public GrayScanTask(Window window, CaptureCamera captureCamera, Projector projector)
: base(window)
{
CaptureCamera = captureCamera;
Projector = projector;
Projector.Scene = new Scene(new ScreenCamera(Projector.Window));
}
public ChessboardSearchTask(Window window, CaptureCamera captureCamera, Chessboard chessboard)
: base(window)
{
CaptureCamera = captureCamera;
Chessboard = chessboard;
WriteLine("Taking Snapshot");
}
public ChessboardSearchTask(WorkFlowTask parent, CaptureCamera captureCamera, Chessboard chessboard)
: base(parent)
{
CaptureCamera = captureCamera;
Chessboard = chessboard;
WriteLine("Taking Snapshot");
}
public VirtualProjector(string name, string uuid, Size imageSize, PointF principal, double focalLength, Screen screen, Chessboard chessboard, CaptureCamera captureCamera)
: base(name, uuid, imageSize, principal, focalLength, screen, chessboard, captureCamera)
{
OrbitCamera = new OrbitCamera("{0} Orbit".FormatWith(name), "N/A", imageSize, principal, focalLength,
Intrinsics.NearPlaneDistance, Intrinsics.FarPlaneDistance) { Color = Color.DarkCyan.Alpha(0.7f), };
Color = Color.DarkKhaki.Alpha(0.6f);
ProgramTask.AttachInputToCamera(Program.WhenInput.Where(input => !input.KeyPressed(Keys.C)), Window, OrbitCamera);
Program.WhenInput.Where(input => input.KeyDown(Keys.P)).Subscribe(input =>
{
var frustum = new Frustum(OrbitCamera, Intrinsics.ImageSize);
var plane = new Plane(Vector3.UnitZ, 0);
var p0 = frustum.IntersectWithPlane(ProjectorQuadCorners[0].X, ProjectorQuadCorners[0].Y, plane).ToPointF();
var p1 = frustum.IntersectWithPlane(ProjectorQuadCorners[1].X, ProjectorQuadCorners[1].Y, plane).ToPointF();
var p2 = frustum.IntersectWithPlane(ProjectorQuadCorners[2].X, ProjectorQuadCorners[2].Y, plane).ToPointF();
var p3 = frustum.IntersectWithPlane(ProjectorQuadCorners[3].X, ProjectorQuadCorners[3].Y, plane).ToPointF();
var quadCorners = new[] { p0, p1, p2, p3, };
// Chessboard.HomographTo(quadCorners);
});
}
private void AddVirtualCaptureCamera(string name, string uuid, Color color)
{
var size = new Size(1600, 1200);
var principal = new PointF(392.713f * 2, 274.4965f * 2);
var orbitCamera = new OrbitCamera("{0} Orbit".FormatWith(name), uuid, size, principal, size.Width, nearPlaneDistance: 2, farPlaneDistance: 40)
{
Color = Color.DarkCyan,
Center = new Vector3(5, 4, 0),
Distance = 30,
YawPitch = new Vector2(0.1f, 0.1f),
};
var virtualCapture = new VirtualCapture(name, uuid, size, fps: 10)
{
Scene = new Scene(orbitCamera)
{
new Clear(Color.White),
Chessboard
}
};
var virtualCaptureCamera = new CaptureCamera(virtualCapture, 0) { Color = color };
WorldScene.Add(orbitCamera);
CaptureCameras.Add(virtualCaptureCamera);
}
public Task Run(CaptureCamera captureCamera)
{
return Run(() => GetPoints(captureCamera));
}
private async Task<ImageAndWorldPoints> GetPoints(CaptureCamera captureCamera)
{
var imagePoints = await new ChessboardSearchTask(this, captureCamera, Chessboard).Run();
if (imagePoints != null)
{
return new ImageAndWorldPoints()
{
WorldPoints = Chessboard.Saddles,
ImagePoints = imagePoints,
};
}
else WriteLine("Could Not Find Chessboard");
return null;
}
