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;

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


        public void initSource()
        {
            source = new IIsuDataSource();
            source.init();
            source.start();

        }

        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);

            
            
            DepthImage depthImage = source.getDepthImage();
            ConfidenceImage confidenceImage = source.getConfidenceImage();
            int width = depthImage.getWidth();
            int height = depthImage.getHeight();

            for (int x = 0; x < width-1; x++) {
                for (int y = 0; y < height-1; y++)
                {
                    short confidence = confidenceImage.getConfidence(x,y);

                    if(confidence > 100) {
                        short depth = depthImage.getDepth(x, y);


                        int relX = x - width / 2;
                        int relY = height/2 - y;

                        GL.Begin(BeginMode.Polygon);
                        GL.Vertex3(relX-0.5f, relY+0.5f, -depth);
                        GL.Vertex3(relX+0.5f, relY+0.5f, -depth);
                        GL.Vertex3(relX+0.5f, relY-0.5f, -depth);
                        GL.Vertex3(relX-0.5f, relY-0.5f, -depth);
                        GL.End();
                    }
                }
            }

            /*
            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);
        }
    }
}