yichael_smartbow/Assets/InfraredProject/WebCamera/Script/ZIM/ScreenLocate.cs

#define ENABLE_LOG

using InfraredManager;
using o0;
using SLAMUVC;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UnityEngine.Experimental.AI;
using UnityEngine.UI;
using ZIM;
using ZIM.Unity;
using static SLAMUVC.UVCManager;
using Color = UnityEngine.Color;
using Time = UnityEngine.Time;

[RequireComponent(typeof(Canvas))]
public partial class ScreenLocate : MonoBehaviour
{
    public InfraredCameraHelper InfraredCameraHelper;
    private const string TAG = "ScreenLocate#";

    public enum InfraredCount : int
    {
        Single = 1,
        Double = 2
    }
    enum Mode
    {
        InfraredLocate,
        ScreenMap,
        ScreenLocateManual
    }
    enum Platform
    {
        Window,
        Android
    }
    Platform mPlatform = Platform.Android;

    // 2个灯，顺序根据红外灯的大小 由大到小， 坐标通过 InfraredSpot.ScreenUV 和 InfraredSpot.CameraLocation 获得
    public InfraredSpot[] InfraredSpots
    {
        get
        {
            infraredCount = InfraredCount.Double;
            return infraredSpotBuffer;
        }
    }
    // 1个灯, 坐标通过 InfraredSpot.ScreenUV 和 InfraredSpot.CameraLocation 获得
    public InfraredSpot InfraredSpotSingle
    {
        get
        {
            infraredCount = InfraredCount.Single;
            return infraredSpotBuffer[0];
        }
    }
    public InfraredSpot[] infraredSpotBuffer;
    public string GetInfraredCount() { return infraredCount.ToString(); }

    /// <summary>
    /// CameraLocation 的偏移量
    /// </summary>
    public Vector2 CameraLocationOffset { get; set; } = new Vector2(0, 0);
    public Vector2 UVOffset { get; set; } = new Vector2(0, 0);

    // public InfraredDemo InfraredDemoMain => FindObjectOfType<InfraredDemo>();

    #region UVC 处理的对象
    //public UVCManager mUVCManager;
    public CameraInfo mUVCCameraInfo;
    public bool getUVCCameraInfo => mUVCCameraInfo != null ? true : false;

    public Vector2 getUVCCameraInfoSize => getUVCCameraInfo ? mUVCCameraInfo.Size : new Vector2(320, 240);

    private Texture mUVCTexture;
    public Texture getUVCTexture => mUVCTexture;

    public Texture setUVCTexture { 
        set {
            mUVCTexture = value;
        }
    }

    private Texture2D mUVCTexture2D;
    // [SerializeField] Texture2DArray mUVCOutArray;
    #endregion

    public Text Info;
    public List<RectTransform> CrosshairInCamera;
    public List<RectTransform> CrosshairInScreen;
    public RectTransform ScreenQuad;
    public Toggle SaveToggle;
    public Toggle FullScreenToggle;
    public LineGenerator UILineGenerator;

    public bool ShowScreenQuad = false;

    // output的图像
    // 图0是摄像机原图，图1是屏幕识别的全部可选线段，图2是识别出的屏幕画面，图3是识别出的屏幕四条边，图4是图2和图3的叠加，图5显示3种不同颜色的算法识别线段
    public List<RawImage> outputRawImages;
    [NonSerialized] public Texture[] outputTexture2D;
    public RawImage FullScreenImage;

    public PixelCheaker ScreenPixelCheaker;
    public InfraredSpotSettings InfraredSpotSettings;

    public o0.Geometry2D.Vector<int> CameraSize { get; set; }

    public Texture2D DebugScreenImage;
    public bool DebugOnEditorWin = false;

    // private SynchronizationContext mainContext;

    //是否单点显示
    public bool bSinglePoint = true;//默认单点识别

    [NonSerialized] public float ReDoLocateCalibrationRatio = 0.04f;  // 重复定位时校准的距离比例，例如先手动定位，再自动定位，会以手动的结果来校准

    [NonSerialized] public InfraredCount infraredCount = InfraredCount.Single;

    bool bIdentifyRed = true;//默认设备红色

    bool bIdentifyGreen = true;

    #region 性能检测相关
    public Text m_UITime;
    const float m_UIUpdateInterval = 0.1f;
    float m_UIUpdateTimer = 0.0f;
    List<float> m_History = new List<float>(100);
    int m_ValidHistoryFrames = 0;
    float m_AverageTime = float.NaN;
    float m_MedianTime = float.NaN;
    float m_MinTime = float.NaN;
    float m_MaxTime = float.NaN;

    public float updateInterval = 0.5F;
    private double lastInterval;
    private int frames = 0;
    private float fps;
    public Text m_FPS;
    #endregion

    #region PC部分参数
    //亮度
    public float pcBrightness { get; set; } = 0.0f;
    //对比度
    public float pcContrast { get; set; } = 0.0f;
    #endregion


    InfraredLocate infraredLocate;
    RectTransform canvas;
    Mode mode;
    List<(Vector2 pos, GameObject go)> pointManual = new List<(Vector2, GameObject)>();

    //o0.Project.WebCam o0WebCam = null;
    o0.Project.ScreenIdentification screenIdentification;
    public o0.Project.ScreenIdentification ScreenIdentification => screenIdentification;

    /// <summary>
    /// 正在识别的状态，自动识别时候记录
    /// </summary>
    bool bAutomaticRecognition { get; set; } = false;//进行捕获时
    bool bAutomaticRecognitionStart { get; set; } = false;//是否进行捕获
    bool bAutomaticRecognitionEnd { get; set; } = false;//是否结束捕获

