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.sdkVerbose = true;
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;
}
findPlaneStatus = ERROR_CODE.FAILURE;
tracking_state = POSITIONAL_TRACKING_STATE.OFF;
hasIMU = zedCamera.GetSensorsConfiguration().gyroscope_parameters.isAvailable;
userAction = new UserAction();
// Enable tracking
PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters();
zedCamera.EnablePositionalTracking(ref positionalTrackingParameters);
runtimeParameters = new RuntimeParameters();
runtimeParameters.measure3DReferenceFrame = REFERENCE_FRAME.WORLD;
// Create ZED Objects filled in the main loop
zedMat = new Mat();
cam_pose = new Pose();
//Create mesh.
planeMeshTriangles = new int[65000];
planeMeshVertices = new Vector3[65000];
plane = new PlaneData();
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));
// Create OpenGL window
CreateWindow();
}
public void updateMesh(Vector3[] vertices, int[] triangles, int nbVertices, int nbTriangles, PLANE_TYPE type, Vector3[] bounds, UserAction userAction)
{
meshObject.updateMesh(vertices, triangles, nbVertices, nbTriangles, bounds);
meshObject.type = type;
this.userAction = userAction;
}
