public Scanner(DeviceController device, double platformStep, VideoCaptureDevice camera, HighlitedPointDetector pointDetector, PointScanner pointScanner, Cylinder cylinder)
{
Device = device;
PlatformStep = platformStep;
Camera = camera;
PointDetector = pointDetector;
PointScanner = pointScanner;
Cylinder = cylinder;
FrameRequested = false;
camera.NewFrame += Camera_NewFrame;
}
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());
}
private void CopyTexture(Bitmap frame, int stripeIndex, double modelRotation)
{
FaceInfo[] faces = Stripes[stripeIndex];
int w = Texture.Width - 1;
int h = Texture.Height - 1;
Quaternion rotation = Quaternion.CreateFromYawPitchRoll((float)modelRotation, 0, 0);
BitmapData data = frame.LockBits(new Rectangle(Point.Empty, frame.Size), ImageLockMode.ReadOnly, PixelFormat.Format24bppRgb);
foreach (var face in faces)
{
Triangle src = Triangle.FromVertices(
from info in face
select Vector3.Transform(Vertices[info.VertexIndex], rotation) into vertex
select PointScanner.ConvertTo2D(vertex, frame.Width, frame.Height));
Triangle dst = Triangle.FromVertices(
from info in face
select TexVertices[info.TextureIndex] into point
select new Vector2(w * point.X, h * (1 - point.Y)));
src.MapTexture(data, TextureData, dst);
}
frame.UnlockBits(data);
}