public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD720;
init_params.cameraFPS = 60;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMaximumDistance = 15f;
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
obj_det_params.enable2DMask = false;
obj_det_params.enableBodyFitting = true; // smooth skeletons moves
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX_ACCURATE;
zedCamera.EnableObjectDetection(ref obj_det_params);
// Create ZED Objects filled in the main loop
object_frame = new Objects();
zedMat = new Mat();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
Resolution res = new Resolution((uint)Width, (uint)Height);
zedMat.Create(res, MAT_TYPE.MAT_8U_C4, MEM.CPU);
// Create OpenGL Viewer
viewer = new GLViewer(new Resolution((uint)Width, (uint)Height));
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
obj_runtime_parameters.detectionConfidenceThreshold = 35;
obj_runtime_parameters.objectClassFilter = new int[(int)OBJECT_CLASS.LAST];
obj_runtime_parameters.objectClassFilter[(int)sl.OBJECT_CLASS.PERSON] = 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] = 35;
// Create OpenGL window
CreateWindow();
}
static void Main(string[] args)
{
// Set Initialization parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD720;
init_params.coordinateUnits = UNIT.METER;
init_params.sdkVerbose = true;
Camera zedCamera = new Camera(0);
// Open the camera
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
Environment.Exit(-1);
// Enable positional tracking
PositionalTrackingParameters trackingParams = new PositionalTrackingParameters();
// If you want to have object tracking you need to enable positional tracking first
err = zedCamera.EnablePositionalTracking(ref trackingParams);
if (err != ERROR_CODE.SUCCESS)
Environment.Exit(-1);
// Enable Object Detection
object_detection_parameters = new ObjectDetectionParameters();
// Different model can be chosen, optimizing the runtime or the accuracy
object_detection_parameters.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_FAST;
// track detects object across time and space
object_detection_parameters.enableObjectTracking = true;
// run detection for every Camera grab
object_detection_parameters.imageSync = true;
err = zedCamera.EnableObjectDetection(ref object_detection_parameters);
if (err != ERROR_CODE.SUCCESS)
Environment.Exit(-1);
// Create Runtime parameters
RuntimeParameters runtimeParameters = new RuntimeParameters();
// Create Object Detection frame handle (contains all the objects data)
sl.Objects objects = new sl.Objects();
// Create object detection runtime parameters (confidence, ...)
ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
obj_runtime_parameters.detectionConfidenceThreshold = 40;
int nbDetection = 0;
while (nbDetection < 100)
{
if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
// Retrieve Objects from Object detection
zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters);
if (Convert.ToBoolean(objects.isNew))
{
Console.WriteLine(objects.numObject + " Person(s) detected");
Console.WriteLine();
if (objects.numObject > 0)
{
sl.ObjectData firstObject = objects.objectData[0];
Console.WriteLine("First Person attributes :");
Console.WriteLine(" Confidence (" + firstObject.confidence);
if (object_detection_parameters.enableObjectTracking)
{
Console.WriteLine(" Tracking ID: " + firstObject.id + " tracking state: " + firstObject.objectTrackingState +
" / " + firstObject.actionState);
}
Console.WriteLine(" 3D Position: " + firstObject.position +
" Velocity: " + firstObject.velocity);
Console.WriteLine(" Keypoints 2D");
// The body part meaning can be obtained by casting the index into a BODY_PARTS
// to get the BODY_PARTS index the getIdx function is available
for (int i = 0; i < firstObject.keypoints2D.Length; i++)
{
var kp = firstObject.keypoints2D[i];
Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y);
}
// The BODY_PARTS can be link as bones, using sl::BODY_BONES which gives the BODY_PARTS pair for each
Console.WriteLine(" Keypoints 3D ");
for (int i = 0; i < firstObject.keypoints.Length; i++)
{
var kp = firstObject.keypoints[i];
Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y + ", " + kp.Z);
}
Console.WriteLine();
Console.WriteLine("Press 'Enter' to continue...");
Console.ReadLine();
}
}
}
}
// Disable object detection, positional tracking and close the camera
zedCamera.DisableObjectDetection();
zedCamera.DisablePositionalTracking("");
zedCamera.Close();
}
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();
}
public MainWindow(string[] args)
{
// Set configuration parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD1080;
init_params.cameraFPS = 30;
init_params.depthMode = DEPTH_MODE.ULTRA;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
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 || zedCamera.CameraModel == sl.MODEL.ZED2i))
{
Console.WriteLine(" ERROR : Use ZED2/ZED2i Camera only");
return;
}
// Enable tracking (mandatory for object detection)
PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters();
zedCamera.EnablePositionalTracking(ref positionalTrackingParameters);
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.enableBodyFitting = true; // smooth skeletons moves
obj_det_params.imageSync = true; // the object detection is synchronized to the image
obj_det_params.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE;
zedCamera.EnableObjectDetection(ref obj_det_params);
// Create ZED Objects filled in the main loop
camPose = new sl.Pose();
objects = new Objects();
int Height = zedCamera.ImageHeight;
int Width = zedCamera.ImageWidth;
imageLeft = new Mat();
displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720));
imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height);
imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU);
imageLeftOcv = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr());
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);
// Create OpenGL Viewer
viewer = new GLViewer(new Resolution((uint)Width, (uint)Height));
// Configure object detection runtime parameters
obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
obj_runtime_parameters.detectionConfidenceThreshold = 40;
window_name = "ZED| 2D View";
Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window
// Create OpenGL window
CreateWindow();
}
static void Main(string[] args)
{
// Set Initialization parameters
InitParameters init_params = new InitParameters();
init_params.resolution = RESOLUTION.HD2K;
init_params.coordinateUnits = UNIT.METER;
init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP;
init_params.depthMode = DEPTH_MODE.PERFORMANCE;
Camera zedCamera = new Camera(0);
// Open the camera
ERROR_CODE err = zedCamera.Open(ref init_params);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
// Enable positional tracking
PositionalTrackingParameters trackingParams = new PositionalTrackingParameters();
err = zedCamera.EnablePositionalTracking(ref trackingParams);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
// Enable Object Detection
ObjectDetectionParameters object_detection_parameters = new ObjectDetectionParameters();
object_detection_parameters.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX;
object_detection_parameters.enableObjectTracking = true;
err = zedCamera.EnableObjectDetection(ref object_detection_parameters);
if (err != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
// Create Runtime parameters
RuntimeParameters runtimeParameters = new RuntimeParameters();
// Create Object Detection frame handle (contains all the objects data)
sl.Objects object_frame = new sl.Objects();
// Create object detection runtime parameters (confidence, ...)
ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters();
obj_runtime_parameters.detectionConfidenceThreshold = 50;
int i = 0;
while (i < 1000)
{
if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
// Retrieve Objects from Object detection
err = zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters);
// Display the data each 10 frames
if (i % 10 == 0)
{
Console.WriteLine("Nb Objects Detection : " + object_frame.numObject);
for (int p = 0; p < object_frame.numObject; p++)
{
Console.WriteLine("Position of object " + p + " : " + object_frame.objectData[p].position + "Tracked? : " + object_frame.objectData[p].objectTrackingState);
}
}
i++;
}
}
// Disable object detection, positional tracking and close the camera
zedCamera.DisableObjectDetection();
zedCamera.DisablePositionalTracking("");
zedCamera.Close();
}
