public static void RunOld(string[] args)
{
var intrinsicfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var camIntrinsic = Utils.DeSerializeObject<CalibrationResult>(intrinsicfile);
var projFile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
var projIntrinsic = Utils.DeSerializeObject<CalibrationResult>(projFile);
KinectSensor sensor = KinectSensor.KinectSensors.First();
Camera cam = new Camera(sensor, ColorImageFormat.RgbResolution1280x960Fps12);
Projector proj = new Projector();
var keyl = new KeyboardListener(proj.window.Keyboard);
double offsetx = 0, offsety = 0, scale = 0.5;
bool proceed = false, quit = false;
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[0], (f) => offsety += f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Left, OpenTK.Input.Key.Right, new OpenTK.Input.Key[0], (f) => offsetx -= f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[] { Key.ShiftLeft }, (f) => scale += f);
keyl.AddAction(() => proceed = true, Key.Space);
keyl.AddAction(() => quit = proceed = true, Key.Q);
PointF[] corners;
proj.DrawBackground(Color.Black);
while (true)
{
Console.WriteLine("Make sure the kinect can see the board");
Console.ReadLine();
corners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find corners");
}
PointF[] projCorners;
var projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
while (true)
{
Console.WriteLine("Make sure the kinect can see the projection");
while (!proceed)
{
projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
proj.window.ProcessEvents();
}
projCorners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find any corners, make sure the checkerboard is visible to all Kinects.");
}
var camResult = StereoCalibration.CalibrateCamera(corners, new Size(7, 4), 0.05f, camIntrinsic);
var transform = StereoCalibration.FindHomography(projCorners, projectedCorners);
var projResult = StereoCalibration.CalibrateCamera(transform(corners), new Size(7, 4), 0.05f, projIntrinsic);
Utils.SerializeObject(camResult, intrinsicfile);
Utils.SerializeObject(projResult, projFile);
proj.Close();
}
public override void Load(ProgramWindow parent)
{
parent.MakeCurrent();
base.Load(parent);
GL.Disable(EnableCap.Dither);
GL.Enable(EnableCap.Texture2D);
GL.Enable(EnableCap.Blend);
GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.DstAlpha);
GL.ClearColor(System.Drawing.Color.FromArgb(0,0,0,0));
var vs = parent.CreateShader(ShaderType.VertexShader, VSLighting);
var fs = parent.CreateShader(ShaderType.FragmentShader, FSLighting);
program = parent.CreateProgram(vs, fs);
GL.DeleteShader(vs);
GL.DeleteShader(fs);
dynamicProgram.Load();
textures = new MultipleTextures(this);
Bitmap white = new Bitmap(101, 101);
QuickDraw.Start(white)
.Fill(Color.White).Finish();
Bitmap gridBot = new Bitmap(101, 101);
QuickDraw.Start(gridBot)
.All((x, y) =>
{
var lpp = 10;
var xm = x % lpp;
var ym = y % lpp;
if (xm == 0 || ym == 0)
return Color.Gray;
return Color.FromArgb(150, 50, 50, 50);
}, false).Finish();
Bitmap[] maps = new Bitmap[] {
white, gridBot
};
textures.Load(maps);
if (lightStudio != null)
lights = lightStudio.Lights;
else
lights = new MoveableLights(8);
dynamicRenderer = new Renderer(dynamics = (Dynamight.ImageProcessing.CameraCalibration.Range.OfInts(6)).Select(_ => new DynamicRenderable()).ToArray());
staticRenderer = new Renderer(null, (new Renderable[] {
Grid = new Renderable() {
Visible = false,
Shape = new Quad(new Vector3(0,0,0), 10, new Vector3(1,0,0), new Vector3(0,0,1), (v) => textures.Transform(v, 1)),
Animatable = new Translator()
},
}).Concat(LightsObjects = lights.Select(l => new LightRenderable(l, (v) => textures.Transform(v, 0))).ToArray()).ToArray());
windowSize = parent.Size;
SetupCamera();
staticRenderer.Load();
dynamicRenderer.Load();
