/// <summary>
/// 映美金相机触发出图
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void icImagingControl_ImageAvailable(object sender, TIS.Imaging.ICImagingControl.ImageAvailableEventArgs e)
{
TIS.Imaging.ImageBuffer CurrentBuffer = icImagingControl.ImageBuffers[e.bufferIndex];
Image <Gray, byte> grayImage = new Image <Gray, byte>(CurrentBuffer.Bitmap);
YMJcamera.GetCamParams();//获取内参
//校正畸变
CvInvoke.InitUndistortRectifyMap(TisCamera.cameraMatrix, TisCamera.distCoeffs, null, TisCamera.cameraMatrix,
TisCamera.imageSize, DepthType.Cv32F, TisCamera.mapx, TisCamera.mapy);
CvInvoke.Remap(grayImage, grayImage, TisCamera.mapx, TisCamera.mapy, Inter.Linear, BorderType.Constant, new MCvScalar(0));
for (int i = 0; i < TisCamera.height; i++)
{
for (int j = 0; j < TisCamera.width; j++)
{
TisCamera.YMJImage.Data[i, j, 2] = grayImage.Data[i, j, 0];
TisCamera.YMJImage.Data[i, j, 1] = grayImage.Data[i, j, 0];
TisCamera.YMJImage.Data[i, j, 0] = grayImage.Data[i, j, 0];
}
}
if (GLB.Camera_index == 1)
{
DealWithImage.getContoursForYMJ(grayImage, ptbDisplay);
ptbDisplay.Image = TisCamera.YMJImage.ToBitmap();//显示映美金图像
}
}
/// <summary>
/// 显示真三维图像:
/// </summary>
/// <param name="cameraIndex"></param>
/// <param name="point_3d"></param>
/// <param name="ptb"></param>
public static void display_point_3d_1(int cameraIndex, float[] point_3d, PictureBox ptb)
{
float ff;
float visibaleDistance = 0;//可视距离
if (cameraIndex == 0)
{
visibaleDistance = 2600; //2300
}
else if (cameraIndex == 1)
{
visibaleDistance = 3750;
}
for (int i = 0; i < GLB.BUFH; i++)
{
for (int j = 0; j < GLB.BUFW; j++)
{
ff = (float)(point_3d[(i * GLB.BUFW + j) * 3 + 2]);
if (ff < visibaleDistance && ff > 2000)
{
//伪彩色表示深度:
GLB.MyFrame.Data[i, j, 0] = (byte)(128 + 127 * Math.Cos(ff / 13f));
GLB.MyFrame.Data[i, j, 1] = (byte)(127 - 127 * Math.Sin(ff / 17f));
GLB.MyFrame.Data[i, j, 2] = (byte)(128 + 127 * Math.Sin(ff / 23f));
//GLB.MyFrame.Data[i, j, 0] = 255;
//GLB.MyFrame.Data[i, j, 1] = 255;
//GLB.MyFrame.Data[i, j, 2] = 255;
}
else
{
GLB.MyFrame.Data[i, j, 0] = 0;
GLB.MyFrame.Data[i, j, 1] = 0;
GLB.MyFrame.Data[i, j, 2] = 0;
}
}
}
DealWithImage.getContours(point_3d);
ptb.Image = GLB.MyFrame.ToBitmap();
//###########################测试###############################
//GLB.MyFrame = GLB.MyFrame.SmoothBlur(GLB.BUFW, GLB.BUFH);//全屏模糊
//src = src.SmoothGaussian(25);//25*25区块,高斯模糊
//GLB.MyFrame = GLB.MyFrame.SmoothMedian(17);//17*17区块,均值模糊化
//var gray = GLB.MyFrame.Convert<Gray, Byte>(); //灰度化
//CvInvoke.AdaptiveThreshold(gray, gray, 255, AdaptiveThresholdType.MeanC, ThresholdType.Binary, 27, 1);
//ptb.Image = gray.ToBitmap();
}
/// <summary>
/// 显示三维数据
/// </summary>
/// <param name="cameraIndex"></param>
/// <param name="myp3d"></param>
/// <param name="ptb"></param>
public static void display_point_3d(int cameraIndex, float[] myp3d, PictureBox ptb)
{
GLB.TitleStr = "";
float visibaleDistance = 0;//可视距离
float dis_temp = 0;
int d = 2;
if (cameraIndex == 0)
{
visibaleDistance = 2436;
}
//else if (cameraIndex == 1) visibaleDistance = 2600;
for (int i = d; i < GLB.BUFH - d; i += d)
{
for (int j = d; j < GLB.BUFW - d; j += d)
{
float z_center = myp3d[(i * GLB.BUFW + j) * 3 + 2];
if (z_center > 0 && z_center < visibaleDistance)//小于托盘的深度
{
float v1 = myp3d[3 * ((i - d) * GLB.BUFW + j - d) + 2];
float v2 = myp3d[3 * ((i - d) * GLB.BUFW + j) + 2];
float v3 = myp3d[3 * ((i - d) * GLB.BUFW + j + d) + 2];
float v4 = myp3d[3 * (i * GLB.BUFW + j - d) + 2];
float v6 = myp3d[3 * (i * GLB.BUFW + j + d) + 2];
float v7 = myp3d[3 * ((i + d) * GLB.BUFW + j - d) + 2];
float v8 = myp3d[3 * ((i + d) * GLB.BUFW + j) + 2];
float v9 = myp3d[3 * ((i + d) * GLB.BUFW + j + d) + 2];
if (double.IsNaN(v1) || double.IsNaN(v2) || double.IsNaN(v3) || double.IsNaN(v4) ||
double.IsNaN(v6) || double.IsNaN(v7) || double.IsNaN(v8) || double.IsNaN(v9))
{
dis_temp = 0;
}
dis_temp = Math.Abs(v1 - z_center) + Math.Abs(v2 - z_center) + Math.Abs(v3 - z_center) + Math.Abs(v4 - z_center)
+ Math.Abs(v6 - z_center) + Math.Abs(v7 - z_center) + Math.Abs(v8 - z_center) + Math.Abs(v9 - z_center);//双线斜率绝对值之和
dis_temp = dis_temp < 15 ? z_center : 0;
}
else
{
dis_temp = 0;
}
//伪彩色效果:
for (int dy = -d / 2; dy < d / 2; dy++)
{
for (int dx = -d / 2; dx < d / 2; dx++)
{
if (dis_temp == 0)
{
GLB.MyFrame.Data[i + dx, j + dy, 0] = (byte)(dis_temp); //B
GLB.MyFrame.Data[i + dx, j + dy, 1] = (byte)(dis_temp); //G
GLB.MyFrame.Data[i + dx, j + dy, 2] = (byte)(dis_temp); //R
}
else
{
GLB.MyFrame.Data[i + dx, j + dy, 0] = (byte)(128 + 127 * Math.Cos(dis_temp / 13f));
GLB.MyFrame.Data[i + dx, j + dy, 1] = (byte)(127 - 127 * Math.Sin(dis_temp / 17f));
GLB.MyFrame.Data[i + dx, j + dy, 2] = (byte)(128 + 127 * Math.Sin(dis_temp / 23f));
}
}
}
}
}
DealWithImage.getContours(myp3d);
//RotatedRect myrect = new RotatedRect(new PointF((float)GLB.BUFW / 2, (float)GLB.BUFH / 2), new Size(8, 8), 0);
//CvInvoke.Ellipse(GLB.frame, myrect, new MCvScalar(255, 0, 0), 5);//在角上一个小圆
if (GLB.MyFrame.Data != null)
{
ptb.Image = GLB.MyFrame.ToBitmap();
}
}
