bbiwarg-original/bbiwarg/Graphics/Output.cs

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


namespace bbiwarg.Graphics
{
    class Output : GameWindow
    {
        private IVideoDataSource source;

        public Output(IVideoDataSource source)
        {
            this.source = source;
        }

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

        protected override void OnRenderFrame(FrameEventArgs e)
        {
            base.OnRenderFrame(e);
            GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
            Matrix4 modelview = Matrix4.LookAt(Vector3.Zero, -Vector3.UnitZ, Vector3.UnitY);
            GL.MatrixMode(MatrixMode.Modelview);
            GL.LoadMatrix(ref modelview);

            source.updateFrame();

            ImageData image = source.getImageData();
            int width = image.getWidth();
            int height = image.getHeight();

            for (int x = 0; x < width; x++) {
                for (int y = 0; y < height; y++) {
                    if (image.getConfidence(x, y) > 100) {
                        int depth = image.getDepth(x, y);
                        Vertex vertex = new Vertex(x-width/2, height/2-y, depth);
                        Color color = image.getColor(x, y);
                        float size = 0.5f;

                        Point pixel = new Point(vertex, color, size);
                        pixel.draw();
                    }
                }
            }

            Vector palmPosition2D = source.getPalmPosition2D(1);
            int palmX = (int) palmPosition2D[0];
            int palmY = (int) palmPosition2D[1];
            int palmDepth = image.getDepth(palmX, palmY);
            Vertex palmVertex = new Vertex(palmX - width / 2, height / 2 - palmY, palmDepth);
            Color palmColor = Color.Yellow;
            float palmSize = 5.0f;

            Point palmPixel = new Point(palmVertex, palmColor, palmSize);
            palmPixel.draw();


            SwapBuffers();
            source.releaseFrame();
        }

        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);
        }
    }
}