static void Main(string[] args) { // Set Initialization parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD720; init_params.cameraFPS = 60; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; init_params.depthMode = DEPTH_MODE.PERFORMANCE; Camera zedCamera = new Camera(0); // Open the camera ERROR_CODE err = zedCamera.Open(ref init_params); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); err = zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } int i = 0; sl.Pose pose = new Pose(); RuntimeParameters runtimeParameters = new RuntimeParameters(); while (i < 1000) { if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS) { // Get the pose of the left eye of the camera with reference to the world frame zedCamera.GetPosition(ref pose, REFERENCE_FRAME.WORLD); // Display the translation and timestamp each 10 frames if (i % 10 == 0) { Console.WriteLine("Translation : " + pose.translation + ", Rotation : " + pose.rotation + ", Timestamp : " + pose.timestamp); } i++; } } // Disable positional tracking and close the camera zedCamera.DisablePositionalTracking(""); zedCamera.Close(); }
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); } // Enable tracking PositionalTrackingParameters trackingParams = new PositionalTrackingParameters(); trackingParams.enableAreaMemory = true; zedCamera.EnablePositionalTracking(ref trackingParams); runtimeParameters = new RuntimeParameters(); cameraModel = zedCamera.GetCameraModel(); int Height = zedCamera.ImageHeight; int Width = zedCamera.ImageWidth; res = new Resolution((uint)Width, (uint)Height); // Create OpenGL Viewer viewer = new GLViewer(); cam_pose = new Pose(); // Create OpenGL window CreateWindow(); }
static void Main(string[] args) { // Set Initialization parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD720; init_params.coordinateUnits = UNIT.METER; init_params.sdkVerbose = true; Camera zedCamera = new Camera(0); // Open the camera ERROR_CODE err = zedCamera.Open(ref init_params); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Enable positional tracking PositionalTrackingParameters trackingParams = new PositionalTrackingParameters(); // If you want to have object tracking you need to enable positional tracking first err = zedCamera.EnablePositionalTracking(ref trackingParams); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Enable Object Detection object_detection_parameters = new ObjectDetectionParameters(); // Different model can be chosen, optimizing the runtime or the accuracy object_detection_parameters.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_FAST; // track detects object across time and space object_detection_parameters.enableObjectTracking = true; // run detection for every Camera grab object_detection_parameters.imageSync = true; err = zedCamera.EnableObjectDetection(ref object_detection_parameters); if (err != ERROR_CODE.SUCCESS) Environment.Exit(-1); // Create Runtime parameters RuntimeParameters runtimeParameters = new RuntimeParameters(); // Create Object Detection frame handle (contains all the objects data) sl.Objects objects = new sl.Objects(); // Create object detection runtime parameters (confidence, ...) ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 40; int nbDetection = 0; while (nbDetection < 100) { if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS) { // Retrieve Objects from Object detection zedCamera.RetrieveObjects(ref objects, ref obj_runtime_parameters); if (Convert.ToBoolean(objects.isNew)) { Console.WriteLine(objects.numObject + " Person(s) detected"); Console.WriteLine(); if (objects.numObject > 0) { sl.ObjectData firstObject = objects.objectData[0]; Console.WriteLine("First Person attributes :"); Console.WriteLine(" Confidence (" + firstObject.confidence); if (object_detection_parameters.enableObjectTracking) { Console.WriteLine(" Tracking ID: " + firstObject.id + " tracking state: " + firstObject.objectTrackingState + " / " + firstObject.actionState); } Console.WriteLine(" 3D Position: " + firstObject.position + " Velocity: " + firstObject.velocity); Console.WriteLine(" Keypoints 2D"); // The body part meaning can be obtained by casting the index into a BODY_PARTS // to get the BODY_PARTS index the getIdx function is available for (int i = 0; i < firstObject.keypoints2D.Length; i++) { var kp = firstObject.keypoints2D[i]; Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y); } // The BODY_PARTS can be link as bones, using sl::BODY_BONES which gives the BODY_PARTS pair for each Console.WriteLine(" Keypoints 3D "); for (int i = 0; i < firstObject.keypoints.Length; i++) { var kp = firstObject.keypoints[i]; Console.WriteLine(" " + (sl.BODY_PARTS)i + " " + kp.X + ", " + kp.Y + ", " + kp.Z); } Console.WriteLine(); Console.WriteLine("Press 'Enter' to continue..."); Console.ReadLine(); } } } } // Disable object detection, positional tracking and close the camera zedCamera.DisableObjectDetection(); zedCamera.DisablePositionalTracking(""); zedCamera.Close(); }
