public async Task<Chessboard> Run(Services services)
{
var monitor = services.Monitor;
var projector = services.Projectors.First();
monitor.FullScreen = false;
projector.FullScreen = true;
monitor.Show();
projector.Show();
Vector3[] projectorCorners;
var chessboard = LoadOrDefault(out projectorCorners, projector.ClientSize);
var shapingChessboard = from idx in projector.MouseDown.Select(e => ClosestCorner(projectorCorners, e))
from pos in projector.MouseMove.TakeUntil(projector.MouseUp)
select new { Idx = idx, Position = pos, };
var done = false;
var confirmTrigger = from key in projector.KeyDown.Merge(monitor.KeyDown)
where key.KeyCode == Keys.Space
select default(Unit);
var closeTrigger = from close in monitor.FormClosingObservable
select close;
var doneTrigger = Observable.Amb(confirmTrigger, closeTrigger);
var homography = chessboard.GetVertexHomographyTo(projectorCorners);
using (shapingChessboard.Subscribe(s =>
{
projectorCorners[s.Idx] = new Vector3(s.Position, 0);
homography = chessboard.GetVertexHomographyTo(projectorCorners);
}))
using (doneTrigger.Subscribe(_ => done = true))
{
while (!done)
{
var pf = projector.Begin(services.Renderer);
var camera = new ScreenCamera2D(homography,
Matrix.CreateOrthographicOffCenter(0, pf.Size.Width, pf.Size.Height, 0, 0, 1));
pf.Add(Color.Orange);
pf.Add(camera);
pf.Add(chessboard);
await pf.PresentAsync();
}
}
Save(chessboard, projectorCorners);
return null;
}
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;
}