staticRenderer.Start();
dynamicRenderer.Start();
keyl = new KeyboardListener(parent.Keyboard);
keyl.AddAction(() => Selection = (Selection == null ? (int?)1 : null), Key.C);
keyl.AddAction(() => Grid.Visible = !Grid.Visible, Key.G);
keyl.AddBinaryAction(0.01f, -0.01f, Key.Right, Key.Left, null, (f) => MoveX(f));
keyl.AddBinaryAction(0.01f, -0.01f, Key.Down, Key.Up, null, (f) => MoveY(f));
keyl.AddBinaryAction(0.01f, -0.01f, Key.Down, Key.Up, new Key[] { Key.ShiftLeft }, (f) => MoveZ(f));
keyl.AddBinaryAction(0.05f, -0.05f, Key.Right, Key.Left, new Key[] { Key.ControlLeft }, (f) => MoveX(f));
keyl.AddBinaryAction(0.05f, -0.05f, Key.Down, Key.Up, new Key[] { Key.ControlLeft }, (f) => MoveY(f));
keyl.AddBinaryAction(0.05f, -0.05f, Key.Down, Key.Up, new Key[] { Key.ShiftLeft, Key.ControlLeft }, (f) => MoveZ(f));
GL.Enable(EnableCap.Lighting);
GL.Enable(EnableCap.Light0);
GL.Enable(EnableCap.Light1);
GL.Enable(EnableCap.Light2);
GL.Enable(EnableCap.Light3);
GL.Enable(EnableCap.Light4);
GL.Enable(EnableCap.Light5);
GL.Enable(EnableCap.Light6);
GL.Enable(EnableCap.Light7);
}
public static void Run(string[] args)
{
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new LightStudioProgram(0.08f);
window.SetProgram(program);
var overviewWindow = new ProgramWindow(750, 50, 1280, 960);
overviewWindow.Load();
overviewWindow.ResizeGraphics();
OverviewProgram overview = new OverviewProgram(program);
overviewWindow.SetProgram(overview);
var format = DepthImageFormat.Resolution80x60Fps30;
var inputs = KinectSensor.KinectSensors.Where(k => k.Status == KinectStatus.Connected).Select(k =>
{
k.Start();
return new
{
sensor = k,
depth = new DepthCamera(k, format),
skeleton = new SkeletonCamera(k),
calibrator = new KinectCalibrator(Utils.DeSerializeObject<CalibrationResult>(k.UniqueKinectId.Substring(k.UniqueKinectId.Length - 16) + ".xml"))
};
});
float[] data = Utils.DeSerializeObject<float[]>(LightningFastApp.IR2RGBFILE) ?? MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.Identity(4).ToColumnWiseArray();
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> D2C = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4, data);
var keyl = new KeyboardListener(window.Keyboard);
SkeletonPoint[] skeletons = null;
// Action H hide background:
bool hideBackground = false;
float zCutoff = 3.4f;
float xadj = 0, yadj = 0.0f, zadj = 0;
float incr = 0.01f;
bool adjust = true;
program.SetProjection(pc);
Action<float> xfoo = (f) =>
{
if (!adjust)
return;
xadj += f;
program.SetProjection(pc);
};
Action<float> yfoo = (f) =>
{
if (!adjust)
return;
yadj += f;
program.SetProjection(pc);
};
Action<float> zfoo = (f) =>
{
if (!adjust)
return;
zadj += f;
program.SetProjection(pc);
};
keyl.AddAction(() => adjust = !adjust, Key.A);
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, null, (i) => yfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, null, (i) => xfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft }, (i) => zfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ControlLeft }, (i) => yfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, new Key[] { Key.ControlLeft }, (i) => xfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft, Key.ControlLeft }, (i) => zfoo(i * incr * 3));
keyl.AddAction(() =>
{
hideBackground = !hideBackground;
if (skeletons != null && skeletons.Length > 0)
{
zCutoff = skeletons.Min(sp => sp.Z);
}
else
zCutoff = 0;
}, OpenTK.Input.Key.H);
program.SetProjection(pc, inputs.Select(i => i.calibrator).First().GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
while (true)
{
var points = inputs.Select(inp => new
{
Calibrator = inp.calibrator,
Skeletons = inp.depth.Get(100).Where(p => p.HasValue && p.Value.Index > 0)
.Select(p => inp.sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, p.Value.Point))
