private Mat DisplayTriangleOnInfrared(Mat infraredMat, Triangle2DF tri)
{
using (Mat convertMat = new Mat(infraredMat.Size, DepthType.Cv8U, 1)) {
infraredMat.ConvertTo(convertMat, DepthType.Cv8U, 1 / 256d);
Mat displayMat = new Mat(infraredMat.Size, DepthType.Cv8U, 3);
CvInvoke.CvtColor(convertMat, displayMat, ColorConversion.Gray2Bgr);
CvInvoke.Polylines(displayMat, Array.ConvertAll(tri.GetVertices(), System.Drawing.Point.Round), true, new Bgr(0, 0, 255).MCvScalar, 2);
return(displayMat);
}
}
private void CalculateNormal(Mat depthMat, Triangle2DF tri)
{
if (depthMat == null || (tri.Centeroid.X == 0 && tri.Centeroid.Y == 0))
{
return;
}
var vertices = Array.ConvertAll(tri.GetVertices(), System.Drawing.Point.Round);
var point2dList = vertices;// Kolos.haromszog.belsopontok(vertices);
#region Kolos normalvektor
//var point3dList = new List<Kolos.pont3d>();
//foreach (var point2d in point2dList) {
// var zcoord = GetMatElementU16(depthMat, point2d.X, point2d.Y);
// if(zcoord != 0)
// point3dList.Add(CalculateWorldPosition(point2d.X, point2d.Y, depthMat.Cols, zcoord));
//}
//var normal = Kolos.normalvektor.kiszamitas(point3dList);
//Console.WriteLine($"Normálvektor X:{normal[0].ToString("F4")} Y:{normal[1].ToString("F4")}, Z: {normal[2].ToString("F4")}");
#endregion
MCvPoint3D32f[] vertices3d = new MCvPoint3D32f[3];
for (int i = 0; i < 3; i++)
{
var point2d = point2dList[i];
var zcoord = GetMatElementU16(depthMat, point2d.X, point2d.Y);
if (zcoord == 0)
{
return;
}
var point3d = CalculateWorldPosition(point2d.X, point2d.Y, depthMat.Cols, zcoord);
vertices3d[i] = new MCvPoint3D32f((float)point3d.x, (float)point3d.y, (float)point3d.z);
}
var tri3d = new Triangle3DF(vertices3d[0], vertices3d[1], vertices3d[2]);
var normal = tri3d.Normal;
Console.WriteLine($"Normal: X:{normal.X} Y:{normal.Y} Z:{normal.Z}");
}