    [NonSerialized] public RectTransform BackQuad = null;

    static public ScreenLocate Main;

    static public void AutoLightPixels(Color[] pixels, int width, int height)
    {
        var newTex = pixels.zimAutoLightSimple(width, height);
        DebugTexture(7, newTex);
        Main.FullScreenImage.texture = newTex;
    }

    static public void DebugTexture(int index, Texture texture)
    {
        LateDestory(Main.outputRawImages[index].texture);
        Main.outputRawImages[index].texture = texture;
        if (Main.outputTexture2D != null) 
            Main.outputTexture2D[index] = texture;
    }
    static void LateDestory(UnityEngine.Object o) => Main.StartCoroutine(Main.LateDestoryIEnum(o));

    static public void SetScreen(UnityEngine.Color? color = null)
    {
        if (Main.BackQuad == null)
        {
            var canvas = GameObject.Find("WebCameraView").GetComponent<RectTransform>();
            var background = canvas.Find("Background");
            Main.BackQuad = background.GetChild(0).GetComponent<RectTransform>();
        }
        Main.BackQuad.parent.gameObject.SetActive(color != null);
        Main.BackQuad.GetComponent<RawImage>().color = color ?? Color.black;
        //Debug.Log("Set Screen " + color.GetColorName());
    }
    static public void SetScreen(Rect rect, UnityEngine.Color? color = null)
    {
        if (Main.BackQuad == null)
        {
            var canvas = GameObject.Find("WebCameraView").GetComponent<RectTransform>();
            var background = canvas.Find("Background");
            Main.BackQuad = background.GetChild(0).GetComponent<RectTransform>();
        }
        Main.BackQuad.parent.gameObject.SetActive(color != null);
        Main.BackQuad.anchorMin = rect.min;
        Main.BackQuad.anchorMax = rect.max;
        Main.BackQuad.GetComponent<RawImage>().color = color ?? Color.black;
        //Debug.Log("Set Screen " + color.GetColorName());
    }
    static void DebugBackQuad(Rect? rect = null)
    {
        if (Main.BackQuad)
        {
            Main.BackQuad.parent.GetComponent<RawImage>().enabled = false;
            Main.BackQuad.GetComponent<RawImage>().color = Color.white;
            Main.BackQuad.parent.gameObject.SetActive(!Main.BackQuad.parent.gameObject.activeSelf);
            if (rect.HasValue)
            {
                Main.BackQuad.anchorMin = rect.Value.min;
                Main.BackQuad.anchorMax = rect.Value.max;
            }
        }
    }

    public void ReSizeTexture(int width, int height)
    {
        Debug.Log("Cur mUVCTexture Size: [" + mUVCTexture.width + "," + mUVCTexture.height + "]");
        return;
        if (mUVCTexture.width < width || mUVCTexture.height < height)       // 如果当前分辨率太小，则重新new一个texture
        {
            Texture2D tex = new Texture2D(
                            width, height,
                            TextureFormat.ARGB32,
                            false, /* mipmap */
                            true /* linear */);
            tex.filterMode = FilterMode.Point;
            tex.Apply();
            mUVCTexture = tex;
            mUVCCameraInfo.previewTexture = tex;
            var nativeTexPtr = mUVCCameraInfo.previewTexture.GetNativeTexturePtr();
        }
    }

    void Awake()
    {
        Main = this;

#if !UNITY_EDITOR_WIN
        DebugOnEditorWin = false;
#endif

        //if (mUVCDrawer)
        //    mUVCDrawer.StartPreviewAction += UVCIsReady;
    }

    void OnDestroy()
    {
        //if (mUVCDrawer)
        //    mUVCDrawer.StartPreviewAction -= UVCIsReady;
    }

    void Start()
    {
        //mainContext = SynchronizationContext.Current;

        outputTexture2D = new Texture[8];
        canvas = transform.GetComponent<RectTransform>();

        mode = Mode.InfraredLocate;

        if (DebugScreenImage && DebugOnEditorWin)
        {
            screenIdentification = new o0.Project.ScreenIdentification();
            screenIdentification.LocateScreen();
        }

        FullScreenToggle.onValueChanged.AddListener((i) =>
        {
            Screen.fullScreen = i;
        });

        infraredCount = InfraredCount.Single;

        #region 性能检测相关
        for (var i = 0; i < m_History.Capacity; ++i)
        {
            m_History.Add(0.0f);
        }
        lastInterval = Time.realtimeSinceStartup;
        frames = 0;
        #endregion
    }

    IEnumerator LateDestoryIEnum(UnityEngine.Object o)
    {
        while (true)
        {
            yield return new WaitForEndOfFrame();
            Destroy(o);
        }
    }

    //ZIMWebCamera场景使用
    public void WebCamIsReady(Texture texture)
    {
        mPlatform = Platform.Window;
        mUVCTexture = texture;
        mUVCCameraInfo = new CameraInfo(mUVCTexture);
        brightness = 0;
        //UVC准备好
        InfraredCameraHelper?.InvokeOnUVCIsReady(mUVCCameraInfo);
    }

    /// <summary>
    /// UVCManager 创建初始化时候，更新此函数
    /// </summary>
    /// <param name="cameraInfo"></param>
    public void UVCIsReady(CameraInfo cameraInfo)
    {
        mPlatform = Platform.Android;
        mUVCTexture = cameraInfo.previewTexture;

        mUVCCameraInfo = cameraInfo;
        Debug.Log("UVCIsReady:" + mUVCCameraInfo);
        //UVC准备好
        InfraredCameraHelper?.InvokeOnUVCIsReady(mUVCCameraInfo);
    }
    /// <summary>
    /// 获取新的 previewTexture
    /// </summary>
    public void UVCUpdate(bool bChange)
    {
        mUVCTexture = mUVCCameraInfo.previewTexture;
        Debug.Log("[ScreenLocate] UVCUpdate:" + mUVCCameraInfo + ",bChange:"+bChange);
        InfraredCameraHelper?.InvokeOnUVCIsUpdate();

