/// <summary>
/// Creates an OpenCV matrix based on the ZED camera's rectified parameters. This is specific to each camera.
/// </summary>
private void Initialize()
{
zedCam = zedManager.zedCamera;
sl.CameraParameters camparams = zedCam.CalibrationParametersRectified.leftCam;
//Shorthand.
double fx = camparams.fx;
double fy = camparams.fy;
double cx = camparams.cx;
double cy = camparams.cy;
//Build a rough 3x3 matrix for OpenCV with the camera's parameters.
camMat = new Mat(3, 3, CvType.CV_64FC1);
camMat.put(0, 0, fx);
camMat.put(0, 1, 0);
camMat.put(0, 2, cx);
camMat.put(1, 0, 0);
camMat.put(1, 1, fy);
camMat.put(1, 2, cy);
camMat.put(2, 0, 0);
camMat.put(2, 1, 0);
camMat.put(2, 2, 0.0f);
Size imageSize = new Size(zedCam.ImageWidth, zedCam.ImageHeight);
//Make ZED and OpenCV versions of the image matrices.
//Each grab, we'll fill the zedMat from the ZED SDK, copy it to cvMat, and run marker detection on it.
//8U_C1(8 bits, one channel) as we're using a grayscale image for performance.
//zedMat = new ZEDMat((uint)zedCam.ImageWidth, (uint)zedCam.ImageHeight, sl.ZEDMat.MAT_TYPE.MAT_8U_C1);
//cvMat = SLMat2CVMat(zedMat, ZEDMat.MAT_TYPE.MAT_8U_C1);
isInit = true;
}
public void init(CameraParameters param)
{
pointCloud.initialize(param.resolution);
// Compile and create the shader
shaderBbox = new ShaderData();
shaderBbox.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER);
shaderBbox.MVP_Mat = Gl.GetUniformLocation(shaderBbox.it.getProgramId(), "u_mvpMatrix");
//Create Camera
//setRenderCameraProjection(param, 0.5f, 20f);
camera_ = new CameraGL(new Vector3(0, 0, 1), new Vector3(0, 0, -1f), Vector3.UnitY);
camera_.setOffsetFromPosition(new Vector3(0, 0, 1.5f));
frustum.init();
frustum.setDrawingType(PrimitiveType.Triangles);
frustum.createFrustum(param);
frustum.pushToGPU();
cam_pose = new Matrix4x4();
available = true;
}
public void init(CameraParameters param, bool isTrackingON)
{
isTrackingON_ = isTrackingON;
Gl.Enable(EnableCap.FramebufferSrgb);
shaderBasic = new ShaderData();
shaderBasic.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER);
shaderBasic.MVP_Mat = Gl.GetUniformLocation(shaderBasic.it.getProgramId(), "u_mvpMatrix");
setRenderCameraProjection(param, 0.5f, 20);
image_handler.initialize();
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 init(CameraParameters param, MODEL cameraModel)
{
mainShader = new ShaderData();
mainShader.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER);
mainShader.MVP_Mat = Gl.GetUniformLocation(mainShader.it.getProgramId(), "u_mvpMatrix");
shaderLine = new ShaderData();
shaderLine.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER);
shaderLine.MVP_Mat = Gl.GetUniformLocation(shaderLine.it.getProgramId(), "u_mvpMatrix");
//Create Camera
camera_ = new CameraGL(new Vector3(0f, 1f, 1f), new Vector3(0, -1, -4f), Vector3.UnitY);
camera_.setOffsetFromPosition(new Vector3(0, 0, 1.0f));
floor_grid.init();
floor_grid.setDrawingType(PrimitiveType.Lines);
zedModel.init();
zedModel.setDrawingType(PrimitiveType.Triangles);
zedPath.init();
float limit = 20;
float4 clr1 = new float4();
clr1.x = 0.85f;
clr1.y = 0.87f;
clr1.z = 0.88f;
clr1.w = 1f;
float4 clr2 = new float4();
clr2.x = 0.42f;
clr2.y = 0.48f;
clr2.z = 0.53f;
clr2.w = 1f;
float height = 0.0f;
for (int i = (int)(limit * -5); i <= (int)(limit * 5); i++)
{
float i_f = i / 5.0f;
if ((i % 5) == 0)
{
addVert(ref floor_grid, i_f, limit, height, clr2);
}
else
{
addVert(ref floor_grid, i_f, limit, height, clr1);
}
}
floor_grid.pushToGPU();
zedPath.setDrawingType(PrimitiveType.LineStrip);
Model3D model = new Model3D();
switch (cameraModel)
{
case MODEL.ZED:
model = new Model3D_ZED();
break;
case MODEL.ZED2:
model = new Model3D_ZED2();
break;
case MODEL.ZED_M:
model = new Model3D_ZED();
break;
}
foreach (ModelPart part in model.part)
{
fillZED(part.nb_triangles, model.vertices, part.triangles, part.color, ref zedModel);
}
zedModel.pushToGPU();
updateZEDposition = false;
available = true;
}