public static void render_2D(ref OpenCvSharp.Mat left_display, sl.float2 img_scale, ref sl.Objects objects, bool render_mask, bool isTrackingON)
{
OpenCvSharp.Mat overlay = left_display.Clone();
OpenCvSharp.Rect roi_render = new OpenCvSharp.Rect(0, 0, left_display.Size().Width, left_display.Size().Height);
OpenCvSharp.Mat mask = new OpenCvSharp.Mat(left_display.Rows, left_display.Cols, OpenCvSharp.MatType.CV_8UC1);
int line_thickness = 2;
for (int i = 0; i < objects.numObject; i++)
{
sl.ObjectData obj = objects.objectData[i];
if (Utils.renderObject(obj, isTrackingON))
{
OpenCvSharp.Scalar base_color = Utils.generateColorID_u(obj.id);
// Display image scale bouding box 2d
if (obj.boundingBox2D.Length < 4)
{
continue;
}
Point top_left_corner = Utils.cvt(obj.boundingBox2D[0], img_scale);
Point top_right_corner = Utils.cvt(obj.boundingBox2D[1], img_scale);
Point bottom_right_corner = Utils.cvt(obj.boundingBox2D[2], img_scale);
Point bottom_left_corner = Utils.cvt(obj.boundingBox2D[3], img_scale);
// Create of the 2 horizontal lines
Cv2.Line(left_display, top_left_corner, top_right_corner, base_color, line_thickness);
Cv2.Line(left_display, bottom_left_corner, bottom_right_corner, base_color, line_thickness);
// Creation of two vertical lines
Utils.drawVerticalLine(ref left_display, bottom_left_corner, top_left_corner, base_color, line_thickness);
Utils.drawVerticalLine(ref left_display, bottom_right_corner, top_right_corner, base_color, line_thickness);
// Scaled ROI
OpenCvSharp.Rect roi = new OpenCvSharp.Rect(top_left_corner.X, top_left_corner.Y, (int)top_right_corner.DistanceTo(top_left_corner), (int)bottom_right_corner.DistanceTo(top_right_corner));
overlay.SubMat(roi).SetTo(base_color);
sl.float2 position_image = getImagePosition(obj.boundingBox2D, img_scale);
Cv2.PutText(left_display, obj.label.ToString(), new Point(position_image.x - 20, position_image.y - 12), HersheyFonts.HersheyComplexSmall, 0.5f, new Scalar(255, 255, 255, 255), 1);
if (!float.IsInfinity(obj.position.Z))
{
string text = Math.Abs(obj.position.Z).ToString("0.##M");
Cv2.PutText(left_display, text, new Point(position_image.x - 20, position_image.y), HersheyFonts.HersheyComplexSmall, 0.5, new Scalar(255, 255, 255, 255), 1);
}
}
}
// Here, overlay is as the left image, but with opaque masks on each detected objects
Cv2.AddWeighted(left_display, 0.7, overlay, 0.3, 0.0, left_display);
}
public TrackingViewer(sl.Resolution res, int fps_, float D_max, int duration)
{
// ----------- Default configuration -----------------
// window size
window_width = (int)res.width;
window_height = (int)res.height;
// Visualization configuration
camera_offset = 50;
// history management
min_length_to_draw = 3;
// camera settings
fov = -1.0f;
// Visualization settings
background_color = new Scalar(248, 248, 248, 255);
has_background_ready = false;
background = new OpenCvSharp.Mat(window_height, window_width, MatType.CV_8UC4, background_color);
Scalar ref_ = new Scalar(255, 117, 44, 255);
for (int p = 0; p < 3; p++)
{
fov_color[p] = (ref_[p] + 2 * background_color[p]) / 3;
}
// SMOOTH
do_smooth = false;
// Show last 3.0 seconds
history_duration = (ulong)(duration) * 1000 * 1000 * 1000; //convert sc to ns
// Smoothing window: 80ms
smoothing_window_size = (int)(Math.Ceiling(0.08f * fps_) + .5f);
// invert Z due to Y axis of ocv windows
z_min = -D_max;
x_min = z_min / 2.0f;
x_max = -x_min;
x_step = (x_max - x_min) / window_width;
z_step = Math.Abs(z_min) / (window_height - camera_offset);
}
/// <summary>
/// N次元行列として初期化
/// </summary>
/// <param name="sizes">n-次元配列の形状を表す，整数型の配列．</param>
/// <param name="type">配列の型．1-4 チャンネルの行列を作成するには MatType.CV_8UC1, ..., CV_64FC4 を，
/// マルチチャンネルの行列を作成するには，MatType.CV_8UC(n), ..., CV_64FC(n) を利用してください．</param>
/// <param name="s">各行列要素を初期化するオプション値．初期化の後ですべての行列要素を特定の値にセットするには，
/// コンストラクタの後で，SetTo(Scalar value) メソッドを利用してください．</param>
#else
/// <summary>
/// constructs n-dimensional matrix
/// </summary>
/// <param name="sizes">Array of integers specifying an n-dimensional array shape.</param>
/// <param name="type">Array type. Use MatType.CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices,
/// or MatType. CV_8UC(n), ..., CV_64FC(n) to create multi-channel matrices.</param>
/// <param name="s">An optional value to initialize each matrix element with.
