCol">兴趣区列数</param>
        [DllImport("Pilot2D.dll", CallingConvention = CallingConvention.StdCall, EntryPoint = "ShowRoiHeight")]
        public static extern void ShowRoiHeight(IntPtr pHandle, IntPtr fRoiHeight, int nRow, int nCol);
        #endregion
    }
}