bbiwarg-original/bbiwarg/Test/OutputTest.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using OpenTK;
using OpenTK.Graphics.OpenGL;
using MathNet.Numerics.LinearAlgebra.Single;

using bbiwarg.DataSource;

namespace bbiwarg.Test
{
    class OutputTest : GameWindow
    {
        IVideoDataSource source;
        private List<Triangle> triangles = new List<Triangle>();
        private List<Pixel3D> pixel = new List<Pixel3D>();

        static void Main(string[] args)
        {
            OutputTest demo = new OutputTest();
            demo.initSource();
            demo.Run(30);
        }


        public void initSource()
        {
            source = new IIsuDataSource("..\\..\\videos\\10.skv");
            source.init();
            source.start();

            int width = 320;
            int height = 160;

            for (int x = 0; x < width; x++)
            {
                for (int y = 0; y < height; y++)
                {
                    pixel.Add(new Pixel3D(x, y, width, height));
                }
            }
        }

        protected override void OnLoad(EventArgs e)
        {
            base.OnLoad(e);
            Title = "OutputTest";
            GL.ClearColor(Color.Black);
        }

        protected override void OnRenderFrame(FrameEventArgs e)
        {
            base.OnRenderFrame(e);

            bool isActive = source.isActive();
            if (isActive)
            {
                source.updateFrame();
            }

            GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
            Matrix4 modelview = Matrix4.LookAt(Vector3.Zero, -Vector3.UnitZ, Vector3.UnitY);
            GL.MatrixMode(MatrixMode.Modelview);
            GL.LoadMatrix(ref modelview);

            GL.Color3(1.0f, 1.0f, 1.0f);

            DepthImage depthImage = source.getDepthImage();
            ConfidenceImage confidenceImage = source.getConfidenceImage();
            ColorImage colorImage = source.getColorImage();
            UVImage uvImage = source.getUVImage();
            ImageData imageData = new ImageData(depthImage, confidenceImage, colorImage, uvImage);

            int width = imageData.getWidth();
            int height = imageData.getHeight();

            for (int i = 0; i < pixel.Count; i++)
            {
                pixel[i].depth = imageData.getDepth(pixel[i].x, pixel[i].y);
                pixel[i].color = imageData.getColor(pixel[i].x, pixel[i].y);
                pixel[i].draw();
            }

            Vector palmVertex = source.getPalmPosition3D(1);
            Vector palmPixel = source.getPalmPosition2D(1);
            Pixel3D palmPosition = new Pixel3D((int)palmPixel[0], (int)palmPixel[1], width, height);
            palmPosition.depth = (short)(palmVertex[1] * 1000);
            palmPosition.color = Color.Red;
            palmPosition.size = 3;
            palmPosition.draw();
            //Console.WriteLine(palmPosition.toString());

            Console.WriteLine("Palm Position: x: " + (int)palmPixel[0] + " y: " + (int)palmPixel[1] + " 3DDepth: " + palmPosition.depth + " ImageDepth: " + imageData.getDepth((int)palmPixel[0], (int)palmPixel[1]));

            for (int i = 0; i < triangles.Count; i++)
            {
                triangles[i].draw();
            }

            /*
            GL.Begin(BeginMode.Triangles);
            GL.Vertex3(0.0f, 0.0f, -4.0f);
            GL.Vertex3(2.0f, 0.0f, -4.0f);
            GL.Vertex3(0.0f, 1.0f, -4.0f);
            GL.End();
            */
            SwapBuffers();

            if (isActive)
            {
                source.releaseFrame();
            }


            /*
            GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);

            Matrix4 modelview = Matrix4.LookAt(Vector3.Zero, Vector3.UnitZ, Vector3.UnitY);
            GL.MatrixMode(MatrixMode.Modelview);
            GL.LoadMatrix(ref modelview);

            // triangle
            GL.Begin(BeginMode.Triangles);

            float x = palmPosition.Value._X;
            float y = palmPosition.Value._Y;
            float z = palmPosition.Value._Z;

            GL.Vertex3(-1.0f + x, -1.0f + z, 4.0f - 10 * y);
            GL.Vertex3(1.0f, -1.0f, 4.0f);
            GL.Vertex3(0.0f, 1.0f, 4.0f);
            GL.End();

            SwapBuffers();*/
        }

        protected override void OnResize(EventArgs e)
        {
            base.OnResize(e);
            GL.Viewport(ClientRectangle.X, ClientRectangle.Y, ClientRectangle.Width, ClientRectangle.Height);
            Matrix4 projection = Matrix4.CreatePerspectiveFieldOfView((float)Math.PI / 4, Width / (float)Height, 1.0f, 3000.0f);
            GL.MatrixMode(MatrixMode.Projection);
            GL.LoadMatrix(ref projection);
        }



        public void addSurface(Triangle triangle)
        {
            triangles.Add(triangle);
        }
    }
}