using System;using System.Collections.Generic;using System.Drawing;using System.IO;using System.Runtime.ExceptionServices;using System.Runtime.InteropServices;using System.Security;using System.Threading.Tasks;using System.Windows.Forms;using Emgu.CV;using Emgu.CV.CvEnum;using Emgu.CV.Structure;namespace WindowsFormsApp1{    public partial class Form1 : Form    {        private const string YoloLibraryName = @"D:\darknet-master (1)\darknet-master\build\darknet\x64\yolo_cpp_dll.dll";        private const int MaxObjects = 1000;        object ThreadLock = new object();        [DllImport(YoloLibraryName, EntryPoint = "init")]        private static extern int InitializeYolo(string configurationFilename, string weightsFilename, int gpu);        [DllImport(YoloLibraryName, EntryPoint = "detect_image")]         private static extern int DetectImage(uint width, uint height, byte[] pArray, int nSize, ref BboxContainer container);        //[DllImport(YoloLibraryName, EntryPoint = "adddd")]        //private static extern int adddd(int a, int b, ref int result, byte[] pArray);        [DllImport(YoloLibraryName, EntryPoint = "dispose")]        private static extern int DisposeYolo();        [StructLayout(LayoutKind.Sequential)]        public struct BboxContainer        {            [MarshalAs(UnmanagedType.ByValArray, SizeConst = MaxObjects)]            public bbox_t[] candidates;        }        [StructLayout(LayoutKind.Sequential)]        public struct bbox_t        {            public UInt32 x, y, w, h;    // (x,y) - top-left corner, (w, h) - width & height of bounded box            public float prob;                 // confidence - probability that the object was found correctly            public UInt32 obj_id;        // class of object - from range [0, classes-1]            public UInt32 track_id;      // tracking id for video (0 - untracked, 1 - inf - tracked object)            public UInt32 frames_counter;        };        public Form1()        {            InitializeComponent();        }        private void Form1_Load(object sender, EventArgs e)        {            //Task.Run(() => InitYolo());            InitYolo();        }        public static void InitYolo()        {           InitializeYolo(                      Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "yolo-obj.cfg"),                      Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "yolo-obj_best.weights"),                      0);        }        [HandleProcessCorruptedStateExceptions]        [SecurityCritical]        public List
    
      Detect(int Height, int Width, byte[] imageData)        {            var container = new BboxContainer();            var size = Marshal.SizeOf(imageData[0]) * imageData.Length;            var pnt = Marshal.AllocHGlobal(size);            try            {                Marshal.Copy(imageData, 0, pnt, imageData.Length);                var count = DetectImage((uint)Width, (uint)Height, imageData, imageData.Length, ref container);                if (count == -1)                {                    throw new NotSupportedException(" has no OpenCV support");                }                List
     
       result = new List
      
       ();                for (int i = 0; i < count; i++)                {                    result.Add(container.candidates[i]);                }                return result;            }            catch (Exception exception)            {                Console.WriteLine("Error : ");                Console.WriteLine(exception.Message);                return new List
       
        ();            }            finally            {                // Free the unmanaged memory.                Marshal.FreeHGlobal(pnt); //不释放内存会报错            }        }        private void button1_Click(object sender, EventArgs e)        {            //Image
        
          img = new Image
         
          (@"C:\Users\admin\source\repos\WindowsFormsApp1\WindowsFormsApp1\bin\x64\Debug\Camera20200421194241118.jpg"); Image
          
            img1 = new Image
           
            (@"Camera20200421194241118.jpg"); int Width, Height; Width = img1.Width; Height = img1.Height; while (Width % 4 != 0) { Width++; } CvInvoke.Resize(img1, img1, new Size(Width, Height), 0, 0, Inter.Lanczos4); Matrix
            
              showImage = new Matrix
             
              (img1.Height, img1.Width, 3); CvInvoke.CvtColor(img1, showImage, ColorConversion.Gray2Bgr); List
              
                bboxes = new List
               
                (); lock (ThreadLock) //锁线程 { int byte_size = showImage.Rows * showImage.Cols * 3; byte[] img_data_in = new byte[byte_size]; Array.Copy(showImage.Mat.GetData(), img_data_in, byte_size); //bboxes = Detect(showImage.Height, showImage.Width, img_data_in);//方法一 bboxes = Detect(showImage.Height, showImage.Width, showImage.Bytes);//方法二 } if (bboxes.ToArray().Length != 0) { //MessageBox.Show("1111"); } foreach (var bbox in bboxes) { var color_red = new MCvScalar(0, 0, 255); // BGR var color_green = new MCvScalar(0, 255, 0); var color_yellow = new MCvScalar(0, 255, 255); Rectangle rect = new Rectangle((int)bbox.x, (int)bbox.y, (int)bbox.w, (int)bbox.h); if (bbox.obj_id == 0) { CvInvoke.Rectangle(showImage, rect, color_yellow); } else if (bbox.obj_id == 2) { CvInvoke.Rectangle(showImage, rect, color_green); } else { CvInvoke.Rectangle(showImage, rect, color_red); } } pictureBox1.Image = showImage.Mat.Bitmap; } }}
               
              
             
            
           
          
         
        
       
      
     
    

运行结果：

yolo_cpp_dll中的yolo_v2_class.cpp需要修改下构造函数detect_image

int detect_image(unsigned int width, unsigned int height, unsigned char* data, const size_t data_length, bbox_t_container &container){    cv::Mat image = cv::Mat(height, width, CV_8UC3, data, 3 * width);    //cv::imshow("test_img", image);    //cv::waitKey(1);    std::vector
    
      detection = detector->detect(image);    for (size_t i = 0; i < detection.size() && i < C_SHARP_MAX_OBJECTS; ++i)        container.candidates[i] = detection[i];    return detection.size();;}