.ToArray()
});
program.SetPositions(points.Take(1).SelectMany(v => v.Skeletons.Select(sp => new Vector3(sp.X, sp.Y, sp.Z))));
overview.SetPointCloud(0, points.SelectMany(p =>
{
return p.Skeletons.Select(sp =>
{
var gp = p.Calibrator.ToGlobal(sp);
return new DynamicVertex(new Vector3(gp[0], gp[1], gp[2]));
});
}).ToArray());
window.RenderFrame();
overviewWindow.RenderFrame();
window.ProcessEvents();
overviewWindow.ProcessEvents();
}
}
public static void RunOld(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new LightStudioProgram(0.08f);
window.SetProgram(program);
var overviewWindow = new ProgramWindow(750, 50, 1280, 960);
overviewWindow.Load();
overviewWindow.ResizeGraphics();
OverviewProgram overview = new OverviewProgram(program);
overviewWindow.SetProgram(overview);
KinectSensor sensor = KinectSensor.KinectSensors.First();
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
KinectCalibrator kc = new KinectCalibrator(cc);
SkeletonCamera scam = new SkeletonCamera(sensor);
sensor.Start();
float[] data = Utils.DeSerializeObject<float[]>(LightningFastApp.IR2RGBFILE) ?? MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.Identity(4).ToColumnWiseArray();
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> D2C = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4, data);
//var adjustment = OpenTK.Matrix4.CreateTranslation(0f, 0.14f, 0.00f);
//program.SetProjection(pc, kc.GetModelView(D2C), adjustment);
//program.SetProjection(pc); //, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(0f, 0.14f, 0.06f));
//var rs = Range.OfDoubles(0.5, -0.5, 0.04);
//program.SetPositions(rs.SelectMany(x => rs.Select(y => new Vector3((float)x, (float)y, 1.7f))).ToArray());
//while (true)
//{
// window.RenderFrame();
// window.ProcessEvents();
//}
var keyl = new KeyboardListener(window.Keyboard);
SkeletonPoint[] skeletons = null;
// Action H hide background:
bool hideBackground = false;
float zCutoff = 3.4f;
float xadj = 0, yadj = 0.0f, zadj = 0;
float incr = 0.01f;
bool adjust = true;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
Action<float> xfoo = (f) =>
{
if (!adjust)
return;
xadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
Action<float> yfoo = (f) =>
{
if (!adjust)
return;
yadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
Action<float> zfoo = (f) =>
{
if (!adjust)
return;
zadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
keyl.AddAction(() => adjust = !adjust, Key.A);
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, null, (i) => yfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, null, (i) => xfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft }, (i) => zfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ControlLeft }, (i) => yfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, new Key[] { Key.ControlLeft }, (i) => xfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft, Key.ControlLeft }, (i) => zfoo(i * incr * 3));
keyl.AddAction(() =>
{
hideBackground = !hideBackground;
if (skeletons != null && skeletons.Length > 0)
{
zCutoff = skeletons.Min(sp => sp.Z);
}
else
zCutoff = 0;
}, OpenTK.Input.Key.H);
while (true)
{
var points = depthCam.Get(1000).Where(p => p.HasValue && p.Value.Index > 0).Select(p => p.Value);
skeletons = points.Select(p => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, p.Point)).ToArray();
program.SetPositions(skeletons.Where(sp => !hideBackground || sp.Z < zCutoff).Select(sp => new Vector3(sp.X, sp.Y, sp.Z)).ToArray());
overview.SetPointCloud(0, skeletons.Select(sp =>
{
var gp = kc.ToGlobal(sp);
return new DynamicVertex(new Vector3(gp[0], gp[1], gp[2]));
}).ToArray());
window.RenderFrame();
overviewWindow.RenderFrame();
window.ProcessEvents();
overviewWindow.ProcessEvents();
}
}