        //这里判断是否进入自动识别？
        if (bAutomaticRecognitionStart) {
            bAutomaticRecognitionStart = false;
            Debug.Log("[ScreenLocate] UVCUpdate 开始自动识别 Capture:" + Capture + " ,Delay: " + Delay);
            screenIdentification.LocateScreen(Capture, Delay);
        }

        if (bAutomaticRecognitionEnd) {
            bAutomaticRecognitionEnd = false;
            Debug.Log("[ScreenLocate] UVCUpdate 结束捕获，当前摄像机分辨率为: " + mUVCCameraInfo.Size);
            bAutomaticRecognition = false;
        }
    }

    int brightness = 0;
    /// <summary>
    /// 设置算法红外灯的亮度值
    /// </summary>
    /// <param name="value"></param>
    public void SetInfraredLocateBrightnessThreshold(float value)
    {

        if (infraredLocate != null)
        {
            if (value >= 0 && value <= 1)
                infraredLocate.SetBrightnessThreshold(value);     // 参数是 红外灯的亮度阈值，阈值越小能够检测到的亮度就越低，默认值是0.93
        }
    }

    void Update()
    {
        //++frames;
        //float timeNow = Time.realtimeSinceStartup;
        //if (timeNow > lastInterval + updateInterval)
        //{
        //    fps = (float)(frames / (timeNow - lastInterval));
        //    frames = 0;
        //    lastInterval = timeNow;
        //}

        //if (m_FPS != null)
        //    m_FPS.text = "FPS:" + fps.ToString("f2");

        if (mUVCCameraInfo == null) return;

        if (screenIdentification == null)
        {
            screenIdentification = new o0.Project.ScreenIdentification();

            //pc 不切换分辨率了
#if UNITY_ANDROID
            //screenIdentification.OnLocateScreenEnter += OnLocateScreenEnter;
            screenIdentification.OnLocateScreenEnd += OnLocateScreenEnd;
#endif

        }
        if (infraredLocate == null)
        {
            infraredLocate = new InfraredLocate(mUVCCameraInfo, screenIdentification, InfraredSpotSettings, ScreenPixelCheaker);
            //InfraredDemo 初始化
            //float redfilterValue = PlayerPrefs.GetFloat("Init redFilterSliderValue", 0.8f);
            //Debug.Log("Init Red filterValue:" + redfilterValue);
            //infraredLocate.SetBrightnessThreshold(redfilterValue);     // 参数是 红外灯的亮度阈值，阈值越小能够检测到的亮度就越低，默认值是0.93
        }

        if (screenIdentification.Screen.RefreshCameraSize(getUVCCameraInfoSize))       // 同步分辨率, 分辨率变化后还需同步到InfraredDemo
        {
            quadUnityVectorList = screenIdentification.Screen.QuadInCamera.GetUnityVertexNormalizedList();

            if (!ContainsNaN(quadUnityVectorList))
            {
                SaveScreenLocateVectorList();
                //SyncInfraredDemo();
                //SyncInfraredScreenPositioningView();
                InfraredCameraHelper?.InvokeOnUVCPosUpdate(quadUnityVectorList);
                Debug.Log("[ScreenLocate] RefreshCameraSize 屏幕size改变：[" + (int)getUVCCameraInfoSize.x + "," + (int)getUVCCameraInfoSize.y + "]");
                Debug.Log("[ScreenLocate] RefreshCameraSize 屏幕size改变，刷新quadUnityVectorList:" + PrintVector2List(quadUnityVectorList));
            }
            else {
                Debug.LogError("[ScreenLocate] RefreshCameraSize 屏幕size改变，存在NaN值，重新校准:" + PrintVector2List(quadUnityVectorList));
            }
         

            if (DebugOnEditorWin)
                Main.ShowScreen(Main.ScreenQuad, screenIdentification.Screen.QuadInCamera);

        }

        //var t0 = Time.realtimeSinceStartup;

        /* New*/
        //Debug.Log((mUVCCameraInfo != null) +" = "+ mUVCCameraInfo.IsPreviewing + " = "+ screenIdentification.Screen.Active);
        if (mUVCCameraInfo != null && mUVCCameraInfo.IsPreviewing)     // 成功定位屏幕后才做红外识别
        {
            //if (bAutomaticRecognition)
            //{
            //    //识别的过程使用的分辨率
            //    //CreateUVCTexture2DIfNeeded((int)getUVCCameraInfoSize.x, (int)getUVCCameraInfoSize.y);
            //    if (log1)
            //    {
            //        log1 = false;
            //        Debug.Log("[ScreenLocate] log1:[" + (int)getUVCCameraInfoSize.x + ", " + (int)getUVCCameraInfoSize.y + "]");
            //    }
            //}
            //else
            //{
            //    //自动识别完成后使用相机分辨率大小 getUVCCameraInfoSize 
            //    //CreateUVCTexture2DIfNeeded((int)getUVCCameraInfoSize.x, (int)getUVCCameraInfoSize.y);
            //    if (log2)
            //    {
            //        log2 = false;
            //        Debug.Log("[ScreenLocate] log2:[" + (int)getUVCCameraInfoSize.x + ", " + (int)getUVCCameraInfoSize.y + "]");
            //    }
            //}

            //如果是连接了蓝牙设备，并且不是9轴设备。不进行识别算法处理
            if (BluetoothAim.ins?.status == BluetoothStatusEnum.ConnectSuccess && AimHandler.ins && AimHandler.ins.bRuning9Axis()) return;

