static void Main(string[] args)
{
Camera zed = new Camera(0);
InitParameters initParameters = new InitParameters()
{
sdkVerbose = true,
resolution = RESOLUTION.HD720,
depthMode = DEPTH_MODE.NONE
};
parseArgs(args, ref initParameters);
ERROR_CODE returnedState = zed.Open(ref initParameters);
if (returnedState != ERROR_CODE.SUCCESS)
{
Environment.Exit(-1);
}
string winName = "Camera control";
Cv2.NamedWindow(winName);
Console.WriteLine("ZED Model : " + zed.GetCameraModel());
Console.WriteLine("ZED Serial Number : " + zed.GetZEDSerialNumber());
Console.WriteLine("ZED Camera Firmware : " + zed.GetCameraFirmwareVersion());
Console.WriteLine("ZED Camera Resolution : " + zed.GetInitParameters().resolution);
Console.WriteLine("ZED Camera FPS : " + zed.GetInitParameters().cameraFPS);
// Print help control
printHelp();
sl.Mat zedImage = new sl.Mat();
zedImage.Create(new Resolution((uint)zed.ImageWidth, (uint)zed.ImageHeight), MAT_TYPE.MAT_8U_C4);
// Initialise camera setting
switchCameraSettings();
char key = ' ';
RuntimeParameters rtParams = new RuntimeParameters();
while (key != 'q')
{
// Check that a new image is successfully acquired
returnedState = zed.Grab(ref rtParams);
if (returnedState == ERROR_CODE.SUCCESS)
{
//Retrieve left image
zed.RetrieveImage(zedImage, VIEW.LEFT);
// Convert to cvMat
OpenCvSharp.Mat cvImage = new OpenCvSharp.Mat(zedImage.GetHeight(), zedImage.GetWidth(), OpenCvSharp.MatType.CV_8UC4, zedImage.GetPtr());
Cv2.ImShow(winName, cvImage);
}
else
{
Console.WriteLine("ERROR during capture");
break;
}
key = (char)Cv2.WaitKey(10);
// Change camera settings with keyboard
updateCameraSettings(key, ref zed);
}
}
/// <summary>
/// Creates an OpenCV version of a ZED Mat.
/// </summary>
/// <param name="zedmat">Source ZED Mat.</param>
/// <param name="zedmattype">Type of ZED Mat - data type and channel number.
/// <returns></returns>
private static OpenCvSharp.Mat SLMat2CVMat(ref sl.Mat zedmat, MAT_TYPE zedmattype)
{
int cvmattype = SLMatType2CVMatType(zedmattype);
OpenCvSharp.Mat cvmat = new OpenCvSharp.Mat(zedmat.GetHeight(), zedmat.GetWidth(), cvmattype, zedmat.GetPtr());
return(cvmat);
}
public void pushNewImage(Mat zedImage)
{
// Update Texture with current zedImage
Gl.TexSubImage2D(TextureTarget.Texture2d, 0, 0, 0, zedImage.GetWidth(), zedImage.GetHeight(), PixelFormat.Rgba, PixelType.UnsignedByte, zedImage.GetPtr());
}
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();
}