public void Update() { if (addBlob) { addBlob = false; VoxelBlob tempBlob = new VoxelBlob(targetVoxelLength, 1, targetVoxelLength, false); myManager.AddVoxelBlob(Convert(tempBlob)); Text.Log("added picture"); } }
/// <summary> /// Uses a silhouette scanning setup /// </summary> /// <returns>The scan.</returns> IEnumerator SilhouetteScan() { Text.Log("SilhouetteScan."); bool isCancelled = false; manager.pauseUpdateCollision = true; m_blobSize = manager.m_blob.size; foreach (ScanningCamera sc in calibratedCameras) { yield return(Scheduler.StartCoroutine(sc.StartCapturing())); yield return(Scheduler.StartCoroutine(sc.TakeCalibrationPicture())); sc.Stop(); } m_scanDataBlob = new byte[m_blobSize.x, m_blobSize.y, m_blobSize.z]; m_readyToScan = false; bool shouldBreak = false; Dispatcher <Panel> .Broadcast(PanelController.kEventClosePanel, Panel.Message); Dispatcher <string, PanelController.Handler, PanelController.Handler> .Broadcast( PanelController.kEventConfirm, kPlaceObjectString, delegate { m_readyToScan = true; }, delegate { m_readyToScan = shouldBreak = true; StopCameras(); } ); yield return(new WaitUntil(() => m_readyToScan || shouldBreak)); if (shouldBreak) { yield break; } m_readyToScan = false; Dispatcher <string, string, PanelController.Handler, PanelController.Handler> .Broadcast( PanelController.kEventShowProgress, Scanner.kOnScanningProgress, "Scanning {0:0%}", Nop, delegate { isCancelled = true; m_isScanning = false; scanningView.SetActive(false); StopCameras(); }); float initialTime = Time.realtimeSinceStartup; scanningView.SetActive(true); m_isScanning = true; m_workQueue = new Queue <ScanWorkPacket>(); int numThreads = Math.Max(1, System.Environment.ProcessorCount / 2); Text.Log(@"Starting {0} thread{1}.", numThreads, Text.S(numThreads)); m_rowsProcessed = 0; foreach (Thread t in m_scanningThreads) { if (t.IsAlive) { t.Abort(); } } m_scanningThreads.Clear(); for (int i = 0; i < numThreads; ++i) { Thread worker = new Thread(ImageProcessor); worker.Start(); m_scanningThreads.Add(worker); } int cameraIndex = 0; int rowsExpected = 0; foreach (ScanningCamera sc in calibratedCameras) { yield return(Scheduler.StartCoroutine(sc.StartCapturing())); scanningView.renderer.material.mainTexture = sc.webcamImage; for (int i = 0; i < numberOfSilhouettePicsToTake; i++) { yield return(Scheduler.StartCoroutine(sc.TakePicture())); float progressAddition = (cameraIndex == 1) ? 0.5f : 0f; Dispatcher <float> .Broadcast(kOnScanningProgress, ((float)i / (float)numberOfSilhouettePicsToTake) / (float)calibratedCameras.Count + progressAddition); rowsExpected += sc.imageHeight; m_workQueue.Enqueue(new ScanWorkPacket(centerOfVoxelBlob, sc)); if (Scheduler.ShouldYield()) { yield return(null); } Matrix eulerRotate = Matrix.Zero(3, 1); eulerRotate[1, 0] = -m_rotationPerPicture; // The original. //eulerRotate[1,0] = m_rotationPerPicture; Matrix rotateAroundY = Matrix.Zero(3, 3); OpenCV.cvRodrigues2(eulerRotate.matPtr, rotateAroundY.matPtr, IntPtr.Zero); sc.worldToCameraRotation = sc.worldToCameraRotation * rotateAroundY; OpenCV.cvReleaseMat(ref rotateAroundY.matPtr); OpenCV.cvReleaseMat(ref eulerRotate.matPtr); pc.BeginMotorChanges(m_workingPrinter); pc.RotateBySteps(0, m_workingPrinter.platform.stepsPerRotation / numberOfSilhouettePicsToTake, m_workingPrinter.horizTrack.stepDirection, Change.Execute); pc.EndMotorChanges(); yield return(Scheduler.StartCoroutine(pc.WaitUntilDoneMoving())); if (isCancelled) { pc.TurnBacklightOff(); m_workQueue.Clear(); //if (printer.serialController != null) { // printer.serialController.ClearRxBuffer(); //} scanningView.SetActive(false); StopCameras(); yield break; } } sc.Stop(); ++cameraIndex; } scanningView.SetActive(false); Dispatcher <string, string, PanelController.Handler, PanelController.Handler> .Broadcast( PanelController.kEventShowProgress, Scanner.kOnScanningProgress, "Processing {0:0%}", Nop, // TODO: Actually cancel thingsā¦to do this, we may need to make some changes // in the blob format and undo system. null); do { // NOTE: Changed 2.0 -> 5.0f yield return(new WaitSeconds(5.0f)); Dispatcher <float> .Broadcast(kOnScanningProgress, ((float)m_rowsProcessed / (float)rowsExpected) * 0.75f); } while (m_rowsProcessed < rowsExpected && !isCancelled); m_isScanning = false; VoxelBlob blob = new VoxelBlob(m_blobSize.x, m_blobSize.y, m_blobSize.z, false); yield return(Scheduler.StartCoroutine(SetVoxelsInBlob((byte)cutThreshold, blob, m_scanDataBlob, null))); m_scanDataBlob = null; Dispatcher <float> .Broadcast(kOnScanningProgress, 0.75f); yield return(Scheduler.StartCoroutine(manager.AddVoxelBlob(blob, Vector3.zero))); manager.pauseUpdateCollision = false; while (manager.isUpdating) { yield return(new WaitSeconds(1.0f)); } Dispatcher <float> .Broadcast(kOnScanningProgress, 1f); Text.Log("Done scanning and updating meshes after {0} sec.", Time.realtimeSinceStartup - initialTime); pc.TurnBacklightOff(); Contract.Assert(m_workQueue.Count == 0, @"Didn't process {0} image{1}.", m_workQueue.Count, Text.S(m_workQueue.Count)); }