            //根据getUVCCameraInfoSize 分辨率渲染
            CreateUVCTexture2DIfNeeded((int)getUVCCameraInfoSize.x, (int)getUVCCameraInfoSize.y);
            if (!screenIdentification.Update(mUVCTexture2D))
            {
                CameraSize = new o0.Geometry2D.Vector<int>((int)getUVCCameraInfoSize.x, (int)getUVCCameraInfoSize.y);
                var pixels = mUVCTexture2D.GetPixels();       // 从左往右、从下往上

                AutoLightPixels(pixels, CameraSize.x, CameraSize.y);
                //return;
                //InfraredSpots = infraredLocate.Update(pixels);

                if (bSinglePoint)
                    infraredSpotBuffer = infraredLocate.UpdateSingle(pixels);
                else
                    infraredSpotBuffer = infraredLocate.Update(pixels);

                if (mode == Mode.ScreenLocateManual)
                {
                    for (int i = 0; i < infraredSpotBuffer.Length; i++)
                    {
                        if (infraredSpotBuffer[i].CameraLocation != null)
                        {
                            // 检测到光点
                            var posInCanvas = infraredSpotBuffer[i].CameraLocation.Value.pixelToLocalPosition_AnchorCenter(CameraSize, FullScreenImage.rectTransform.rect);
                            CrosshairInCamera[i].gameObject.SetActive(true);
                            CrosshairInCamera[i].anchoredPosition = posInCanvas;
                        }
                        else
                            CrosshairInCamera[i].gameObject.SetActive(false);
                    }
                }
                else if(mode == Mode.InfraredLocate)
                {
                    if (mPlatform == Platform.Window) //渲染ui上面的点。进入游戏可以隐藏
                    {
                        for (int i = 0; i < infraredSpotBuffer.Length; i++)
                        {
                            if (infraredSpotBuffer[i].CameraLocation != null)
                            {
                                // 检测到光点
                                var posInCanvas = infraredSpotBuffer[i].CameraLocation.Value.pixelToLocalPosition_AnchorCenter(CameraSize, outputRawImages[0].rectTransform.rect);
                                CrosshairInCamera[i].gameObject.SetActive(true);
                                CrosshairInCamera[i].anchoredPosition = posInCanvas;
                            }
                            else
                                CrosshairInCamera[i].gameObject.SetActive(false);
                        }
                    }

                    //手机端使用 mPlatform == Platform.Android &&
                    //通用，手机 和 PC
                    if (infraredSpotBuffer.Length > 0)
                    {
                        int redIndex = 0;
                        int greenIndex = 1;
                        //仅仅第一个点显示(如果最大点出界了会闪烁)
                        if (bSinglePoint)
                        {
                            redIndex = 0; //单点识别是，可以选择切换颜色
                            if (infraredSpotBuffer[redIndex].ScreenUV != null)
                            {
                                string str = "Single:";
                                Info.text = str + infraredSpotBuffer[redIndex].ScreenUV.Value.ToString("F4");
                                //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(infraredSpotBuffer[redIndex].ScreenUV.Value.x * Screen.width, infraredSpotBuffer[redIndex].ScreenUV.Value.y * Screen.height, 0));
                                onFilterPos(infraredSpotBuffer[redIndex].ScreenUV.Value);

                            }

                        }
                        else
                        {
                            //雙點模式下選擇第一個點
                            if (bIdentifyRed && !bIdentifyGreen)
                            {
                                if (infraredSpotBuffer[redIndex].ScreenUV != null)
                                {
                                    Info.text = "Red" + redIndex + ":" + infraredSpotBuffer[redIndex].ScreenUV.Value.ToString("F4");
                                    //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(infraredSpotBuffer[redIndex].ScreenUV.Value.x * Screen.width, infraredSpotBuffer[redIndex].ScreenUV.Value.y * Screen.height, 0));
                                    onFilterPos2(infraredSpotBuffer[redIndex].ScreenUV.Value, redIndex);
                                }
                                else
                                {
                                    Info.text = "未检测到红色最大点！";
                                }
                            }
                            else if (!bIdentifyRed && bIdentifyGreen)
                            {
                                if (infraredSpotBuffer[greenIndex].ScreenUV != null)
                                {
                                    Info.text = "Green:" + infraredSpotBuffer[greenIndex].ScreenUV.Value.ToString("F4");
                                    //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(infraredSpotBuffer[greenIndex].ScreenUV.Value.x * Screen.width, infraredSpotBuffer[greenIndex].ScreenUV.Value.y * Screen.height, 0));
                                    onFilterPos2(infraredSpotBuffer[greenIndex].ScreenUV.Value, greenIndex);

                                }
                                else
                                {
                                    Info.text = "未检测到绿色点！";
                                }
                            }
                            else
                            {
                                //两个不选择和两个全选都跑识别两个点
                                //自動切換 检测到光点
                                if (infraredSpotBuffer[redIndex].ScreenUV != null)
                                {
                                    Info.text = "Red:" + infraredSpotBuffer[redIndex].ScreenUV.Value.ToString("F4");
                                    //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(infraredSpotBuffer[redIndex].ScreenUV.Value.x * Screen.width, infraredSpotBuffer[redIndex].ScreenUV.Value.y * Screen.height, 0));
                                    onFilterPos2(infraredSpotBuffer[redIndex].ScreenUV.Value, redIndex);
                                }
                                else if (infraredSpotBuffer[greenIndex].ScreenUV != null)
                                {

                                    Info.text = "Green:" + infraredSpotBuffer[greenIndex].ScreenUV.Value.ToString("F4");
                                    //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(infraredSpotBuffer[greenIndex].ScreenUV.Value.x * Screen.width, infraredSpotBuffer[greenIndex].ScreenUV.Value.y * Screen.height, 0));
                                    onFilterPos2(infraredSpotBuffer[greenIndex].ScreenUV.Value, greenIndex);
                                }
                                else
                                {
                                    Info.text = "未检测到点！";
                                }

