void viewDepthUndistionMat(CvMat src, CvMat depthMat) { if (src == null) { return; } double pX = this.UndistortionData.CameraStruct.PrincipalX; double pY = this.UndistortionData.CameraStruct.PrincipalY; int focalX = (int)(this.UndistortionData.CameraStruct.FocalX / 2); int focalY = (int)(this.UndistortionData.CameraStruct.FocalY / 2); if (src.ElemChannels == 3) { CvMat quadratic = CvEx.InitCvMat(src, MatrixType.F32C1); CvMat scale = CvEx.InitCvMat(src, MatrixType.F32C1); CvMat offset = CvEx.InitCvMat(src, MatrixType.F32C1); src.Split(quadratic, scale, offset, null); float maxQuadratic, minQuadratic; float maxScale, minScale; float maxOffset, minOffset; using (CvMat displayMatQuadratic = getDepthUndistortMatImage(out maxQuadratic, out minQuadratic, quadratic, 0f)) using (CvMat displayMatScale = getDepthUndistortMatImage(out maxScale, out minScale, scale, 1f)) using (CvMat displayMatOffset = getDepthUndistortMatImage(out maxOffset, out minOffset, offset, null)) { using (CvMat black = CvEx.InitCvMat(src, MatrixType.U8C1)) { CvMat total = CvEx.InitCvMat(src, MatrixType.U8C3); black.Zero(); total.Merge(displayMatQuadratic, displayMatScale, displayMatOffset, null); total.PutText(string.Format("RangeQuadatic: {0:0.000} to {1:0.000}", minQuadratic, maxQuadratic), new CvPoint(0, 20), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255)); total.PutText(string.Format("RangeScale: {0:0.000} to {1:0.000}", minScale, maxScale), new CvPoint(0, 40), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255)); total.PutText(string.Format("RangeOffset: {0:0.000} to {1:0.000}", minOffset, maxOffset), new CvPoint(0, 60), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255)); total.DrawLine(new CvPoint((int)pX, 0), new CvPoint((int)pX, total.Rows), new CvScalar(255, 255, 0)); total.DrawLine(new CvPoint(0, (int)pY), new CvPoint(total.Cols, (int)pY), new CvScalar(255, 255, 0)); total.DrawEllipse(new CvPoint((int)pX, (int)pY), new CvSize(focalX, focalY), 0, 0, 360, new CvScalar(255, 0, 0)); putImage(total, PixelFormats.Bgr24); } } } else if (src.ElemChannels == 2) { CvMat scale = CvEx.InitCvMat(src, MatrixType.F32C1); CvMat offset = CvEx.InitCvMat(src, MatrixType.F32C1); src.Split(scale, offset, null, null); float maxScale, minScale; float maxOffset, minOffset; using (CvMat displayMatScale = getDepthUndistortMatImage(out maxScale, out minScale, scale, 1f)) using (CvMat displayMatOffset = getDepthUndistortMatImage(out maxOffset, out minOffset, offset, null)) { using (CvMat black = CvEx.InitCvMat(src, MatrixType.U8C1)) { CvMat total = CvEx.InitCvMat(src, MatrixType.U8C3); black.Zero(); total.Merge(black, displayMatScale, displayMatOffset, null); total.PutText(string.Format("RangeScale: {0:0.000} to {1:0.000}", minScale, maxScale), new CvPoint(0, 20), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255)); total.PutText(string.Format("RangeOffset: {0:0.000} to {1:0.000}", minOffset, maxOffset), new CvPoint(0, 40), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255)); total.DrawLine(new CvPoint((int)pX, 0), new CvPoint((int)pX, total.Rows), new CvScalar(255, 255, 0)); total.DrawLine(new CvPoint(0, (int)pY), new CvPoint(total.Cols, (int)pY), new CvScalar(255, 255, 0)); total.DrawEllipse(new CvPoint((int)pX, (int)pY), new CvSize(focalX, focalY), 0, 0, 360, new CvScalar(255, 0, 0)); putImage(total, PixelFormats.Bgr24); } } } else if (src.ElemChannels == 1) { float max, min; using (CvMat displayMat = getDepthUndistortMatImage(out max, out min, src, null)) { CvMat total = CvEx.InitCvMat(src, MatrixType.U8C3); total.Merge(displayMat, displayMat, displayMat, null); total.PutText(string.Format("Range: {0:0.000} to {1:0.000}", min, max), new CvPoint(0, 20), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 0)); if (depthMat != null) { double?pDepth = CvEx.Get2DSubPixel(depthMat, new CvPoint2D32f(pX, pY), 0); if (pDepth.HasValue) { total.PutText(pDepth.Value.ToString("0"), new CvPoint((int)pX, (int)pY), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 0)); } total.DrawLine(new CvPoint((int)pX, 0), new CvPoint((int)pX, total.Rows), new CvScalar(255, 255, 0)); total.DrawLine(new CvPoint(0, (int)pY), new CvPoint(total.Cols, (int)pY), new CvScalar(255, 255, 0)); total.DrawEllipse(new CvPoint((int)pX, (int)pY), new CvSize(focalX, focalY), 0, 0, 360, new CvScalar(255, 0, 0)); } putImage(total, PixelFormats.Bgr24); } } }