/// To set all the matrix elements to the particular value after the construction, use SetTo(Scalar s) method .</param>
#endif
protected Mat(IEnumerable <int> sizes, MatType type, Scalar s)
: base(sizes, type, s)
{
}
/// <summary>
/// 指定したサイズ・型の2次元の行列で、要素をスカラー値で埋めて初期化
/// </summary>
/// <param name="size"> 2 次元配列のサイズ： Size(cols, rows) ． Size() コンストラクタでは，行数と列数が逆順になっていることに注意してください．</param>
/// <param name="type">配列の型．1-4 チャンネルの行列を作成するには MatType.CV_8UC1, ..., CV_64FC4 を，
/// マルチチャンネルの行列を作成するには，MatType.CV_8UC(n), ..., CV_64FC(n) を利用してください．</param>
/// <param name="s">各行列要素を初期化するオプション値．初期化の後ですべての行列要素を特定の値にセットするには，
/// コンストラクタの後で，SetTo(Scalar value) メソッドを利用してください．</param>
#else
/// <summary>
/// constucts 2D matrix and fills it with the specified Scalar value.
/// </summary>
/// <param name="size">2D array size: Size(cols, rows) . In the Size() constructor,
/// the number of rows and the number of columns go in the reverse order.</param>
/// <param name="type">Array type. Use MatType.CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices,
/// or CV_8UC(n), ..., CV_64FC(n) to create multi-channel (up to CV_CN_MAX channels) matrices.</param>
/// <param name="s">An optional value to initialize each matrix element with.
/// To set all the matrix elements to the particular value after the construction, use SetTo(Scalar s) method .</param>
#endif
protected Mat(Size size, MatType type, Scalar s)
: base(size, type, s)
{
}
/// <summary>
/// 指定したサイズ・型の2次元の行列で、要素をスカラー値で埋めて初期化
/// </summary>
/// <param name="rows">2次元配列における行数．</param>
/// <param name="cols">2次元配列における列数．</param>
/// <param name="type">配列の型．1-4 チャンネルの行列を作成するには MatType.CV_8UC1, ..., CV_64FC4 を，
/// マルチチャンネルの行列を作成するには，MatType.CV_8UC(n), ..., CV_64FC(n) を利用してください．</param>
/// <param name="s">各行列要素を初期化するオプション値．初期化の後ですべての行列要素を特定の値にセットするには，
/// コンストラクタの後で，SetTo(Scalar value) メソッドを利用してください．</param>
#else
/// <summary>
/// constucts 2D matrix and fills it with the specified Scalar value.
/// </summary>
/// <param name="rows">Number of rows in a 2D array.</param>
/// <param name="cols">Number of columns in a 2D array.</param>
/// <param name="type">Array type. Use MatType.CV_8UC1, ..., CV_64FC4 to create 1-4 channel matrices,
/// or MatType. CV_8UC(n), ..., CV_64FC(n) to create multi-channel matrices.</param>
/// <param name="s">An optional value to initialize each matrix element with.
/// To set all the matrix elements to the particular value after the construction, use SetTo(Scalar s) method .</param>
#endif
protected Mat(int rows, int cols, MatType type, Scalar s)
: base(rows, cols, type, s)
{
}
public static extern IntPtr core_OutputArray_new_byScalar(Scalar val);