                            }


                        }

                    }

                }
                else if (mode == Mode.ScreenMap && DebugOnEditorWin)
                {
                    for (int i = 0; i < infraredSpotBuffer.Length; i++)
                    {
                        if (infraredSpotBuffer[i].ScreenUV != null)
                        {
                            // 检测到光点
                            var posInCanvas = infraredSpotBuffer[i].ScreenUV.Value.pixelToLocalPosition_AnchorCenter(new Vector2(1, 1), canvas.rect);
                            CrosshairInScreen[i].gameObject.SetActive(true);
                            CrosshairInScreen[i].anchoredPosition = posInCanvas;
                        }
                        else
                            CrosshairInScreen[i].gameObject.SetActive(false);
                    }

                    if (Input.GetKeyDown(KeyCode.Escape))
                        ToMode(Mode.InfraredLocate);
                }
            }
        }

        //var t1 = Time.realtimeSinceStartup;
        //var dt = t1 - t0;
        //m_History[m_ValidHistoryFrames % m_History.Count] = dt;
        //++m_ValidHistoryFrames;

        //m_UIUpdateTimer += Time.deltaTime;

        //if (m_UIUpdateTimer >= m_UIUpdateInterval)
        //{
        //    m_UIUpdateTimer = 0.0f;

        //    if (m_ValidHistoryFrames >= m_History.Count)
        //    {
        //        m_ValidHistoryFrames = 0;

        //        m_AverageTime = 0.0f;

        //        m_MinTime = float.PositiveInfinity;
        //        m_MaxTime = float.NegativeInfinity;

        //        {
        //            for (var i = 0; i < m_History.Count; i++)
        //            {
        //                var time = m_History[i];
        //                m_AverageTime += time;

        //                m_MinTime = Mathf.Min(m_MinTime, time);
        //                m_MaxTime = Mathf.Max(m_MaxTime, time);
        //            }
        //            m_AverageTime /= m_History.Count;
        //        }
        //        {
        //            m_History.Sort();

        //            // Odd-length history?
        //            if ((m_History.Count & 1) != 0)
        //            {
        //                m_MedianTime = m_History[m_History.Count / 2];
        //            }
        //            else
        //            {
        //                m_MedianTime = (m_History[m_History.Count / 2] + m_History[m_History.Count / 2 - 1]) / 2.0f;
        //            }
        //        }

        //    }
        //    var statistics = $"{m_History.Count} 帧样本:\naverage: {m_AverageTime * 1000.0f:F2}ms\nmedian: {m_MedianTime * 1000.0f:F2}ms\nmin: {m_MinTime * 1000.0f:F2}ms\nmax: {m_MaxTime * 1000.0f:F2}ms\n";

        //    //Method: {m_Method} {UnityEngine.SceneManagement.SceneManager.GetActiveScene().name} |
        //    if (m_UITime != null)
        //        m_UITime.text = $"Cam: {mUVCCameraInfo.CurrentWidth}x{mUVCCameraInfo.CurrentHeight}{(mUVCTexture2D? ",T2D:" : "")}{(mUVCTexture2D? mUVCTexture2D.width+ "x" : "")}{(mUVCTexture2D ? mUVCTexture2D.height:"")} \nLast Frame: {dt * 1000.0f:F2}ms \n{statistics}";

        //}
        //UpdateInputs();


    }

    Vector2 targetPos = Vector2.zero;
    Vector2 movePos = Vector2.zero;
    int moveSpeed = 20;
    public float filterDis = 3.0f;
    void onFilterPos(Vector2 _vector2Pos)
    {
        //主要用于模拟九轴时候的
        //添加一个偏移量，使得最后输出的准心是指向正中心
        Vector2 np = new Vector2((_vector2Pos.x - UVOffset.x) * Screen.width, (_vector2Pos.y - UVOffset.y) * Screen.height); //_vector2Pos.pixelToLocalPosition_AnchorCenter(Vector2.one, (transform as RectTransform).rect);
        if (Vector2.Distance(np, targetPos) >= filterDis)
        {
            targetPos = np;
            //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(targetPos.x, targetPos.y, 0));

            //Vector2 np = new Vector2(uvCenterOffset.x * Screen.width, uvCenterOffset.y * Screen.height);
            //point -= np;

            InfraredCameraHelper?.InvokeOnPositionUpdate(targetPos);
        }
        //movePos = Vector3.Lerp(movePos, targetPos, Time.deltaTime * moveSpeed);
        //InfraredManager.ConnetDevicesSingle.ins.posAction?.Invoke(new Vector3(movePos.x, movePos.y, 0));

    }

    Vector2[] _targetPoints2 = new Vector2[] { Vector2.zero, Vector2.zero };
    void onFilterPos2(Vector2 _vector2Pos, int index)
    {
        Vector2 np = new Vector2((_vector2Pos.x - UVOffset.x) * Screen.width, (_vector2Pos.y - UVOffset.y) * Screen.height);
        if (Vector2.Distance(np, _targetPoints2[index]) >= filterDis)
        {
            _targetPoints2[index] = np;
            InfraredCameraHelper.InvokeOnPositionUpdate2(_targetPoints2[index], index);
        }
    }

    #region 自动识别 
    int Capture = 30;
    int Delay = 30;
    Vector2 EnterResolution;
   // int DefaultResolutionIndex;

