public FbParameterCollection AddBatchParameters()
{
var result = new FbParameterCollection();
BatchParameters.Add(result);
return(result);
}
private void FinalizeJobs()
{
int[] batchInstanceCnts = GetBatchInstanceCount(job.bounds.Length);
int batchCnt = job.bounds.Length;
SplitedBatches = new BatchParameters[batchCnt];
for (int i = 0; i < batchCnt; ++i)
{
Vector3 size = job.bounds[i].max - job.bounds[i].min;
Vector3 center = job.bounds[i].min;
center += 0.5f * size;
SplitedBatches[i] = new BatchParameters()
{
InstanceCount = batchInstanceCnts[i], Bnd = new Bounds(center, size)
};
}
for (int i = 0; i < batchIds.Length; ++i)
{
int batchId = batchIds[i] - 1;
if (batchId < 0)
{
continue;
}
BatchParameters param = SplitedBatches[batchId];
param.Matrices.Add(matrices[i]);
param.Colors.Add(colors[i]);
}
LogResults();
job.bounds.Dispose();
batchIds.Dispose();
matrices.Dispose();
}
private void AddBatch(Mesh mesh, Material mat, BatchParameters param, ref int cullOffset)
{
MaterialPropertyBlock matBlock = new MaterialPropertyBlock();
matBlock.SetVectorArray("_PerInstanceColor", param.Colors);
var batchIndex = this.batchRendererGroup.AddBatch(mesh, 0, mat, 0,
ShadowCastingMode.On, true, false,
param.Bnd, param.InstanceCount, matBlock, null);
var batchMatrices = this.batchRendererGroup.GetBatchMatrices(batchIndex);
var pos = new float4(0, 0, 0, 1);
for (int i = 0; i < param.InstanceCount; i++)
{
batchMatrices[i] = param.Matrices[i];
cullData[cullOffset + i] = new CullData()
{
extents = 0.5f * param.Bnd.size,
position = math.mul(param.Matrices[i], pos).xyz,
minDistance = 0,
maxDistance = detailDistance,
};
}
cullOffset += param.InstanceCount;
}
public BatchSplitor(byte[] data, Bounds bnd, Mesh mesh)
{
MemoryStream ms = new MemoryStream(data);
TotalCount = MTFileUtils.ReadInt(ms);
matrices = new NativeArray <float4x4>(TotalCount, Allocator.Persistent);
batchIds = new NativeArray <int>(TotalCount, Allocator.Persistent);
colors = new Vector4[TotalCount];
int spawned = 0;
while (ms.Position < ms.Length && spawned < matrices.Length)
{
ushort spawnedCount = MTFileUtils.ReadUShort(ms);
for (int i = 0; i < spawnedCount; ++i)
{
var pos = MTFileUtils.ReadVector3(ms);
var scale = MTFileUtils.ReadVector3(ms);
var color = MTFileUtils.ReadColor(ms);
matrices[spawned] = float4x4.TRS(pos, Quaternion.identity, scale);
colors[spawned] = color;
batchIds[spawned] = 0;
++spawned;
}
}
ms.Close();
if (spawned != TotalCount)
{
Debug.LogError("terrain detail layer total count is different with spawned count");
}
//使用空间4叉树分batch
if (TotalCount >= count_per_batch)
{
job = new MTDetailBatchSeparateJob();
job.batchIds = batchIds;
job.spawnMatrix = matrices;
NativeArray <SeparateBound> bounds = new NativeArray <SeparateBound>(4, Allocator.TempJob);
int offset = 0;
SplitBounds(TotalCount, bnd.min, bnd.max, bounds, ref offset);
job.bounds = bounds;
separateJobs = job.Schedule(TotalCount, 16);
IsComplete = false;
}
else
{
SplitedBatches = new BatchParameters[1];
var param = new BatchParameters()
{
InstanceCount = TotalCount, Bnd = new Bounds(bnd.center, bnd.size)
};
for (int i = 0; i < matrices.Length; ++i)
{
param.Matrices.Add(matrices[i]);
param.Colors.Add(colors[i]);
}
SplitedBatches[0] = param;
LogResults();
batchIds.Dispose();
matrices.Dispose();
IsComplete = true;
}
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD1080;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 10f;
init_params.cameraDisableSelfCalib = true;
maxDepthDistance = init_params.depthMaximumDistance;
parseArgs(args, ref init_params);
// Open the camera
zedCamera = new Camera(0);
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
if (zedCamera.CameraModel != sl.MODEL.ZED2)
{
Console.WriteLine(" ERROR : Use ZED2 Camera only");
return;
}
// Enable tracking (mandatory for object detection)
Quaternion quat = Quaternion.Identity;
Vector3 vec = Vector3.Zero;
zedCamera.EnablePositionalTracking(ref quat, ref vec);
runtimeParameters = new RuntimeParameters();
// Enable the Objects detection module
ObjectDetectionParameters obj_det_params = new ObjectDetectionParameters();
obj_det_params.enableObjectTracking = true; // the object detection will track objects across multiple images, instead of an image-by-image basis
isTrackingON = obj_det_params.enableObjectTracking;
obj_det_params.enable2DMask = false;
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE;
if (USE_BATCHING)
{
batchParameters = new BatchParameters();
batchParameters.latency = 2.0f;
batchParameters.enable = true;
batchHandler = new BatchSystemHandler((int)batchParameters.latency * 2);
obj_det_params.batchParameters = batchParameters;
}
zedCamera.EnableObjectDetection(ref obj_det_params);
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
detection_confidence = 60;
obj_runtime_parameters.detectionConfidenceThreshold = detection_confidence;
obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = Convert.ToInt32(true);
//obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.VEHICLE] = Convert.ToInt32(true);
// To set a specific threshold
obj_runtime_parameters.objectConfidenceThreshold = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectConfidenceThreshold[(int)sl.OBJECT_CLASS.PERSON] = detection_confidence;
//obj_runtime_parameters.object_confidence_threshold[(int)sl.OBJECT_CLASS.VEHICLE] = detection_confidence;
// Create ZED Objects filled in the main loop
objects = new Objects();
imageLeft = new sl.Mat();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720));
Resolution tracksRes = new Resolution(400, (uint)displayRes.height);
// create a global image to store both image and tracks view
globalImage = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width + (int)tracksRes.width, OpenCvSharp.MatType.CV_8UC4);
// retrieve ref on image part
imageLeftOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect(0, 0, (int)displayRes.width, (int)displayRes.height));
// retrieve ref on tracks part
imageTrackOcv = new OpenCvSharp.Mat(globalImage, new OpenCvSharp.Rect((int)displayRes.width, 0, (int)tracksRes.width, (int)tracksRes.height));
// init an sl::Mat from the ocv image ref (which is in fact the memory of global_image)
imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU);
imageRenderLeft = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr());
imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height);
// Create OpenGL Viewer
viewer = new GLViewer();
camWorldPose = new Pose();
camCameraPose = new Pose();
pointCloud = new sl.Mat();
pcRes = new Resolution(Math.Min((uint)Width, 720), Math.Min((uint)Height, 404));
pointCloud.Create(pcRes, MAT_TYPE.MAT_32F_C4, MEM.CPU);
// 2D tracks
trackViewGenerator = new TrackingViewer(tracksRes, (int)zedCamera.GetCameraFPS(), maxDepthDistance, 3);
trackViewGenerator.setCameraCalibration(zedCamera.GetCalibrationParameters());
window_name = "ZED| 2D View and Birds view";
Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window
Cv2.CreateTrackbar("Confidence", window_name, ref detection_confidence, 100);
// Create OpenGL window
CreateWindow();
}
