public void render()
{
BBox_edges.pushToGPU();
BBox_faces.pushToGPU();
draw();
}
public void init(CameraParameters param)
{
Gl.Enable(EnableCap.FramebufferSrgb);
shaderSK = new ShaderData();
shaderSK.it = new Shader(Shader.SK_VERTEX_SHADER, Shader.SK_FRAGMENT_SHADER);
shaderSK.MVP_Mat = Gl.GetUniformLocation(shaderSK.it.getProgramId(), "u_mvpMatrix");
shaderBbox = new ShaderData();
shaderBbox.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER);
shaderBbox.MVP_Mat = Gl.GetUniformLocation(shaderBbox.it.getProgramId(), "u_mvpMatrix");
setRenderCameraProjection(param, 0.5f, 20);
image_handler.initialize();
bones.init();
bones.setDrawingType(PrimitiveType.Quads);
joints.init();
joints.setDrawingType(PrimitiveType.Quads);
BBox_edges.init();
BBox_edges.setDrawingType(PrimitiveType.Lines);
BBox_faces.init();
BBox_faces.setDrawingType(PrimitiveType.Quads);
objectsName = new List <ObjectClassName>();
Gl.Disable(EnableCap.DepthTest);
available = true;
}
public void exit()
{
if (currentInstance != null)
{
image_handler.close();
available = false;
BBox_edges.clear();
BBox_faces.clear();
}
}
void createBboxRendering(List <Vector3> bb_, float4 bbox_clr)
{
// First create top and bottom full edges
BBox_edges.addFullEdges(bb_, bbox_clr);
// Add faded vertical edges
BBox_edges.addVerticalEdges(bb_, bbox_clr);
// Add faces
BBox_faces.addVerticalFaces(bb_, bbox_clr);
// Add top face
BBox_faces.addTopFace(bb_, bbox_clr);
}
public void draw()
{
image_handler.draw();
Gl.UseProgram(shaderBasic.it.getProgramId());
Gl.UniformMatrix4f(shaderBasic.MVP_Mat, 1, true, projection_);
Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
Gl.LineWidth(1.5f);
BBox_edges.draw();
Gl.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
BBox_faces.draw();
Gl.UseProgram(0);
}
public void draw()
{
Gl.Disable(EnableCap.DepthTest);
image_handler.draw();
Gl.Enable(EnableCap.DepthTest);
Gl.UseProgram(shaderSK.it.getProgramId());
Gl.UniformMatrix4f(shaderSK.MVP_Mat, 1, true, projection_);
bones.draw();
joints.draw();
Gl.UseProgram(shaderBbox.it.getProgramId());
Gl.UniformMatrix4f(shaderBbox.MVP_Mat, 1, true, projection_);
Gl.LineWidth(1.5f);
BBox_edges.draw();
BBox_faces.draw();
}
public void update(Mat image, Objects objects)
{
image_handler.pushNewImage(image);
//if(objects.isNew == 0) return;
BBox_faces.clear();
BBox_edges.clear();
objectsName.Clear();
// For each object
for (int idx = 0; idx < objects.numObject; idx++)
{
sl.ObjectData obj = objects.objectData[idx];
// Only show tracked objects
if (renderObject(obj))
{
List <Vector3> bb_ = new List <Vector3>();
bb_.AddRange(obj.boundingBox);
if (bb_.Count > 0)
{
float4 clr_id = generateColorClass(obj.id);
float4 clr_class = generateColorClass((int)obj.label);
if (obj.objectTrackingState != sl.OBJECT_TRACKING_STATE.OK)
{
clr_id = clr_class;
}
else
{
createIDRendering(obj.position, clr_id, obj.id);
}
createBboxRendering(bb_, clr_id);
}
}
}
}
public void update(Mat image, Objects objects)
{
image_handler.pushNewImage(image);
bones.clear();
joints.clear();
BBox_faces.clear();
BBox_edges.clear();
if (Keyboard.IsKeyDown(Key.B))
{
showbbox = !showbbox;
}
// For each object
for (int idx = 0; idx < objects.numObject; idx++)
{
sl.ObjectData obj = objects.objectData[idx];
// Only show tracked objects
if (renderObject(obj))
{
List <Vector3> bb_ = new List <Vector3>();
bb_.AddRange(obj.boundingBox);
float4 clr_id = generateColorClass(obj.id);
float4 clr_class = generateColorClass((int)obj.label);
Vector3[] keypoints = obj.keypoints;
if (showbbox)
{
if (obj.objectTrackingState != sl.OBJECT_TRACKING_STATE.OK)
{
clr_id = clr_class;
}
else
{
createIDRendering(obj.position, clr_id, obj.id);
}
createBboxRendering(bb_, clr_id);
}
if (keypoints.Length > 0)
{
foreach (var limb in BODY_BONES)
{
Vector3 kp_1 = keypoints[getIdx(limb.Item1)];
Vector3 kp_2 = keypoints[getIdx(limb.Item2)];
float norm_1 = kp_1.Length();
float norm_2 = kp_2.Length();
if (!float.IsNaN(norm_1) && norm_1 > 0 && !float.IsNaN(norm_2) && norm_2 > 0)
{
bones.addCylinder(new float3(kp_1.X, kp_1.Y, kp_1.Z), new float3(kp_2.X, kp_2.Y, kp_2.Z), clr_id);
}
}
for (int i = 0; i < (int)BODY_PARTS.LAST; i++)
{
Vector3 kp = keypoints[i];
float norm = kp.Length();
if (!float.IsNaN(norm) && norm > 0)
{
joints.addSphere(new float3(kp.X, kp.Y, kp.Z), clr_id);
}
}
}
}
}
}
