// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (point_cloud.IsInit())
{
// Retrieve Objects
err = zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters);
if (err == ERROR_CODE.SUCCESS && object_frame.isNew != 0)
{
// Retrieve left image
zedCamera.RetrieveMeasure(point_cloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, res);
zedCamera.GetPosition(ref cam_pose, REFERENCE_FRAME.WORLD);
//Update GL View
viewer.update(point_cloud, object_frame, cam_pose);
viewer.render();
}
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (zedMat.IsInit())
{
// Retrieve left image
err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU);
if (err == ERROR_CODE.SUCCESS)
{
// Retrieve Objects
zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters);
//Update GL View
viewer.update(zedMat, object_frame);
viewer.render();
}
}
}
}
// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (imageLeft.IsInit())
{
// Retrieve left image
zedCamera.RetrieveMeasure(pointCloud, sl.MEASURE.XYZRGBA, sl.MEM.CPU, pcRes);
zedCamera.RetrieveImage(imageLeft, sl.VIEW.LEFT, sl.MEM.CPU, displayRes);
zedCamera.GetPosition(ref camPose, REFERENCE_FRAME.WORLD);
// Retrieve Objects
zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters);
TrackingViewer.render_2D(ref imageLeftOcv, imgScale, ref objects, isTrackingON);
//Update GL View
viewer.update(pointCloud, objects, camPose);
viewer.render();
if (isPlayback && zedCamera.GetSVOPosition() == zedCamera.GetSVONumberOfFrames())
{
return;
}
Cv2.ImShow(window_name, imageLeftOcv);
}
}
}
