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);
});
}
public Camera(string name, string uuid, Size imageSize, PointF principalPointEstimate, double focalLength, double nearPlaneDistance, double farPlaneDistance, int numRadialDistortionCoefficients)
{
PathToIntrinsics = GetPathToIntrinsics(name, uuid);
Name = name;
Uuid = uuid;
NumRadialDistortionCoefficients = numRadialDistortionCoefficients;
World = Matrix.Identity;
View = Matrix.Identity;
if (!String.IsNullOrWhiteSpace(PathToIntrinsics))
if (File.Exists(PathToIntrinsics))
using (var fs = File.OpenRead(PathToIntrinsics))
Intrinsics = new Intrinsics(imageSize, nearPlaneDistance, farPlaneDistance, fs);
if (Intrinsics == null)
Intrinsics = new Intrinsics(imageSize, principalPointEstimate, focalLength, nearPlaneDistance, farPlaneDistance, numRadialDistortionCoefficients);
Frustum = new Frustum(imageSize, this);
Text = new Text(Name, World.Translation, Color.Black);
}