    // readonly public int HighScreenLocateResolutionIndex = 2;       // 自动识别时，摄像机分辨率固定为1280 * 720 ( 对应索引是2 )

    public void BtnScreenLocate()
    {
        if (DebugScreenImage)
        {
            screenIdentification = new o0.Project.ScreenIdentification();
            CameraSize = new o0.Geometry2D.Vector<int>(DebugScreenImage.width, DebugScreenImage.height);
            WebCamIsReady(DebugScreenImage);

            CreateUVCTexture2DIfNeeded();

        }
        //Debug.Log("BtnScreenLocate Capture:" + Capture + " ,Delay: " + Delay);
        //screenIdentification.LocateScreen(Capture, Delay);
        OnLocateScreenEnter();
    }
   // bool log1 = false, log2 = false;
    public void OnLocateScreenEnter()
    {
        bAutomaticRecognition = true;
        bAutomaticRecognitionStart = true;
        ResetScreenIdentification();
        //DefaultResolutionIndex = InfraredDemoMain?.ResolutionIndex ?? 0;        // 记录一下进入前的分辨率（游戏场景的分辨率，比识别时更低）
        //HighScreenLocateResolutionIndex = InfraredDemoMain.getTextureToResolutionNewIndex(); //  index = 0
        // Debug.Log("[ScreenLocate] 开始捕获 DefaultResolutionIndex:" + DefaultResolutionIndex + " ,HighScreenLocateResolutionIndex:" + HighScreenLocateResolutionIndex);
        // InfraredDemoMain?.SetResolutionNew(HighScreenLocateResolutionIndex);
        EnterResolution = mUVCCameraInfo.Size;// 记录一下进入前的分辨率（游戏场景的分辨率，比识别时更低）
        Vector2 _HighResolution = mUVCCameraInfo.CurrentCalibrationResolution; //最高的分辨率
        Resize((int)_HighResolution.x, (int)_HighResolution.y);

        if (DebugOnEditorWin)
            screenIdentification.LocateScreen();

        //CreateUVCTexture2DIfNeeded();
        // log1 = true;
        // log2 = true;
    }

    public void OnLocateScreenEnd()
    {
        bAutomaticRecognitionEnd = true;
        // 记录本次屏幕识别的分辨率（目前采用高分辨率做识别，识别结束后调回低分辨率）
        //InfraredDemoMain?.SetResolutionNew(DefaultResolutionIndex);
        Resize((int)EnterResolution.x, (int)EnterResolution.y);
    }

    /**
      * 修改相机的实际分辨率
      */
    public void Resize(int width, int height)
    {
        if (mUVCCameraInfo == null) return;

#if UNITY_ANDROID
        //发送修改指令给相机实际分辨率
        mUVCCameraInfo.SetCameraSize(width, height);
#endif

#if UNITY_STANDALONE_WIN
       // pc todo 看看怎么处理
       // ResizePC(width, height);
#endif

        //mUVCCameraInfo.SetSize(width, height);      // 手动记录分辨率,这里可能会有问题 width和height是期望的分辨率而不是当前摄像机实际分辨率
        Debug.Log($"[ScreenLocate] 开始修改分辨率 mUVCCameraInfo origin:[{ mUVCCameraInfo.CurrentWidth },{ mUVCCameraInfo.CurrentHeight }]=>target:[{ width },{ height }]");

       // if (screenIdentification.isInitLocateScreen()) screenIdentification.bStartLocateScreen = true;
    }

    /// <summary>
    /// pc修改分辨率
    /// </summary>
    /// <param name="width"></param>
    /// <param name="height"></param>
    public void ResizePC(int width, int height)
    {
        if (mUVCCameraInfo == null) return;
        //if (screenIdentification.isInitLocateScreen()) screenIdentification.bStartLocateScreen = true;
        // PcWebCamera pcWebCamera = GetComponent<PcWebCamera>();
        // if(pcWebCamera.webCamTexture == null || !pcWebCamera.webCamTexture.isPlaying) return;

        //StartCoroutine(ResetWebCam(pcWebCamera, width, height));
        mUVCCameraInfo.SetSize(width, height);      // 手动记录分辨率,这里可能会有问题 width和height是期望的分辨率而不是当前摄像机实际分辨率

        Debug.Log("[ScreenLocate] Resize mUVCCameraInfo.SetSize: [" + mUVCCameraInfo.CurrentWidth + "," + mUVCCameraInfo.CurrentHeight + "]");

    }

    private System.Collections.IEnumerator ResetWebCam(PcWebCamera pcWebCamera, int newWidth, int newHeight)
    {
        WebCamTexture _webCamTexture = pcWebCamera.webCamTexture;
        // Stop the current WebCamTexture
        _webCamTexture.Stop();
        // Trigger OnWebCamStopped event
       // OnWebCamStopped?.Invoke();
        // Wait for a short time to ensure resources are released
        yield return new WaitForSeconds(0.5f);
        // Create a new WebCamTexture with the new dimensions
        _webCamTexture = new WebCamTexture(newWidth, newHeight);
        pcWebCamera.webCamTexture = _webCamTexture;
        mUVCTexture = _webCamTexture;
        // Restart the camera
        yield return StartCoroutine(StartWebCam(pcWebCamera));
    }
    private System.Collections.IEnumerator StartWebCam(PcWebCamera pcWebCamera)
    {
        WebCamTexture _webCamTexture = pcWebCamera.webCamTexture;
        _webCamTexture.Play();
        // Wait until the WebCamTexture is playing
        while (!_webCamTexture.isPlaying)
        {
            yield return null;
        }
        // Trigger OnWebCamStarted event
        //OnWebCamStarted?.Invoke();
        mUVCCameraInfo.SetSize(_webCamTexture.width, _webCamTexture.height);      // 手动记录分辨率,这里可能会有问题 width和height是期望的分辨率而不是当前摄像机实际分辨率
        Debug.Log("[ScreenLocate] ResizePc mUVCCameraInfo.SetSize: [" + mUVCCameraInfo.CurrentWidth + "," + mUVCCameraInfo.CurrentHeight + "]");

