private void VideoDevice_NewFrame(object sender, NewFrameEventArgs e)
{
var source = new Bitmap(e.Frame);
var unmanaged = UnmanagedImage.FromManagedImage(source);
Grayscale grayscaleFilter = new Grayscale(1, 0, 0);
var grayscaleUnm = grayscaleFilter.Apply(unmanaged);
var grayscale = grayscaleUnm.ToManagedImage();
var points = PointDetector.FindHighlitedPoints(grayscaleUnm.ImageData, e.Frame.Width, e.Frame.Height);
var points3Enumerable = from point in points
select PointScanner.ConvertTo3D(point, e.Frame.Width, e.Frame.Height) into point3
where Properties.Cylinder.Contains(point3)
select point3;
Vector3[] vertices = points3Enumerable.ToArray();
using (var gr = System.Drawing.Graphics.FromImage(source))
{
foreach (var p in points)
{
gr.FillEllipse(Brushes.Green, p.X - 4, p.Y - 4, 8, 8);
}
foreach (var v in vertices)
{
var p2 = PointScanner.ConvertTo2D(v, e.Frame.Width, e.Frame.Height);
Brush color = v.Z > 0 ? Brushes.Blue : Brushes.Red;
gr.FillEllipse(color, p2.X - 2, p2.Y - 2, 4, 4);
}
}
using (var graphics = sourceImage.CreateGraphics())
graphics.DrawImage(source, 0, 0, sourceImage.Width, sourceImage.Height);
using (var graphics = grayscaleImage.CreateGraphics())
graphics.DrawImage(grayscale, 0, 0, sourceImage.Width, sourceImage.Height);
}
private void HandleNewFrame(Bitmap frame)
{
var unmanaged = UnmanagedImage.FromManagedImage(frame);
Grayscale grayscaleFilter = new Grayscale(1, 0, 0);
var grayscaleUnm = grayscaleFilter.Apply(unmanaged);
float rotationAngle = (float)(-Slices.Count * PlatformStep);
Quaternion rotation = Quaternion.CreateFromYawPitchRoll(rotationAngle, 0, 0);
Vector2[] points = PointDetector.FindHighlitedPoints(grayscaleUnm.ImageData, frame.Width, frame.Height);
var sliceVertices = from point in points
select PointScanner.ConvertTo3D(point, frame.Width, frame.Height) into vertex
where Cylinder.Contains(vertex)
select Vector3.Transform(vertex, rotation);
AddSlice(sliceVertices.ToArray());
}