public ProgramTask()
{
Monitor.ClientSize = new Size(640, 480);
ColoredChessboard = new ColoredChessboard(Chessboard, Color.CornflowerBlue.Alpha(0.9f), Color.Orange.Alpha(0.3f));
var maybeSecondaryScreen = Screen.AllScreens.Where(s => s != Screen.PrimaryScreen).FirstOrDefault() ?? Screen.PrimaryScreen;
// Projector = new RealProjector("Optoma EW1610", "1018", maybeSecondaryScreen.Bounds.Size, maybeSecondaryScreen);
var virtualProjectorOrbit = new OrbitCamera("Virtual Projector Orbit", "N/A", new Size(1280, 800), new PointF(640, 850), 100, 2, 134);
Projector = new VirtualProjector(Monitor, virtualProjectorOrbit);
WorldCamera = new OrbitCamera("World Orbit", "1018", Monitor.Size, Monitor.Size.CenterF(), Monitor.Size.Width, 0.1f, 100)
{
Center = Chessboard.VertexCenter,
Distance = 56,
YawPitch = new Vector2(0.2f, -0.2f),
};
WorldScene = new Scene(WorldCamera)
{
// MakeColoredAxisOfLength(Vector3.UnitX, Color.Red, length: 20.0f),
// MakeColoredAxisOfLength(Vector3.UnitY, Color.Green, length: 20.0f),
// MakeColoredAxisOfLength(Vector3.UnitZ, Color.Blue, length: 20.0f),
// ColoredChessboard,
// new Grid(Matrix.CreateRotationX(MathHelper.PiOver2), Color.Red.Lerp(Color.White, 0.9f).Alpha(0.3f), Color.Red.Alpha(0.5f)),
// new Grid(Matrix.CreateRotationY(-MathHelper.PiOver2), Color.Green.Lerp(Color.White, 0.9f).Alpha(0.1f), Color.Green.Alpha(0.3f)),
// new Grid(Matrix.Identity, Color.Blue.Lerp(Color.White, 0.9f).Alpha(0.1f), Color.Blue.Alpha(0.4f)),
new MeshModel("ManStanding", Matrix.CreateScale(0.1f) * Matrix.CreateRotationY(-MathHelper.PiOver2) * Matrix.CreateTranslation(4, 0, 2)) { ProjectorViewProject = Projector },
new MeshModel("MutantStanding", Matrix.CreateScale(0.4f) * Matrix.CreateRotationY(0) * Matrix.CreateTranslation(8, 0, 1)) { ProjectorViewProject = Projector },
new MeshModel("HeadFemale", Matrix.CreateScale(0.2f) * Matrix.CreateRotationX(-MathHelper.PiOver2) * Matrix.CreateTranslation(-3, 6, 0)) { ProjectorViewProject = Projector },
};
CaptureCameras = CreateCaptureCameras().ToList();
if (CaptureCameras.IsEmpty())
AddVirtualCaptureCamera("VirCam 1", "1018", Color.Red);
CaptureCameraSelectionPictureGray = new Picture2D(CaptureCameraSelected.Intrinsics.ImageSize.LimitProportional(290, 290).AnchorWithin(Monitor.ClientRectangle, AnchorPoints.BottomLeft), CaptureCameraSelected.Capture.GrayTexture2D);
CaptureCameraSelectionPictureRgba = new Picture2D(CaptureCameraSelected.Intrinsics.ImageSize.LimitProportional(290, 290).ToRect(CaptureCameraSelectionPictureGray.Rectangle.Left, CaptureCameraSelectionPictureGray.Rectangle.Top, AnchorPoints.BottomLeft), CaptureCameraSelected.Capture.RgbaTexture2D);
CaptureCameraSelected.Highlight = true;
WorldScene.Add(CaptureCameras);
WorldScene.Add(Projector);
Monitor.Scene = new Scene(new ScreenCamera(Monitor))
{
new Clear(Color.LightGray),
WorldScene,
CaptureCameraSelectionPictureGray,
CaptureCameraSelectionPictureRgba,
};
LocateTrigger = new Trigger(() => new LocateTask(Monitor, CaptureCameraSelected, Chessboard).Run(), Keys.L);
CalibrateTrigger = new Trigger(() => new CalibrateTask(Monitor, CaptureCameraSelected, Chessboard).Run(CaptureCameraSelected), Keys.C);
ChessboardShapeTrigger = new Trigger(() => new ChessboardShapeTask(Monitor, Projector, Chessboard).Run(), Keys.S);
CalibrateIndirectlyTrigger = new Trigger(() => { WorldScene.Remove(ColoredChessboard); return new CalibrateIndirectlyTask(Monitor, CaptureCameras, Projector, Chessboard).Run(WorldScene); }, Keys.I);
