/// <summary>
/// Enable the spatial mapping
/// </summary>
/// <param name="resolutionPreset"> A preset resolution</param>
/// <param name="rangePreset">A preset range</param>
/// <param name="isTextured">if true, images will be collected during the process</param>
/// <returns></returns>
private sl.ERROR_CODE EnableSpatialMapping(RESOLUTION resolutionPreset, RANGE rangePreset, bool isTextured)
{
sl.ERROR_CODE error;
this.isTextured = isTextured;
error = zedSpatialMapping.EnableSpatialMapping(ZEDSpatialMappingHelper.ConvertResolutionPreset(resolutionPreset), ZEDSpatialMappingHelper.ConvertRangePreset(rangePreset), isTextured);
ZEDMeshRenderer.isTextured = false;
stopWanted = false;
running = true;
if (error == sl.ERROR_CODE.SUCCESS)
{
display = true;
meshUpdated = false;
spatialMappingRequested = false;
updateTexture = false;
updatedTexture = false;
// clear all prevous meshes
ClearMeshes();
//start the requesting meshes
zedCamera.RequestMesh();
//Launch the thread to retrieve the chunks and their sizes
scanningThread = new Thread(UpdateMesh);
updateThreadRunning = true;
if (OnMeshStarted != null)
{
OnMeshStarted();
}
scanningThread.Start();
}
return(error);
}
/// <summary>
/// Get the max fps for each resolution, higher fps will cause lower GPU performance
/// </summary>
/// <param name="reso"></param>
/// <returns>The resolution</returns>
static private uint GetFpsForResolution(RESOLUTION reso)
{
if (reso == RESOLUTION.HD1080) return 30;
else if (reso == RESOLUTION.HD2K) return 15;
else if (reso == RESOLUTION.HD720) return 60;
else if (reso == RESOLUTION.VGA) return 100;
return 30;
}
/// <summary>
/// Set the resolution (including capture and render)
/// </summary>
/// <param name="resolution"></param>
/// <param name="binMode"></param>
public void SetResolution(RESOLUTION resolution, int bin, int binMode)
{
this.SetMaxXY(resolution);
_imgControl._bin = bin;
_imgControl._binMode = binMode;
if (SSClassicSetCustomizedResolution(_deviceID, _imgControl._rowSize, _imgControl._columnSize, _imgControl._bin, _imgControl._binMode) < 0)
{
MessageBox.Show("Error trying to set camera resolution, bin mode, and image rendor fitting.", _camError, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
/// <summary>
/// Starts the spatial mapping
/// </summary>
/// <param name="resolutionPreset"></param>
/// <param name="rangePreset"></param>
/// <param name="isTextured"></param>
public void StartStatialMapping(RESOLUTION resolutionPreset, RANGE rangePreset, bool isTextured)
{
holder.transform.position = Vector3.zero;
holder.transform.rotation = Quaternion.identity;
spatialMappingRequested = true;
if (spatialMappingRequested && scanningInitState != sl.ERROR_CODE.SUCCESS)
{
scanningInitState = EnableSpatialMapping(resolutionPreset, rangePreset, isTextured);
}
zedManager.gravityRotation = Quaternion.identity;
}
public Zed(RESOLUTION resolution, DEPTH_MODE depthMode = DEPTH_MODE.QUALITY, bool stabilisation = true)
: this(new InitParameters
{
resolution = resolution,
depthMode = depthMode,
depthStabilization = stabilisation,
enableRightSideMeasure = true,
coordinateUnit = UNIT.MILLIMETER,
depthMinimumDistance = 200f
//depthMinimumDistance = 0.2f
})
{
}
/// <summary>
/// Create a camera in live mode
/// </summary>
/// <param name="mode"></param>
/// <param name="fps"></param>
/// <param name="linux_id"></param>
public void CreateCameraLive(RESOLUTION mode = RESOLUTION.HD720, float fps = 0.0f, int linux_id = 0)
{
string infoSystem = SystemInfo.graphicsDeviceType.ToString().ToUpper();
if (!infoSystem.Equals("DIRECT3D11"))
{
throw new Exception("The graphic library [" + infoSystem + "] is not supported");
}
currentResolution = mode;
fpsMax = GetFpsForResolution(mode);
if (fps == 0.0f) fps = fpsMax;
ZEDUpdater.GetInstance().fpsMax = fpsMax;
dllz_create_camera_live((int)mode, fps, linux_id);
}
/// <summary>
/// Update the range and resolution to match the specified preset.