       // if(screenIdentification.isInitLocateScreen())screenIdentification.bStartLocateScreen = true;
    }
    #endregion
    public void BtnScreenMap()
    {
        ToMode(Mode.ScreenMap);
    }

    //进入手动定位屏幕
    public void BtnScreenLocateManual()
    {
        ToMode(Mode.ScreenLocateManual);
    }

    // 重置屏幕识别的数据
    public void ResetScreenIdentification()
    {
        screenIdentification.Screen.Active = false;
    }

    /// <summary>
    /// 固定的顶点顺序： 左下，右下，左上，右上
    /// </summary>
    public static List<Vector2> quadUnityVectorList = new();
    /// <summary>
    /// 打印信息
    /// </summary>
    /// <param name="list">左下，右下，左上，右上</param>
    /// <returns></returns>
    public string PrintVector2List(List<Vector2> list)
    {
        if (screenIdentification == null || !screenIdentification.Screen.Active) return "[]";
        string result = "";
        if (list.Count == 4)
        {
            result = "左下" + list[0].ToString() + ",右下" + list[1].ToString() + ",左上" + list[2].ToString() + ",右上" + list[3].ToString();
        }
        else
        {
            result = "count != 4 error";
        }
        //foreach (Vector2 vector in list)
        //{
        //    result += vector.ToString() + " ";
        //}
        //Debug.Log(result);
        return result;
    }
    /// <summary>
    /// 判断是否存在NaN
    /// </summary>
    /// <param name="vectors"></param>
    /// <returns></returns>
    public bool ContainsNaN(List<Vector2> vectors)
    {
        foreach (var v in vectors)
        {
            if (float.IsNaN(v.x) || float.IsNaN(v.y))
            {
                return true;
            }
        }
        return false;
    }
    // 标记屏幕的四个角, ScreenQuadObject 下挂了4个子节点用于标记
    public void ShowScreen(RectTransform ScreenQuadObject, QuadrilateralInCamera screen)
    {
        if (screen == null)
        {
            Info.text = "识别屏幕失败";
            return;
        }
        Info.text = "已识别到屏幕";

        if (ScreenQuadObject && ScreenQuadObject.childCount >= 4)
        {
            ScreenQuadObject.gameObject.SetActive(true);
            for (int i = 0; i < 4; i++)
            {
                if (DebugOnEditorWin)
                {
                    RectTransform t = ScreenQuadObject.GetChild(i) as RectTransform;
                    t.anchoredPosition = screen.Quad[i].pixelToLocalPosition_AnchorCenter(screen.CameraSize, ScreenQuadObject.rect);
                }
            }
        }
        quadUnityVectorList = screen.GetUnityVertexNormalizedList();      // 记录四个点
        if (!ContainsNaN(quadUnityVectorList))
        {
            SaveScreenLocateVectorList();
            //SyncInfraredDemo();
            if (DebugOnEditorWin)
                SyncInfraredScreenPositioningView();

            InfraredCameraHelper?.InvokeOnUVCPosUpdate(quadUnityVectorList);
            Debug.Log("[ScreenLocate] ShowScreen 已识别到屏幕，更新quadUnityVectorList:" + PrintVector2List(quadUnityVectorList));
        }
        else
        {
            Debug.LogError("[ScreenLocate] RefreshCameraSize 屏幕size改变，存在NaN值，重新校准:" + PrintVector2List(quadUnityVectorList));
        }

    }
    public void ShowScreen(QuadrilateralInCamera screen) => ShowScreen(ScreenQuad, screen);

    /// <summary>
    /// 校准点位置存储到本地
    /// </summary>
    static public void SaveScreenLocateVectorList()
    {
        string saveStr = string.Join(";", quadUnityVectorList.Select(v => $"{v.x},{v.y}")); //,{v.z}
        Debug.Log("SaveScreenLocateVectorList:  " + saveStr);
        PlayerPrefs.SetString("ScreenLocateVectorList", saveStr);
    }

    /// <summary>
    /// 获取本地存储校准点位置
    /// </summary>
    static public bool GetScreenLocateVectorList()
    {
        string posListStr = PlayerPrefs.GetString("ScreenLocateVectorList", "");
        Debug.Log("GetScreenLocateVectorList:"+ posListStr);
        if (!string.IsNullOrWhiteSpace(posListStr))
        {
            quadUnityVectorList.Clear();
            quadUnityVectorList = posListStr.Split(';')
                .Select(s =>
                {
                    string[] parts = s.Split(',');
                    return new Vector2(float.Parse(parts[0]), float.Parse(parts[1]));
                })
                .ToList();

            return true;
        }
        else return false;

    }

    public Vector2 AdjustPointsOffset(Vector2 inputPoint,string type = "CameraLocation")
    {
        // 计算从原始中心到输入点的偏移量
        if (type == "CameraLocation")
        {
            CameraLocationOffset = inputPoint - screenIdentification.Screen.TransformToCamera(new Vector2(0.5f, 0.5f) * screenIdentification.Screen.UVSize);
            return CameraLocationOffset;
        }
        else {
            //ScreenUV
            UVOffset = inputPoint - new Vector2(0.5f, 0.5f);
            return UVOffset;
        }
    }