GrayScanTrigger = new Trigger(() => new GrayScanTask(Monitor, CaptureCameras.First(), Projector).Run(WorldScene), Keys.G);
AttachInputToCamera(Program.WhenInput.Where(input => !input.KeyPressed(Keys.LeftAlt)), Monitor, WorldCamera);
AttachInputToCamera(Program.WhenInput.Where(input => input.KeyPressed(Keys.LeftAlt)), Monitor, virtualProjectorOrbit);
AttachPerformanceBar();
Program.WhenInput.Where(input => input.KeyDown(Keys.Tab)).Subscribe(input =>
{
CaptureCameraSelected.Highlight = false;
CaptureCameraSelectionIdx = (CaptureCameraSelectionIdx + 1) % CaptureCameras.Count;
CaptureCameraSelected.Highlight = true;
CaptureCameraSelectionPictureGray.Texture2D = CaptureCameraSelected.Capture.GrayTexture2D;
CaptureCameraSelectionPictureRgba.Texture2D = CaptureCameraSelected.Capture.RgbaTexture2D;
});
}
public async Task<PinHole> Run(Services services, IEnumerable<Intrinsics> intrinsics)
{
var monitor = services.Monitor;
var projector = services.Projectors.First();
monitor.FullScreen = false;
projector.FullScreen = true;
monitor.Show();
projector.Show();
Vector3[] projectorCorners;
var chessboard = SculptChessboardTask.Load(out projectorCorners, projector.ClientSize);
var confirmTrigger = from key in projector.KeyDown
where key.KeyCode == Keys.Space
select default(Unit);
var closeTrigger = from close in monitor.FormClosingObservable
select close;
bool done = false;
var doneTrigger = Observable.Amb(confirmTrigger, closeTrigger);
var pinHoles = services.Captures.Select((capture, idx) => new PinHole(capture, intrinsics.ToArray()[idx], services.Renderer)).ToArray();
var capture1 = services.Captures.First();
var texture2D = services.Renderer.LeaseFor(capture1);
PointF[] corners = new PointF[chessboard.SaddleCount.Area()];
using (doneTrigger.Subscribe(_ => done = true))
using (capture1.Subscribe(picture => {
using (picture)
{
CvInvoke.cvDrawChessboardCorners(picture.Bgra.Ptr, chessboard.SaddleCount, corners, corners.Length, 1);
texture2D.SetData(picture.Bytes);
}
}))
{
var homography = chessboard.GetVertexHomographyTo(projectorCorners);
var camera = new ScreenCamera2D(homography,
Matrix.CreateOrthographicOffCenter(0, projector.ClientSize.Width, projector.ClientSize.Height, 0, 0, 1));
var orbitCamera = monitor.CreateOrbitCamera(50, monitor.Size.Ratio(), null);
var picture2D = new Picture2D(services.Captures.First().Size.Scale(0.5f).AnchorWithin(monitor.ClientRectangle, AnchorPoints.BottomRight), texture2D) { Color = Color.White.Scale(0.9f), };
foreach (var pinHole in pinHoles)
pinHole.LocateUsing(chessboard, corners);
while (!done)
{
var pf = projector.Begin(services.Renderer);
pf.Add(Color.White);
pf.Add(camera);
pf.Add(chessboard);
await pf.PresentAsync();
var mf = monitor.Begin(services.Renderer);
mf.Add(Color.DarkGray);
mf.Add(chessboard);
foreach (var pinHole in pinHoles)
{
var crns = pinHole.BoundingFrustum.GetCorners().Skip(4).Take(4).ToArray();
mf.Add(new Quad(crns[2], crns[3], crns[1], crns[0], picture2D.Texture2D, Color.White.Scale(0.8f)));
mf.Add(pinHole.BoundingFrustum);
if (corners != null)
{
var position = pinHole.World.Translation;
mf.Add(new LineSegment(position, Vector3.Zero, 0.03f) { Color = Color.Fuchsia, });
for (int i = 0; i < corners.Length; ++i)
{
var corner = corners[i];
var ray = pinHole.BoundingFrustum.ThroughPixel(position, corner.X, corner.Y, pinHole.ImageWidth, pinHole.ImageHeight);
var lineSegment = new LineSegment(ray.Position, ray.Position + 5.4f * ray.Direction, 0.005f) { Color = Palette.Get(i), };
mf.Add(lineSegment);
}
}
}
await mf.PresentAsync();
}
}
return null;
}