/*影象抓取執行緒，主動呼叫SDK介面函式獲取影象*/
UINT CBasicDlg::GrabThread()
{
	tSdkFrameHead 	sFrameInfo;
	BYTE*			pRawBuffer;

//	CameraSetTriggerMode(m_hCamera, 2);//設定相機硬體觸發模式

	while (!m_bExit)
	{
		if (CameraGetImageBuffer(m_hCamera, &sFrameInfo, &pRawBuffer, 1000) == CAMERA_STATUS_SUCCESS)
		{
			MyRawImage* pNewImage = (MyRawImage*)malloc(sizeof(MyRawImage) + sFrameInfo.uBytes);
			if (pNewImage != NULL)
			{
				pNewImage->head = sFrameInfo;
				memcpy(pNewImage->buffer, pRawBuffer, sFrameInfo.uBytes);
				pNewImage->index = mySerialPort.cRecvednum;
			}
			CameraReleaseImageBuffer(m_hCamera, pRawBuffer);

			if (pNewImage != NULL)
			{
				m_RawImageQL.Lock();
				if (m_RawImageQ.size() < RAW_BUFFER_MAX_COUNT)
					m_RawImageQ.push_back(pNewImage);
				else
					free(pNewImage);
				m_RawImageQL.Unlock();

				SetEvent(m_RawImageQE);
			}
		}
	}

	return 0;
}




UINT CBasicDlg::WorkThread()
{
	MvTimer t;
	
	
	Mat BIGframe0;
	
	//const cv::Mat ComFrame = Mat::zeros(480 * 4, 640 * 18, CV_8UC1);
	//const cv::Mat ColorComFrame = Mat::zeros(480 * 4, 640 * 18, CV_8UC3);
	//cv::Mat MainWindows = Mat::zeros(300, 1800, CV_8UC1);
	//cv::Mat ColorMainWindows = Mat::zeros(300, 1800, CV_8UC3);
	
	const cv::Mat ComFrame(480 * 4, 640 * 18, CV_8UC1);
	const cv::Mat ColorComFrame(480 * 4, 640 * 18, CV_8UC3);
	cv::Mat MainWindows(300, 1800, CV_8UC1);
	cv::Mat ColorMainWindows(300, 1800, CV_8UC3);

	cv::Mat image1, image2;
	bool start = false;

	setMouseCallback("MainWindows", on_mouse, 0);//呼叫回撥函式 

	while (!m_bExit)
	{
		if (WaitForSingleObject(m_RawImageQE, 200) != WAIT_OBJECT_0)
			continue;

		for (;;)
		{
			std::vector<void*> RawImageQ;
			m_RawImageQL.Lock();
			RawImageQ = m_RawImageQ;
			m_RawImageQ.clear();
			m_RawImageQL.Unlock();
			if (RawImageQ.empty())
				break;
			for (size_t i = 0; i < RawImageQ.size(); ++i)
			{			
				MyRawImage* pNewImage = (MyRawImage*)RawImageQ[i];
				index = pNewImage->index;
				if (index)
				{
					if (index == 1)
					{
						start = true;
					}
					if (start)
					{						
						Mat image(pNewImage->head.iHeight, pNewImage->head.iWidth, CV_8UC1);
						Mat resImage(600, 800, CV_8UC1);				
						memcpy(image.data, pNewImage->buffer, pNewImage->head.iHeight* pNewImage->head.iWidth);											
						cv::resize(image, resImage, cv::Size(800, 600), 0, 0, INTER_NEAREST);												
						flip(resImage, resImage, -1);  //水平垂直翻轉
						
						//ImageStitch(index, image1, resImage, ComFrame);
						//cv::resize(ComFrame, MainWindows, Size(1800, 300), 0, 0, INTER_NEAREST);
						//imshow("MainWindows", MainWindows);						
						ImageStitch(index, image1, resImage, ColorComFrame);						
						cv::resize(ColorComFrame, ColorMainWindows, Size(1800, 300), 0, 0, INTER_NEAREST);													
						imshow("MainWindows", ColorMainWindows);						
						free(pNewImage); //測試用

						////解析度改變了，則重新整理背景
						//if (m_sFrInfo.iWidth != pNewImage->head.iWidth || m_sFrInfo.iHeight != pNewImage->head.iHeight)
						//{
						//m_sFrInfo.iWidth = pNewImage->head.iWidth;
						//m_sFrInfo.iHeight = pNewImage->head.iHeight;
						//InvalidateRect(NULL);
						//}

						m_iDispFrameNum++;						
						if (flag)
						{
							//dst = ComFrame(Rect((int)(min(cur_pt.x, pre_pt.x)*6.4), (int)(min(cur_pt.y, pre_pt.y)*6.4), width, height));
							dst = ColorComFrame(Rect((int)(min(cur_pt.x, pre_pt.x)*6.4), (int)(min(cur_pt.y, pre_pt.y)*6.4), width, height));
							imshow("view", dst);							
						}						
					}
				}				
			}
		}
	}
	return 0;
}