/// <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;
}
/// <summary>
/// Gets an instance of camera
/// </summary>
public static ZEDCamera GetInstance()
{
if (instance == null)
{
instance = new ZEDCamera();
}
return instance;
}
public void setConnectStatus(bool isConnected)
{
m_isConnected = isConnected;
if (isConnected == false && m_camera != null)
{
m_camera = null;
}
}
private void Awake()
{
oldInitStatus = ERROR_CODE.ERROR_CODE_LAST;
if (!ZEDManager.IsStereoRig) //Without VR, we use a Screen Space - Overlay canvas.
{
warningmono = Instantiate(Resources.Load("PrefabsUI/Warning") as GameObject, transform);
warningmono.SetActive(true);
textmono = warningmono.GetComponentInChildren <Text>();
textmono.color = Color.white;
if (!ZEDCamera.CheckPlugin())
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
imagemono = warningmono.transform.GetChild(0).GetChild(1).gameObject;
imagemono.transform.parent.gameObject.SetActive(true);
ready = false;
}
else //In VR, we use two Screen Space - Camera canvases, one for each eye.
{
//Setup the left warning prefab
warningleft = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject,
ZEDManager.Instance.GetLeftCameraTransform());
warningleft.SetActive(true);
warningleft.GetComponent <Canvas>().worldCamera =
ZEDManager.Instance.GetLeftCameraTransform().GetComponent <Camera>();
warningleft.GetComponent <Canvas>().planeDistance = 1;
textleft = warningleft.GetComponentInChildren <Text>();
textleft.color = Color.white;
imageleft = warningleft.transform.GetChild(0).GetChild(1).gameObject;
imageleft.transform.parent.gameObject.SetActive(true);
//Setup the right warning prefab
warningright = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject,
ZEDManager.Instance.GetRightCameraTransform());
warningright.SetActive(true);
warningright.GetComponent <Canvas>().worldCamera =
ZEDManager.Instance.GetRightCameraTransform().GetComponent <Camera>();
warningright.GetComponent <Canvas>().planeDistance = 1;
textright = warningright.GetComponentInChildren <Text>();
textright.color = Color.white;
imageright = warningright.transform.GetChild(0).GetChild(1).gameObject;
imageright.transform.parent.gameObject.SetActive(true);
if (!ZEDCamera.CheckPlugin())
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
ready = false;
}
}
public CameraParas GetCameraPara()
{
ZEDCamera zedCam = zedManager.zedCamera;
CalibrationParameters para = zedCam.GetCalibrationParameters();
CameraParas fypPara = new CameraParas();
fypPara.cx = para.leftCam.cx;
fypPara.cy = para.leftCam.cy;
fypPara.fx = para.leftCam.fx;
fypPara.fy = para.leftCam.fy;
fypPara.ResolutionWidth = (int)para.leftCam.resolution.width;
fypPara.ResolutionHeight = (int)para.leftCam.resolution.height;
return(fypPara);
}
public Zed(InitParameters parameters = null, string svoPath = null)
{
camera = ZEDCamera.GetInstance();
mats = new List <ZEDMat>();
if (parameters == null)
{
parameters = new InitParameters();
parameters.resolution = RESOLUTION.HD720;
parameters.depthMode = DEPTH_MODE.QUALITY;
parameters.depthStabilization = true;
parameters.enableRightSideMeasure = true; // isStereoRig;
parameters.coordinateUnit = UNIT.MILLIMETER;
parameters.depthMinimumDistance = 200f;
//parameters.depthMinimumDistance = 0.2f;
}
if (svoPath != null)
{
parameters.pathSVO = svoPath;
}
this.initParameters = parameters;
// runtime parameters