public MainWindow(string[] args) { // Set configuration parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD1080; init_params.cameraFPS = 30; init_params.depthMode = DEPTH_MODE.ULTRA; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; 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 || zedCamera.CameraModel == sl.MODEL.ZED2i)) { Console.WriteLine(" ERROR : Use ZED2/ZED2i Camera only"); return; } // Enable tracking (mandatory for object detection) PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); 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.enableBodyFitting = true; // smooth skeletons moves obj_det_params.imageSync = true; // the object detection is synchronized to the image obj_det_params.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE; zedCamera.EnableObjectDetection(ref obj_det_params); // Create ZED Objects filled in the main loop camPose = new sl.Pose(); objects = new Objects(); int Height = zedCamera.ImageHeight; int Width = zedCamera.ImageWidth; imageLeft = new Mat(); displayRes = new Resolution(Math.Min((uint)Width, 1280), Math.Min((uint)Height, 720)); imgScale = new sl.float2((int)displayRes.width / (float)Width, (int)displayRes.height / (float)Height); imageLeft.Create(displayRes, MAT_TYPE.MAT_8U_C4, MEM.CPU); imageLeftOcv = new OpenCvSharp.Mat((int)displayRes.height, (int)displayRes.width, OpenCvSharp.MatType.CV_8UC4, imageLeft.GetPtr()); 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); // Create OpenGL Viewer viewer = new GLViewer(new Resolution((uint)Width, (uint)Height)); // Configure object detection runtime parameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 40; window_name = "ZED| 2D View"; Cv2.NamedWindow(window_name, WindowMode.Normal);// Create Window // Create OpenGL window CreateWindow(); }
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 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.depthMaximumDistance = 15f; 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) PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); 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 obj_det_params.enable2DMask = false; obj_det_params.enableBodyFitting = true; // smooth skeletons moves obj_det_params.imageSync = true; // the object detection is synchronized to the image obj_det_params.detectionModel = sl.DETECTION_MODEL.HUMAN_BODY_ACCURATE; zedCamera.EnableObjectDetection(ref obj_det_params); // Create ZED Objects filled in the main loop objects = new Objects(); zedMat = new Mat(); 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)); // Configure object detection runtime parameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 50; // Create OpenGL window CreateWindow(); }
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.depthMaximumDistance = 15f; 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; } tracking_state = POSITIONAL_TRACKING_STATE.OFF; mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED; mapping_activated = false; // Enable tracking PositionalTrackingParameters positionalTrackingParameters = new PositionalTrackingParameters(); zedCamera.EnablePositionalTracking(ref positionalTrackingParameters); runtimeParameters = new RuntimeParameters(); spatialMappingParameters = new SpatialMappingParameters(); spatialMappingParameters.resolutionMeter = SpatialMappingParameters.get(MAPPING_RESOLUTION.MEDIUM); spatialMappingParameters.saveTexture = false; if (CREATE_MESH) { spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.MESH; } else { spatialMappingParameters.map_type = SPATIAL_MAP_TYPE.FUSED_POINT_CLOUD; } // Create ZED Objects filled in the main loop zedMat = new Mat(); cam_pose = new Pose(); //Create mesh. mesh = new Mesh(); fusedPointCloud = new FusedPointCloud(); 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)); Console.WriteLine("Hit SPACE BAR to start spatial mapping..."); // Create OpenGL window CreateWindow(); }
static void Main(string[] args) { // Set Initialization parameters InitParameters init_params = new InitParameters(); init_params.resolution = RESOLUTION.HD2K; init_params.coordinateUnits = UNIT.METER; init_params.coordinateSystem = COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP; init_params.depthMode = DEPTH_MODE.PERFORMANCE; Camera zedCamera = new Camera(0); // Open the camera ERROR_CODE err = zedCamera.Open(ref init_params); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Enable positional tracking PositionalTrackingParameters trackingParams = new PositionalTrackingParameters(); err = zedCamera.EnablePositionalTracking(ref trackingParams); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Enable Object Detection ObjectDetectionParameters object_detection_parameters = new ObjectDetectionParameters(); object_detection_parameters.detectionModel = sl.DETECTION_MODEL.MULTI_CLASS_BOX; object_detection_parameters.enableObjectTracking = true; err = zedCamera.EnableObjectDetection(ref object_detection_parameters); if (err != ERROR_CODE.SUCCESS) { Environment.Exit(-1); } // Create Runtime parameters RuntimeParameters runtimeParameters = new RuntimeParameters(); // Create Object Detection frame handle (contains all the objects data) sl.Objects object_frame = new sl.Objects(); // Create object detection runtime parameters (confidence, ...) ObjectDetectionRuntimeParameters obj_runtime_parameters = new ObjectDetectionRuntimeParameters(); obj_runtime_parameters.detectionConfidenceThreshold = 50; int i = 0; while (i < 1000) { if (zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS) { // Retrieve Objects from Object detection err = zedCamera.RetrieveObjects(ref object_frame, ref obj_runtime_parameters); // Display the data each 10 frames if (i % 10 == 0) { Console.WriteLine("Nb Objects Detection : " + object_frame.numObject); for (int p = 0; p < object_frame.numObject; p++) { Console.WriteLine("Position of object " + p + " : " + object_frame.objectData[p].position + "Tracked? : " + object_frame.objectData[p].objectTrackingState); } } i++; } } // Disable object detection, positional tracking and close the camera zedCamera.DisableObjectDetection(); zedCamera.DisablePositionalTracking(""); zedCamera.Close(); }