static async Task Main(string[] args)
{
CvInvoke.Init();
if (!DepthAIInvoke.HaveDepthAI)
{
Console.WriteLine("The native binary is built without Depth AI support.");
return;
}
String win1 = "Depth AI (Press 'q' to quit)"; //The name of the window
CvInvoke.NamedWindow(win1); //Create the window using the specific name
MobilenetSsd mobilenet = new MobilenetSsd();
//This download the models and return the default configuration
await mobilenet.Init(onDownloadProgressChanged);
Config config = mobilenet.ModelConfig;
String[] labels = mobilenet.Labels;
using (Emgu.CV.DepthAI.Device d = new Device(""))
{
//String[] availableStreams = d.GetAvailableStreams();
using (CNNHostPipeline pipeline = d.CreatePipeline(JsonConvert.SerializeObject(config)))
{
if (pipeline.Ptr == IntPtr.Zero)
{
Console.WriteLine("Failed to create device pipeline.");
return;
}
while (_is_running)
{
using (NNetAndDataPackets packets = pipeline.GetAvailableNNetAndDataPackets(false))
{
HostDataPacket[] dataPackets = packets.HostDataPackets;
NNetPacket[] nnetPackets = packets.NNetPackets;
for (int i = 0; i < dataPackets.Length; i++)
{
if (dataPackets[i].GetPreviewOut(_render))
{
using (FrameMetadata fmeta = dataPackets[i].GetFrameMetadata())
{
if (i < nnetPackets.Length)
{
NNetPacket nnetPacket = nnetPackets[i];
using (FrameMetadata meta = nnetPacket.GetFrameMetadata())
{
_mostRecentDetections = nnetPacket.Detections;
}
}
if (_mostRecentDetections != null)
{
for (int j = 0; j < _mostRecentDetections.Length; j++)
{
DrawDetection(_mostRecentDetections[j], _render, labels);
}
}
CvInvoke.Imshow(win1, _render); //Show the image
}
}
else
{
//failed to get preview image
}
}
}
if (CvInvoke.WaitKey(1) > 0) //Press any key to stop
{
_is_running = false;
}
}
}
}
CvInvoke.DestroyAllWindows(); //Destroy all windows if key is pressed
}
static void Main(string[] args)
{
CvInvoke.Init();
if (!DepthAIInvoke.HaveDepthAI)
{
return;
}
String win1 = "Depth AI"; //The name of the window
CvInvoke.NamedWindow(win1); //Create the window using the specific name
String blobFile = "D:\\sourceforge\\depthai\\resources\\nn/mobilenet-ssd/mobilenet-ssd.blob.sh14cmx14NCE1";
String blobFileConfig = "D:\\sourceforge\\depthai\\resources\\nn/mobilenet-ssd/mobilenet-ssd.json";
Config config = Emgu.CV.Models.DepthAI.MobilenetSsd.GetConfig(blobFile, blobFileConfig);
String configStr = JsonConvert.SerializeObject(config);
String[] labels = ReadLabels(blobFileConfig);
using (Emgu.CV.DepthAI.Device d = new Device(""))
{
//String[] availableStreams = d.GetAvailableStreams();
using (CNNHostPipeline pipeline = d.CreatePipeline(configStr))
{
while (_is_running)
{
using (NNetAndDataPackets packets = pipeline.GetAvailableNNetAndDataPackets(false))
{
HostDataPacket[] dataPackets = packets.HostDataPackets;
NNetPacket[] nnetPackets = packets.NNetPackets;
for (int i = 0; i < dataPackets.Length; i++)
{
if (dataPackets[i].GetPreviewOut(_render))
{
using (FrameMetadata fmeta = dataPackets[i].GetFrameMetadata())
{
if (i < nnetPackets.Length)
{
NNetPacket nnetPacket = nnetPackets[i];
using (FrameMetadata meta = nnetPacket.GetFrameMetadata())
{
_mostRecentDetections = nnetPacket.Detections;
}
}
if (_mostRecentDetections != null)
{
for (int j = 0; j < _mostRecentDetections.Length; j++)
{
DrawDetection(_mostRecentDetections[j], _render, labels);
}
}
CvInvoke.Imshow(win1, _render); //Show the image
}
}
else
{
}
}
}
if (CvInvoke.WaitKey(1) > 0) //Press any key to stop
{
_is_running = false;
}
}
}
}
CvInvoke.DestroyAllWindows(); //Destroy all windows if key is pressed
}