/// </summary>
static public float ConvertResolutionPreset(RESOLUTION resolutionPreset)
{
if (resolutionPreset == RESOLUTION.HIGH)
{
return(0.05f);
}
else if (resolutionPreset == RESOLUTION.MEDIUM)
{
return(0.10f);
}
if (resolutionPreset == RESOLUTION.LOW)
{
return(0.15f);
}
return(0.10f);
}
public InitParameters()
{
resolution = RESOLUTION.HD720;
cameraFPS = 60;
cameraLinuxID = 0;
pathSVO = "";
svoRealTimeMode = false;
coordinateUnit = UNIT.METER;
coordinateSystem = COORDINATE_SYSTEM.IMAGE;
depthMode = DEPTH_MODE.PERFORMANCE;
depthMinimumDistance = -1;
cameraImageFlip = false;
cameraDisableSelfCalib = false;
cameraBufferCountLinux = 4;
sdkVerbose = false;
sdkGPUId = -1;
sdkVerboseLogFile = "";
enableRightSideMeasure = false;
depthStabilization = true;
}
public virtual void ManipulationCompleted(object sender, ManipulationCompletedEventArgs arg)
{
saveLastPossaveLastPositionData();
outputResolution = RESOLUTION.HIGH;
requestProcessing();
}
public virtual void ManipulationStarted(object sender, ManipulationStartedEventArgs arg)
{
oldGestureType = GESTURE_TYPE.NONE;
outputResolution = RESOLUTION.LOW;
}
private string SendToFaxCom(string _pharmacyName, string _faxNumber, string _scriptFilePath, string _subject)
{
string output = "false";
ResultMessage result = null;
LOGINTYPE faxcomlogintype = LOGINTYPE.USERCONFLOGIN;
PRIORITY faxcompriority = PRIORITY.HIGH;
RESOLUTION faxresolution = RESOLUTION.HIRES;
//Set configuration
string faxcomserver = System.Configuration.ConfigurationSettings.AppSettings["FaxcomQueuePath"];
string faxcomuser = System.Configuration.ConfigurationSettings.AppSettings["FaxcomUser"];
string faxcompasswd = System.Configuration.ConfigurationSettings.AppSettings["FaxcomPasswd"];
string temppath = System.Configuration.ConfigurationSettings.AppSettings["TempPath"];
try
{
using (fcapi FCAPI = new fcapi())
{
//Try to connect to server
result = FCAPI.LogOn(faxcomlogintype, faxcomserver, faxcomuser, faxcompasswd);
if (result.Result == true)
{
//Login successful
FaxMessage faxmessage = FCAPI.NewFaxMessage();
if (faxmessage != null)
{
//Set the sender info
faxmessage.FaxSender = FCAPI.Sender;
//Create blank recipient
FAXCOMLib.Recipient recipient = faxmessage.FaxRecipients.Add(0);
//Valid recipient fax number
recipient.FaxNumber = _faxNumber;
faxmessage.Subject = _subject;
//Message priority
faxmessage.Priority = faxcompriority;
//Message Resolution
faxmessage.Resolution = faxresolution;
//No Coverpage
faxmessage.Coverpage = "(none)";
FAXCOMLib.Attachments attachment = faxmessage.Attachments;
attachment.Add(_scriptFilePath, false);
//Send Now
faxmessage.SendTime = "0.0";
//Try to send fax message
try
{
faxmessage.SubmitFax();
}
catch (Exception ex)
{
throw new Exception("Failed to submit fax. " + ex.Message);
}
}
}
else
{
throw new Exception("Faxcom server login failed.");
}
}
}
catch (Exception ex)
{
return("false");
}
return("true");
}
async void processRendering()
{
try
{
if (output != null && source != null)
{
var currentoutputResolution = outputResolution;
processRenderingLR();
if (currentoutputResolution == RESOLUTION.HIGH)
{
if (currentScale > InputLR.PixelWidth / inputSize.Width)
{
await processRenderingHR();
}
else
{
outputResolution = RESOLUTION.LOW;
}
}
}
}
catch (Exception)
{
outputResolution = RESOLUTION.LOW;
}
finally
{
processFinished();
}
}
private void SetMaxXY(RESOLUTION res)
{
//Set maximum X and Y start positions based on resolution
switch (res)
{
case RESOLUTION.TINY:
_maxX = 32;
_maxY = 32;
break;
case RESOLUTION.LITTLE:
_maxX = 64;
_maxY = 64;
break;
case RESOLUTION.SMALL:
_maxX = 160;
_maxY = 120;
break;
case RESOLUTION.MOBILE:
_maxX = 320;
_maxY = 240;
break;
case RESOLUTION.VGA:
_maxX = 640;
_maxY = 480;
break;
case RESOLUTION.SVGA:
_maxX = 800;
_maxY = 600;
break;
case RESOLUTION.UVGA:
_maxX = 1024;
_maxY = 768;
break;
case RESOLUTION.VGALARGE:
_maxX = 1280;
_maxY = 1024;
break;
case RESOLUTION.RES_3M:
_maxX = 2048;
_maxY = 1536;
break;
case RESOLUTION.RES_5M:
_maxX = 2560;
_maxY = 1920;
break;
default:
MessageBox.Show("Resolution not defined, unable to set maximum X and Y start positions.", _camError, MessageBoxButtons.OK, MessageBoxIcon.Error);
break;
}
_imgControl._rowSize = _maxX;
_imgControl._columnSize = _maxY;
}
public virtual void ManipulationCompleted(object sender, ManipulationCompletedEventArgs arg)
{
saveLastPossaveLastPositionData();
outputResolution = RESOLUTION.HIGH;
requestProcessing();
}
public virtual void ManipulationStarted(object sender, ManipulationStartedEventArgs arg)
{
oldGestureType = GESTURE_TYPE.NONE;
outputResolution = RESOLUTION.LOW;
}