runtimeParameters = new RuntimeParameters()
{
sensingMode = SENSING_MODE.FILL,
enableDepth = true
};
// create the camera
camera.CreateCamera(true);
}
private void button1_Click(object sender, EventArgs e)
{
MessageBox.Show("Is: " + ZEDCamera.CheckPlugin());
}
private void Start()
{
manager = FindObjectOfType(typeof(ZEDManager)) as ZEDManager;
spatialMapping = new ZEDSpatialMapping(transform, ZEDCamera.GetInstance(), manager);
}
public override void OnInspectorGUI()
{
var cameraIsReady = ZEDCamera.GetInstance().IsCameraReady;
displayText = ZEDSpatialMapping.display ? "Hide Mesh" : "Display Mesh";
serializedObject.Update();
EditorGUILayout.BeginHorizontal();
GUILayout.Label("Mesh Parameters", EditorStyles.boldLabel);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
EditorGUILayout.EndHorizontal();
var newResolution =
(ZEDSpatialMapping.RESOLUTION)EditorGUILayout.EnumPopup("Resolution", spatialMapping.resolution_preset);
if (newResolution != spatialMapping.resolution_preset)
{
resolution.enumValueIndex = (int)newResolution;
serializedObject.ApplyModifiedProperties();
}
var newRange = (ZEDSpatialMapping.RANGE)EditorGUILayout.EnumPopup("Range", spatialMapping.range_preset);
if (newRange != spatialMapping.range_preset)
{
range.enumValueIndex = (int)newRange;
serializedObject.ApplyModifiedProperties();
}
EditorGUILayout.BeginHorizontal();
filterParameters.enumValueIndex =
(int)(FILTER)EditorGUILayout.EnumPopup("Mesh Filtering", (FILTER)filterParameters.enumValueIndex);
isFilteringEnable.boolValue = true;
EditorGUILayout.EndHorizontal();
GUI.enabled = !spatialMapping.IsRunning;
isTextured.boolValue = EditorGUILayout.Toggle("Texturing", isTextured.boolValue);
GUI.enabled = cameraIsReady;
EditorGUILayout.BeginHorizontal();
if (!spatialMapping.IsRunning)
{
if (GUILayout.Button("Start Spatial Mapping"))
{
if (!ZEDSpatialMapping.display)
{
spatialMapping.SwitchDisplayMeshState(true);
}
spatialMapping.StartSpatialMapping();
}
}
else
{
if (spatialMapping.IsRunning && !spatialMapping.IsUpdateThreadRunning ||
spatialMapping.IsRunning && spatialMapping.IsTexturingRunning)
{
GUILayout.FlexibleSpace();
GUILayout.Label("Spatial mapping is finishing");
Repaint();
GUILayout.FlexibleSpace();
}
else
{
if (GUILayout.Button("Stop Spatial Mapping"))
{
spatialMapping.StopSpatialMapping();
}
}
}
EditorGUILayout.EndHorizontal();
GUI.enabled = cameraIsReady;
if (GUILayout.Button(displayText))
{
spatialMapping.SwitchDisplayMeshState(!ZEDSpatialMapping.display);
}
GUI.enabled = true;
GUILayout.Label("Mesh Storage", EditorStyles.boldLabel);
saveWhenOver.boolValue = EditorGUILayout.Toggle("Save Mesh (when stop)", saveWhenOver.boolValue);
EditorGUILayout.BeginHorizontal();
meshPath.stringValue = EditorGUILayout.TextField("Mesh Path", meshPath.stringValue);
if (GUILayout.Button("...", optionsButtonBrowse))
{
meshPath.stringValue = EditorUtility.OpenFilePanel("Mesh file", "", "ply,obj,bin");
serializedObject.ApplyModifiedProperties();
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
//GUI.enabled = cameraIsReady;
GUILayout.FlexibleSpace();
GUI.enabled = File.Exists(meshPath.stringValue) && cameraIsReady;
if (GUILayout.Button("Load"))
{
spatialMapping.LoadMesh(meshPath.stringValue);
}
EditorGUILayout.EndHorizontal();
serializedObject.ApplyModifiedProperties();
if (!cameraIsReady)
{
Repaint();
}
}
public void setCamera(ZEDCamera camera)
{
m_camera = camera;
}
