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;
        private Point[,] depthPixels = new Point[320,240];
        private List<IGraphicElement> graphicElements = new List<IGraphicElement>();
        private Point palmPixel;

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

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

            for (int x = 0; x < 320; x++)
            {
                for (int y = 0; y < 240; y++)
                {
                    Vertex vertex = new Vertex(x,y, 0.0f);
                    Color color = Color.White;
                    float size = 0.5f;

                    Point pixel = new Point(vertex, color, size);
                    depthPixels[x, y] = pixel;
                    graphicElements.Add(pixel);
                }
            }

            Vertex palmVertex = new Vertex(0.0f, 0.0f, 0.0f);
            Color palmColor = Color.Yellow;
            float palmSize = 5.0f;

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

        }

        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++) {
                        Point depthPixel = depthPixels[x, y];

                        depthPixel.position.z = image.getDepth(x, y);
                        depthPixel.color = image.getColor(x, y);
                }
            }

            Vector palmPosition2D = source.getPalmPosition2D(1);
            palmPixel.position.x = (int)palmPosition2D[0];
            palmPixel.position.y = (int)palmPosition2D[1];
            palmPixel.position.z = image.getDepth((int)palmPosition2D[0], (int)palmPosition2D[1]);
            
            foreach(IGraphicElement graphicElement in graphicElements) {
                graphicElement.draw(width, height);
            }

            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);
        }
    }
}