public static void Run(string[] args)
{
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var display = new BitmapWindow(main.Bounds.Left + 50, 50, 640, 480);
display.Load();
display.ResizeGraphics();
var display2 = new BitmapWindow(main.Bounds.Left + 690, 50, 640, 480);
display2.Load();
display2.ResizeGraphics();
var displays = new BitmapWindow[] { display, display2 };
var kinects = KinectSensor.KinectSensors.Where(r => r.Status == KinectStatus.Connected).ToArray();
foreach (var k in kinects)
{
k.Start();
k.ElevationAngle = 19;
}
var cameras = kinects.Select(k => new Camera(k, ColorImageFormat.RgbResolution640x480Fps30)).ToArray();
while (true)
{
cameras.Zip(displays, (c, d) =>
{
d.DrawBitmap(c.TakePicture(0));
d.ProcessEvents();
return 0;
}).ToArray();
}
}
public static void Run(string[] args)
{
int[] ra = Range.OfInts(52).ToArray();
string test = "decode.exe options.ini " + string.Join(" ", ra.Select(i => string.Format("picture-{0:000}.bmp", i)).ToArray());
test.ToArray();
string dir = @"C:\Users\ASUS\git\procamtools-v1\Debug";
Thread.Sleep(100);
ExCamera xcam = new ExCamera();
Projector proj = new Projector();
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var display = new BitmapWindow(main.Bounds.Left + 50, 50, 1280, 960);
display.Load();
display.ResizeGraphics();
proj.DrawBackground(Color.White);
int c = 0;
foreach (var file in Directory.GetFiles(dir, "pattern-*.bmp"))
{
var map = new Bitmap(Path.Combine(dir, file));
proj.DrawBitmap(map);
var pic = xcam.TakePicture();
display.DrawBitmap(pic);
var bits = (Bitmap)pic.Clone(new Rectangle(0, 0, pic.Width, pic.Height), PixelFormat.Format32bppRgb);
bits.Save(Path.Combine(dir, string.Format("picture-{0:000}.bmp", c++)), ImageFormat.Bmp);
}
display.Close();
proj.Close();
xcam.Dispose();
}
public static void Calibrate(string[] args)
{
var camfile = args.FirstOrDefault() ?? KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? ProjectorDefaultFileName;
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
window.Load();
window.ResizeGraphics();
StereoCalibration.DebugWindow = window;
KinectSensor sensor = KinectSensor.KinectSensors.First();
sensor.Start();
Camera camera = new Camera(sensor, ColorImageFormat.RgbResolution1280x960Fps12);
Projector projector = new Projector();
PointF[][] data;
bool proceed = false;
CalibrationResult cc, pc;
do
{
cc = CalibrateCamera(camera, projector, out data, false, true, true);
pc = CalibrateProjector(sensor, camera, projector, cc, data, true, false);
var peas = new float[][] {
new float[] { 0f, 0f, 0.0f },
new float[] { 0.5f, 0f, 0.0f },
new float[] { 0f, -0.5f, 0.0f },
new float[] { 0.5f, -0.5f, 0.0f },
};
var tpe = pc.Transform(peas);
var tpp = cc.Transform(peas);
projector.DrawPoints(tpe, 25);
var pic2 = camera.TakePicture(5);
QuickDraw.Start(pic2).Color(Color.Green).DrawPoint(tpp, 15).Finish();
window.DrawBitmap(pic2);
Console.WriteLine("Save result? (y/n)");
proceed = Console.ReadLine() == "y";
} while (!proceed);
Utils.SerializeObject(cc, camfile);
Utils.SerializeObject(pc, projfile);
window.Close();
window.Dispose();
projector.Close();
camera.Dispose();
sensor.Stop();
}
public static void Run(string[] args)
{
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
window.Load();
window.ResizeGraphics();
RemoteKinect kinect = new RemoteKinect("localhost", 10500);
Bitmap map = new Bitmap(100, 100);
object sync = new object();
Stopwatch sw = new Stopwatch();
sw.Start();
int frames = 0;
kinect.ReceivedSkeletons += (o, e) =>
{
frames++;
e.Skeletons.ToString();
};
kinect.ReceivedColorImage += (o, e) =>
{
frames++;
map = e.Bitmap;
lock (sync)
Monitor.Pulse(sync);
};
kinect.ReceivedDepthImage += (o, e) =>
{
frames++;
e.Pixels.ToString();
};
kinect.Start(Commands.Color640);
while (true)
{
lock (sync)
Monitor.Wait(sync);
window.DrawBitmap(map);
}
while (true)
{
Thread.Sleep(1000);
Console.WriteLine("{0} frames in {1} ms", frames, sw.ElapsedMilliseconds);
frames = 0;
sw.Reset();
sw.Start();
}
Console.ReadLine();
}
public Form1()
{
InitializeComponent();
var main = DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
window.Load();
window.ResizeGraphics();
StereoCalibration.DebugWindow = window;
Projector proj = new Projector();
Camera camera = new Camera(KinectSensor.KinectSensors.First(row => row.Status == KinectStatus.Connected), ColorImageFormat.RgbResolution1280x960Fps12);
StereoCalibration.Test(proj, camera);
//proj.Renderer.RenderBitmap(bitm);
//BitmapWindow window = BitmapWindow.Make();
//window.RenderFrame();
//Projector proj = new Projector();
//var main = DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
//var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
//window.Load();
//window.ResizeGraphics();
//DualCalibrator.DebugWindow = window;
////proj.DrawPoints((new float[] { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 }).Select(row => new PointF(row * 10, row * 10)).ToArray(), 10);
////proj.DrawPoints(new PointF[] { new PointF(50f, 50f) }, 10);
//Camera camera = new Camera(KinectSensor.KinectSensors.First(row => row.Status == KinectStatus.Connected), ColorImageFormat.RgbResolution640x480Fps30);
//bool res = false;
//Application.Idle += (o, e) =>
//{
// if (res)
// return;
// Bitmap map;
// res = DualCalibrator.DrawCorners(proj, camera, out map);
// //DualCalibrator.DrawNoFull(proj, camera, out map);
// //res = true;
// pictureBox1.Image = map;
//};
}
