public static unsafe Mat ZValuesToMat(ushort[] zValues, GocatorContext mContext)
{
int width = mContext.Width;
int height = mContext.Height;
int[] size = new int[] { height, width };
fixed(ushort *p = zValues)
{
return(new Mat(size, DepthType.Cv16U, (IntPtr)p, null));
}
}
public static unsafe HImage ZValueToDepthImage(ushort[] zValue, GocatorContext context)
{
HImage image = new HImage();
fixed(ushort *p = zValue)
{
try
{
image.GenImage1("uint2", context.Width, context.Height, (IntPtr)p);
}
catch (HalconException ee)
{
throw;
}
}
return(image);
}
/// <summary>
/// Trans zvalues to colormap
/// </summary>
/// <returns></returns>
public static unsafe Image <Rgb, Byte> ZValueToColorMap(ushort[] zValues, GocatorContext mContext)
{
Mat mat = ZValuesToMat(zValues, mContext);
var maxValue = default(ushort);
var minValue = ushort.MaxValue;
var nullValue = default(ushort);
Parallel.For(0, zValues.Length, (index) =>
{
var tempZ = zValues[index];
if (tempZ != nullValue)
{
if (tempZ > maxValue)
{
maxValue = tempZ;
}
if (tempZ < minValue)
{
minValue = tempZ;
}
}
});
Color[] colors = new Color[zValues.Length];
Image <Rgb, Byte> image = new Image <Rgb, byte>(mContext.Width, mContext.Height, new Rgb(255, 255, 255));
Parallel.For(0, zValues.Length, (index) =>
{
colors[index] = ToColor(zValues[index], minValue, maxValue, nullValue);
});
//Bitmap bitmap = new Bitmap(Width, Height);
//BitmapData bitmapData = bitmap.LockBits(new Rectangle(0, 0, Width, Height), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
//IntPtr intPtr = bitmapData.Scan0;
//byte[] Pixlemaps = new byte[bitmapData.Stride * bitmapData.Height];
//int offset = bitmapData.Stride - bitmapData.Width * 3;
//unsafe
//{
// byte* pp = (byte*)(void*)bitmapData.Scan0;
// for (int k = 0; k < bitmapData.Height; k++)
// {
// for (int m = 0; m < bitmapData.Width; m++)
// {
// pp[0] = (byte)(colors[k * bitmapData.Width + m].R);
// pp[1] = (byte)(colors[k * bitmapData.Width + m].G);
// pp[2] = (byte)(colors[k * bitmapData.Width + m].B);
// pp += 3;
// }
// pp += bitmapData.Stride - bitmapData.Width * 3;
// }
//}
//bitmap.UnlockBits(bitmapData);
// Bitmap aBitmap = bitmap.Clone(new RectangleF(0, 0, bitmap.Width, bitmap.Height), PixelFormat.Format24bppRgb);
Stopwatch st = Stopwatch.StartNew();
Parallel.For(0, image.Height, (i) =>
{
Parallel.For(0, image.Width, (j) =>
{
Rgb tempColor = new Rgb(colors[j + image.Width * i]);
image[i, j] = tempColor;
});
});
Debug.WriteLine($"{st.ElapsedMilliseconds}");
return(image);
}
/// <summary>
/// Trans zvalues to PNG 16bit
/// </summary>
/// <param name="zValues"></param>
/// <param name="mContext"></param>
/// <returns></returns>
///
public static unsafe Image <Gray, ushort> ZValuesToDepthPng(ushort[] zValues, GocatorContext mContext)
{
int width = mContext.Width;
int height = mContext.Height;
int[] size = new int[] { height, width };
fixed(ushort *p = zValues)
{
Mat depthPng = new Mat(size, DepthType.Cv16U, (IntPtr)p, null);
//depthPng.ToImage<Rgb, ushort>().Save(@"C:\colorpng.png");
//Image<Gray, ushort> trh = depthPng.ToImage<Gray, ushort>().ThresholdBinary(new Gray(10000), new Gray(32768));
//trh.Save(@"C:\ trs.png");
return(depthPng.ToImage <Gray, ushort>());
}
}