    /// <summary>
    /// 这里计算一个偏移后的cameraLocatoin位置
    /// </summary>
    /// <param name="cameraLocatoin"></param>
    /// <returns></returns>
    public Vector2 GetOffsetCameraLocation(Vector2 cameraLocatoin) {
        return cameraLocatoin - CameraLocationOffset;
    }

    void ToMode(Mode mode)
    {
        if (this.mode == mode)
            return;

        if (mode == Mode.ScreenMap)
        {
            if (!screenIdentification.Screen.Active)
            {
                Info.text = "先定位屏幕";
                return;
            }
            Info.text = "按ESC退出";
            SetScreen(Color.black);
            //Info.transform.SetAsLastSibling();
            this.mode = Mode.ScreenMap;
        }
        else if (mode == Mode.InfraredLocate)
        {
            Info.text = screenIdentification.Screen.Active ? "已定位屏幕" : "定位屏幕失败";
            //Info.text = "已识别到屏幕"; 
            SetScreen(null);
            foreach (var i in CrosshairInScreen)
                i.gameObject.SetActive(false);
            FullScreenImage.gameObject.SetActive(false);
            ScreenPixelCheaker.HideImage();
            //Info.transform.SetSiblingIndex(transform.childCount - 4);
            this.mode = Mode.InfraredLocate;

#if (!NDEBUG && DEBUG && ENABLE_LOG)
            Console.WriteLine($"{TAG} Mode.InfraredLocate:已识别到屏幕:{screenIdentification.Screen.Active}");
#endif
        }
        else if (mode == Mode.ScreenLocateManual)
        {
            Info.text = "左键单击屏幕 左下角";
            FullScreenImage.gameObject.SetActive(true);
            ScreenPixelCheaker.ShowImage();
            //Info.transform.SetSiblingIndex(transform.childCount - 1);

            // var newTex = WebCamera.webCamTexture.AutoLight(10);
            //DebugTexture(1, TextureToTexture2D(rawImage.texture));

            CreateUVCTexture2DIfNeeded();
            DebugTexture(7, mUVCTexture2D.zimAutoLight(brightness));
            //mUVCTexture2DTemp = TextureToTexture2D(mUVCCameraInfo.previewTexture);
            //DebugTexture(6, mUVCTexture2DTemp.zimAutoLight(brightness));
            this.mode = Mode.ScreenLocateManual;
        }
    }

    private Texture2D TextureToTexture2D(Texture texture, int width = 0, int height = 0)
    {
        if (width == 0)
            width = texture.width;
        if (height == 0)
            height = texture.height;

        Texture2D _texture2D = new Texture2D(width, height, TextureFormat.ARGB32, false, true);
        RenderTexture currentRT = RenderTexture.active;
        RenderTexture renderTexture = RenderTexture.GetTemporary(
                    width,
                    height,
                    0,
                    RenderTextureFormat.ARGB32,
                    RenderTextureReadWrite.Linear);
        Graphics.Blit(texture, renderTexture);
        RenderTexture.active = renderTexture;
        _texture2D.ReadPixels(new Rect(0, 0, width, height), 0, 0);
        _texture2D.Apply();
        RenderTexture.active = currentRT;
        RenderTexture.ReleaseTemporary(renderTexture);
        return _texture2D;
    }

    //public void CreateUVCTexture2DFocusSizeIfNeeded(int width, int height)
    //{
    //    if (mUVCTexture2D != null)
    //        Destroy(mUVCTexture2D);
    //    mUVCTexture2D = TextureToTexture2D(mUVCTexture, width, height);
    //}

    /// <summary>
    /// 使用默认的mUVCTexture宽高
    /// </summary>
    private void CreateUVCTexture2DIfNeeded()
    {
        if (mUVCTexture2D != null)
            Destroy(mUVCTexture2D);
        mUVCTexture2D = TextureToTexture2D(mUVCTexture);
    }
    /// <summary>
    /// 根据宽高调整mUVCTexture2D
    /// </summary>
    /// <param name="width"></param>
    /// <param name="height"></param>
    private void CreateUVCTexture2DIfNeeded(int width = 0, int height = 0)
    {
        if (mUVCTexture2D != null)
            Destroy(mUVCTexture2D);
        mUVCTexture2D = TextureToTexture2D(mUVCTexture, width, height);
    }

    #region DoubleButton 

    private DateTime m_firstTime;
    private DateTime m_secondTime;

    private void Press()
    {
        Debug.Log("进入手动定位");
        BtnScreenLocateManual();
        resetTime();
    }

    public void OnDoubleClick()
    {
        //超时重置
        if (!m_firstTime.Equals(default(DateTime)))
        {
            var intervalTime = DateTime.Now - m_firstTime;
            float milliSeconds = intervalTime.Seconds * 1000 + intervalTime.Milliseconds;
            if (milliSeconds >= 400)
                resetTime();
        }

        // 按下按钮时对两次的时间进行记录
        if (m_firstTime.Equals(default(DateTime)))
            m_firstTime = DateTime.Now;
        else
            m_secondTime = DateTime.Now;

        // 在第二次点击触发,时差小于400ms触发
        if (!m_firstTime.Equals(default(DateTime)) && !m_secondTime.Equals(default(DateTime)))
        {
            var intervalTime = m_secondTime - m_firstTime;
            float milliSeconds = intervalTime.Seconds * 1000 + intervalTime.Milliseconds;
            if (milliSeconds < 400)
                Press();
            else
                resetTime();
        }
    }

    private void resetTime()
    {
        m_firstTime = default(DateTime);
        m_secondTime = default(DateTime);
    }
    #endregion


    #region 性能检测相关
    void InvalidateTimings()
    {
        m_ValidHistoryFrames = 0;
        m_AverageTime = float.NaN;
        m_MedianTime = float.NaN;
        m_MinTime = float.NaN;
        m_MaxTime = float.NaN;
    }
    void UpdateInputs()
    {

        //重置
        if (Input.GetKeyDown(KeyCode.UpArrow))
        {
            InvalidateTimings();
        }
    }
    #endregion
}